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avc2ts.cpp
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//Original credits to Artem Zuikov
//clone from https://github.com/4ertus2/rpi-cctv
// Adding other functionnalities F5OEO Evariste - [email protected]
#ifndef OMX_SKIP64BIT
#define OMX_SKIP64BIT
#endif
#include <cstdlib>
#include <cstdio>
#include <cstring>
#include <string>
#include <vector>
#include <iostream>
#include <inttypes.h>
#include <math.h>
#include "bcm_host.h"
#include <interface/vcos/vcos_semaphore.h>
#include <interface/vmcs_host/vchost.h>
#include <IL/OMX_Core.h>
#include <IL/OMX_Component.h>
#include <IL/OMX_Video.h>
#include <IL/OMX_Broadcom.h>
extern "C" {
#include "libmpegts/libmpegts.h"
}
#include <arpa/inet.h>
#include <netinet/in.h>
#include <fcntl.h> /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include "webcam.h"
#include "grabdisplay.h"
#include "vncclient.h"
#include "ffmpegsrc.h"
//#include <linux/videodev2.h>
#define PROGRAM_VERSION "1.0.0"
// Problem with delay increasing : https://www.raspberrypi.org/forums/viewtopic.php?f=43&t=133446
// Introductio to IL Component : http://fr.slideshare.net/pchethan/understanding-open-max-il-18376762
// Camera modes : http://picamera.readthedocs.io/en/latest/fov.html
// Understand Low latency : http://www.design-reuse.com/articles/33005/understanding-latency-in-video-compression-systems.html
namespace
{
static const char * format2str(OMX_VIDEO_CODINGTYPE c)
{
switch (c)
{
case OMX_VIDEO_CodingUnused: return "not used";
case OMX_VIDEO_CodingAutoDetect: return "autodetect";
case OMX_VIDEO_CodingMPEG2: return "MPEG2";
case OMX_VIDEO_CodingH263: return "H.263";
case OMX_VIDEO_CodingMPEG4: return "MPEG4";
case OMX_VIDEO_CodingWMV: return "Windows Media Video";
case OMX_VIDEO_CodingRV: return "RealVideo";
case OMX_VIDEO_CodingAVC: return "H.264/AVC";
case OMX_VIDEO_CodingMJPEG: return "Motion JPEG";
case OMX_VIDEO_CodingVP6: return "VP6";
case OMX_VIDEO_CodingVP7: return "VP7";
case OMX_VIDEO_CodingVP8: return "VP8";
case OMX_VIDEO_CodingYUV: return "Raw YUV video";
case OMX_VIDEO_CodingSorenson: return "Sorenson";
case OMX_VIDEO_CodingTheora: return "OGG Theora";
case OMX_VIDEO_CodingMVC: return "H.264/MVC";
default:
std::cerr << "unknown OMX_VIDEO_CODINGTYPE: " << c << std::endl;
return "unknown";
}
}
static const char * format2str(OMX_COLOR_FORMATTYPE c)
{
switch (c)
{
case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused: not used";
case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar: Planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar: Planar YUV, 4:2:0 (I420)";
case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar: Planar YUV, 4:2:0 (I420), planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar, Planar YUV, 4:2:0 (NV12), U and V planes interleaved with first U value";
case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar: Planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar: Planar YUV, 4:2:0 (NV12), planes fragmented when a frame is split in multiple buffers, U and V planes interleaved with first U value";
case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar: Planes fragmented when a frame is split in multiple buffers";
case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
case OMX_COLOR_Format32bitABGR8888: return "OMX_COLOR_Format32bitABGR8888";
case OMX_COLOR_Format8bitPalette: return "OMX_COLOR_Format8bitPalette";
case OMX_COLOR_FormatYUVUV128: return "OMX_COLOR_FormatYUVUV128";
case OMX_COLOR_FormatRawBayer12bit: return "OMX_COLOR_FormatRawBayer12bit";
case OMX_COLOR_FormatBRCMEGL: return "OMX_COLOR_FormatBRCMEGL";
case OMX_COLOR_FormatBRCMOpaque: return "OMX_COLOR_FormatBRCMOpaque";
case OMX_COLOR_FormatYVU420PackedPlanar: return "OMX_COLOR_FormatYVU420PackedPlanar";
case OMX_COLOR_FormatYVU420PackedSemiPlanar: return "OMX_COLOR_FormatYVU420PackedSemiPlanar";
default:
std::cerr << "unknown OMX_COLOR_FORMATTYPE: " << c << std::endl;
return "unknown";
}
}
static void dump_portdef(OMX_PARAM_PORTDEFINITIONTYPE* portdef)
{
fprintf(stderr, "Port %d is %s, %s, buffers wants:%d needs:%d, size:%d, pop:%d, aligned:%d\n",
portdef->nPortIndex,
(portdef->eDir == OMX_DirInput ? "input" : "output"),
(portdef->bEnabled == OMX_TRUE ? "enabled" : "disabled"),
portdef->nBufferCountActual,
portdef->nBufferCountMin,
portdef->nBufferSize,
portdef->bPopulated,
portdef->nBufferAlignment);
OMX_VIDEO_PORTDEFINITIONTYPE *viddef = &portdef->format.video;
OMX_IMAGE_PORTDEFINITIONTYPE *imgdef = &portdef->format.image;
switch (portdef->eDomain)
{
case OMX_PortDomainVideo:
fprintf(stderr, "Video type:\n"
"\tWidth:\t\t%d\n"
"\tHeight:\t\t%d\n"
"\tStride:\t\t%d\n"
"\tSliceHeight:\t%d\n"
"\tBitrate:\t%d\n"
"\tFramerate:\t%.02f\n"
"\tError hiding:\t%s\n"
"\tCodec:\t\t%s\n"
"\tColor:\t\t%s\n",
viddef->nFrameWidth,
viddef->nFrameHeight,
viddef->nStride,
viddef->nSliceHeight,
viddef->nBitrate,
((float)viddef->xFramerate / (float)65536),
(viddef->bFlagErrorConcealment == OMX_TRUE ? "yes" : "no"),
format2str(viddef->eCompressionFormat),
format2str(viddef->eColorFormat));
break;
case OMX_PortDomainImage:
fprintf(stderr, "Image type:\n"
"\tWidth:\t\t%d\n"
"\tHeight:\t\t%d\n"
"\tStride:\t\t%d\n"
"\tSliceHeight:\t%d\n"
"\tError hiding:\t%s\n"
"\tCodec:\t\t%s\n"
"\tColor:\t\t%s\n",
imgdef->nFrameWidth,
imgdef->nFrameHeight,
imgdef->nStride,
imgdef->nSliceHeight,
(imgdef->bFlagErrorConcealment == OMX_TRUE ? "yes" : "no"),
format2str( (OMX_VIDEO_CODINGTYPE) imgdef->eCompressionFormat ),
format2str(imgdef->eColorFormat));
break;
default:
break;
}
}
const char * eventType2Str(OMX_EVENTTYPE eEvent)
{
switch (eEvent)
{
case OMX_EventCmdComplete: return "OMX_EventCmdComplete";
case OMX_EventError: return "OMX_EventError";
case OMX_EventMark: return "OMX_EventMark";
case OMX_EventPortSettingsChanged: return "OMX_EventPortSettingsChanged";
case OMX_EventBufferFlag: return "OMX_EventBufferFlag";
case OMX_EventResourcesAcquired: return "OMX_EventResourcesAcquired";
case OMX_EventComponentResumed: return "OMX_EventComponentResumed";
case OMX_EventDynamicResourcesAvailable: return "OMX_EventDynamicResourcesAvailable";
case OMX_EventPortFormatDetected: return "OMX_EventPortFormatDetected";
case OMX_EventKhronosExtensions: return "OMX_EventKhronosExtensions";
case OMX_EventVendorStartUnused: return "OMX_EventVendorStartUnused";
case OMX_EventParamOrConfigChanged: return "OMX_EventParamOrConfigChanged";
default:
break;
};
return nullptr;
}
static void printEvent(const char * compName, OMX_HANDLETYPE hComponent, OMX_EVENTTYPE eEvent, OMX_U32 nData1, OMX_U32 nData2)
{
const char * strEvent = eventType2Str(eEvent);
if (strEvent)
fprintf(stderr, "%s (%p) %s, data: %d, %d\n", compName, hComponent, strEvent, nData1, nData2);
else
fprintf(stderr, "%s (%p) 0x%08x, data: %d, %d\n", compName, hComponent, eEvent, nData1, nData2);
}
}
namespace broadcom
{
// TODO: add all
typedef enum
{
VIDEO_SCHEDULER = 10,
SOURCE = 20,
RESIZER = 60,
CAMERA = 70,
CLOCK = 80,
VIDEO_RENDER = 90,
VIDEO_DECODER = 130,
VIDEO_ENCODER = 200,
EGL_RENDER = 220,
NULL_SINK = 240,
VIDEO_SPLITTER = 250,
IMAGE_ENCODE = 340
} ComponentType;
static const char * componentType2name(ComponentType type)
{
switch (type)
{
case VIDEO_SCHEDULER: return "OMX.broadcom.video_scheduler";
case SOURCE: return "OMX.broadcom.source";
case RESIZER: return "OMX.broadcom.resize";
case CAMERA: return "OMX.broadcom.camera";
case CLOCK: return "OMX.broadcom.clock";
case VIDEO_RENDER: return "OMX.broadcom.video_render";
case VIDEO_DECODER: return "OMX.broadcom.video_decode";
case VIDEO_ENCODER: return "OMX.broadcom.video_encode";
case EGL_RENDER: return "OMX.broadcom.egl_render";
case NULL_SINK: return "OMX.broadcom.null_sink";
case VIDEO_SPLITTER: return "OMX.broadcom.video_splitter";
case IMAGE_ENCODE: return "OMX.broadcom.image_encode";
}
return nullptr;
}
static unsigned componentPortsCount(ComponentType type)
{
switch (type)
{
case VIDEO_SCHEDULER: return 3;
case SOURCE: return 1;
case RESIZER: return 2;
case CAMERA: return 4;
case CLOCK: return 6;
case VIDEO_RENDER: return 1;
case VIDEO_DECODER: return 2;
case VIDEO_ENCODER: return 2;
case EGL_RENDER: return 2;
case NULL_SINK: return 3;
case VIDEO_SPLITTER: return 5;
case IMAGE_ENCODE: return 2;
}
return 0;
}
struct VcosSemaphore
{
VcosSemaphore(const char * name)
{
if (vcos_semaphore_create(&sem_, name, 1) != VCOS_SUCCESS)
throw "Failed to create handler lock semaphore";
}
~VcosSemaphore()
{
vcos_semaphore_delete(&sem_);
}
VCOS_STATUS_T wait() { return vcos_semaphore_wait(&sem_); }
VCOS_STATUS_T post() { return vcos_semaphore_post(&sem_); }
private:
VCOS_SEMAPHORE_T sem_;
};
class VcosLock
{
public:
VcosLock(VcosSemaphore * sem)
: sem_(sem)
{
sem_->wait();
}
~VcosLock()
{
sem_->post();
}
private:
VcosSemaphore * sem_;
};
}
namespace rpi_omx
{
typedef broadcom::ComponentType ComponentType;
using broadcom::componentType2name;
using broadcom::componentPortsCount;
using broadcom::VcosSemaphore;
using Lock = broadcom::VcosLock;
VcosSemaphore * pSemaphore;
//
static OMX_ERRORTYPE callback_EventHandler(
OMX_HANDLETYPE hComponent,
OMX_PTR pAppData,
OMX_EVENTTYPE eEvent,
OMX_U32 nData1,
OMX_U32 nData2,
OMX_PTR pEventData);
static OMX_ERRORTYPE callback_EmptyBufferDone(
OMX_HANDLETYPE hComponent,
OMX_PTR pAppData,
OMX_BUFFERHEADERTYPE * pBuffer);
static OMX_ERRORTYPE callback_FillBufferDone(
OMX_HANDLETYPE hComponent,
OMX_PTR pAppData,
OMX_BUFFERHEADERTYPE * pBuffer);
OMX_CALLBACKTYPE cbsEvents = {
.EventHandler = callback_EventHandler,
.EmptyBufferDone = callback_EmptyBufferDone,
.FillBufferDone = callback_FillBufferDone
};
//
///
class OMXExeption
{
public:
static const unsigned MAX_LEN = 512;
OMXExeption(OMX_ERRORTYPE errCode, const char * file, unsigned line, const char * msg = nullptr)
: errCode_(errCode)
{
if (msg && msg[0])
snprintf(msg_, MAX_LEN, "%s:%d OpenMAX IL error: 0x%08x. %s", file, line, errCode, msg);
else
snprintf(msg_, MAX_LEN, "%s:%d OpenMAX IL error: 0x%08x", file, line, errCode);
}
OMX_ERRORTYPE code() const { return errCode_; }
const char * what() const { return msg_; }
static void die(OMX_ERRORTYPE error, const char * str)
{
const char * errStr = omxErr2str(error);
fprintf(stderr, "OMX error: %s: 0x%08x %s\n", str, error, errStr);
exit(1);
}
private:
OMX_ERRORTYPE errCode_;
char msg_[MAX_LEN];
static const char * omxErr2str(OMX_ERRORTYPE error)
{
switch (error)
{
case OMX_ErrorNone: return "OMX_ErrorNone";
case OMX_ErrorBadParameter: return "OMX_ErrorBadParameter";
case OMX_ErrorIncorrectStateOperation: return "OMX_ErrorIncorrectStateOperation";
case OMX_ErrorIncorrectStateTransition: return "OMX_ErrorIncorrectStateTransition";
case OMX_ErrorInsufficientResources: return "OMX_ErrorInsufficientResources";
case OMX_ErrorBadPortIndex: return "OMX_ErrorBadPortIndex";
case OMX_ErrorHardware: return "OMX_ErrorHardware";
// ...
default:
break;
}
return "";
}
};
#define ERR_OMX(err, msg) if ((err) != OMX_ErrorNone) throw OMXExeption(err, __FILE__, __LINE__, msg)
///
struct VideoFromat
{
typedef enum
{
RATIO_4x3,
RATIO_16x9
} Ratio;
unsigned width;
unsigned height;
unsigned framerate;
Ratio ratio;
bool fov; //Field of view
};
// CAMERA NATIVE MODE V1
//# Resolution Aspect Ratio Framerates Video Image FoV Binning
//1 1920x1080 16:9 1-30fps x Partial None
//2 2592x1944 4:3 1-15fps x x Full None
//3 2592x1944 4:3 0.1666-1fps x x Full None
//4 1296x972 4:3 1-42fps x Full 2x2
//5 1296x730 16:9 1-49fps x Full 2x2
//6 640x480 4:3 42.1-60fps x Full 4x4
//7 640x480 4:3 60.1-90fps x Full 4x4
// CAMERA NATIVE MODE V2
//# Resolution Aspect Ratio Framerates Video Image FoV Binning
//1 1920x1080 16:9 0.1-30fps x Partial None
//2 3280x2464 4:3 0.1-15fps x x Full None
//3 3280x2464 4:3 0.1-15fps x x Full None
//4 1640x1232 4:3 0.1-40fps x Full 2x2
//5 1640x922 16:9 0.1-40fps x Full 2x2
//6 1280x720 16:9 40-90fps x Partial 2x2
//7 640x480 4:3 40-90fps x Partial 2x2
static const VideoFromat VF_1920x1080 = { 1920, 1080, 25, VideoFromat::RATIO_16x9, false };
//static const VideoFromat VF_2560x1920 = { 2560, 1920, 0, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_1280x960 = { 1280, 960, 25, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_1280x720 = { 1280, 720, 25, VideoFromat::RATIO_16x9, true };
static const VideoFromat VF_640x480 = { 640, 480, 25, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_RESIZED_352x288 = { 352, 288, 25, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_RESIZED_640x480 = VF_640x480;
static const VideoFromat VF_RESIZED_320x240 = { 320, 240, 15, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_RESIZED_256x192 = { 256, 192, 25, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_RESIZED_160x120 = { 160, 120, 25, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_RESIZED_128x96 = { 128, 96, 25, VideoFromat::RATIO_4x3, true };
static const VideoFromat VF_RESIZED_960x540 = { 960, 540, 25, VideoFromat::RATIO_16x9, false };
static const VideoFromat VF_RESIZED_640x360 = { 640, 360, 25, VideoFromat::RATIO_16x9, false };
static const VideoFromat VF_RESIZED_480x270 = { 480, 270, 25, VideoFromat::RATIO_16x9, false };
static const VideoFromat VF_RESIZED_384x216 = { 384, 216, 25, VideoFromat::RATIO_16x9, false };
static const VideoFromat VF_RESIZED_320x180 = { 320, 180, 25, VideoFromat::RATIO_16x9, false };
static const VideoFromat VF_RESIZED_240x135 = { 240, 135, 25, VideoFromat::RATIO_16x9, false };
///
template <typename T>
class Parameter
{
public:
Parameter()
{
init();
}
void init()
{
memset(¶m_, 0, sizeof(param_));
param_.nSize = sizeof(param_);
param_.nVersion.nVersion = OMX_VERSION;
param_.nVersion.s.nVersionMajor = OMX_VERSION_MAJOR;
param_.nVersion.s.nVersionMinor = OMX_VERSION_MINOR;
param_.nVersion.s.nRevision = OMX_VERSION_REVISION;
param_.nVersion.s.nStep = OMX_VERSION_STEP;
}
T& operator * () { return param_; }
T* operator & () { return ¶m_; }
T* operator -> () { return ¶m_; }
const T& operator * () const { return param_; }
const T* operator & () const { return ¶m_; }
const T* operator -> () const { return ¶m_; }
private:
T param_;
};
///
class OMXInit
{
public:
OMXInit()
{
ERR_OMX( OMX_Init(), "OMX initalization failed" );
}
~OMXInit()
{
try
{
ERR_OMX( OMX_Deinit(), "OMX de-initalization failed" );
}
catch (const OMXExeption& )
{
// TODO
}
}
};
///
class Buffer
{
public:
Buffer()
: ppBuffer_(nullptr),
fillDone_(false)
{}
bool filled() const { return fillDone_; }
void setFilled(bool val = true)
{
Lock lock(pSemaphore); // LOCK
fillDone_ = val;
}
bool setDatasize(OMX_U32 Datasize)
{
if(Datasize<=allocSize())
{
ppBuffer_->nOffset=0;
ppBuffer_->nFilledLen=Datasize;
return true;
}
return false;
}
OMX_BUFFERHEADERTYPE ** pHeader() { return &ppBuffer_; }
OMX_BUFFERHEADERTYPE * header() { return ppBuffer_; }
OMX_U32 flags() const { return ppBuffer_->nFlags; }
OMX_U32& flags() { return ppBuffer_->nFlags; }
OMX_U8 * data() { return ppBuffer_->pBuffer + ppBuffer_->nOffset; }
OMX_U32 dataSize() const { return ppBuffer_->nFilledLen; }
OMX_U32 allocSize() const { return ppBuffer_->nAllocLen; }
OMX_U32 TimeStamp() {return ppBuffer_->nTickCount;}
private:
OMX_BUFFERHEADERTYPE * ppBuffer_;
bool fillDone_;
};
///
class Component
{
public:
OMX_HANDLETYPE& component() { return component_; }
ComponentType type() const { return type_; }
const char * name() const { return componentType2name(type_); }
unsigned numPorts() const { return componentPortsCount(type_); }
void dumpPort(OMX_U32 nPortIndex, OMX_BOOL dumpFormats = OMX_FALSE)
{
Parameter<OMX_PARAM_PORTDEFINITIONTYPE> portdef;
getPortDefinition(nPortIndex, portdef);
dump_portdef(&portdef);
if (dumpFormats)
{
Parameter<OMX_VIDEO_PARAM_PORTFORMATTYPE> portformat;
portformat->nPortIndex = nPortIndex;
portformat->nIndex = 0;
std::cerr << "Port " << nPortIndex << " supports these video formats:" << std::endl;
for (;; portformat->nIndex++)
{
OMX_ERRORTYPE err = OMX_GetParameter(component_, OMX_IndexParamVideoPortFormat, &portformat);
if (err != OMX_ErrorNone)
break;
std::cerr << "\t" << format2str(portformat->eColorFormat)
<< ", compression: " << format2str(portformat->eCompressionFormat) << std::endl;
}
}
}
OMX_STATETYPE state()
{
OMX_STATETYPE state;
ERR_OMX( OMX_GetState(component_, &state), "OMX_GetState" );
return state;
}
void switchState(OMX_STATETYPE newState)
{
unsigned value = eventState_;
ERR_OMX( OMX_SendCommand(component_, OMX_CommandStateSet, newState, NULL), "switch state");
if (! waitValue(&eventState_, value + 1))
std::cerr << name() << " lost state changed event" << std::endl;
#if 0
if (! waitStateChanged(newState))
std::cerr << name() << " state wanted: " << newState << " observed: " << state() << std::endl;
#endif
}
unsigned waitCount(OMX_U32 nPortIndex) const { return (nPortIndex == OMX_ALL) ? numPorts() : 1; }
void enablePort(OMX_U32 nPortIndex = OMX_ALL)
{
unsigned value = eventEnabled_;
ERR_OMX( OMX_SendCommand(component_, OMX_CommandPortEnable, nPortIndex, NULL), "enable port");
if (! waitValue(&eventEnabled_, value + waitCount(nPortIndex)))
std::cerr << name() << " port " << nPortIndex << " lost enable port event(s)" << std::endl;
}
void disablePort(OMX_U32 nPortIndex = OMX_ALL)
{
unsigned value = eventDisabled_;
ERR_OMX( OMX_SendCommand(component_, OMX_CommandPortDisable, nPortIndex, NULL), "disable port");
if (! waitValue(&eventDisabled_, value + waitCount(nPortIndex)))
std::cerr << name() << " port " << nPortIndex << " lost disable port event(s)" << std::endl;
}
void flushPort(OMX_U32 nPortIndex = OMX_ALL)
{
unsigned value = eventFlushed_;
ERR_OMX( OMX_SendCommand(component_, OMX_CommandFlush, nPortIndex, NULL), "flush buffers");
if (! waitValue(&eventFlushed_, value + waitCount(nPortIndex)))
std::cerr << name() << " port " << nPortIndex << " lost flush port event(s)" << std::endl;
}
void getPortDefinition(OMX_U32 nPortIndex, Parameter<OMX_PARAM_PORTDEFINITIONTYPE>& portDef)
{
portDef->nPortIndex = nPortIndex;
ERR_OMX( OMX_GetParameter(component_, OMX_IndexParamPortDefinition, &portDef), "get port definition");
}
void setPortDefinition(OMX_U32 nPortIndex, Parameter<OMX_PARAM_PORTDEFINITIONTYPE>& portDef)
{
portDef->nPortIndex = nPortIndex;
ERR_OMX( OMX_SetParameter(component_, OMX_IndexParamPortDefinition, &portDef), "set port definition");
}
void allocBuffers(OMX_U32 nPortIndex, Buffer& buffer)
{
Parameter<OMX_PARAM_PORTDEFINITIONTYPE> portDef;
getPortDefinition(nPortIndex, portDef);
//printf("Alloc Buffer with size %d\n",portDef->nBufferSize);
ERR_OMX( OMX_AllocateBuffer(component_, buffer.pHeader(), nPortIndex, NULL, portDef->nBufferSize), "OMX_AllocateBuffer");
}
void freeBuffers(OMX_U32 nPortIndex, Buffer& buffer)
{
ERR_OMX( OMX_FreeBuffer(component_, nPortIndex, buffer.header()), "OMX_FreeBuffer");
}
void callFillThisBuffer(Buffer& buffer)
{
ERR_OMX( OMX_FillThisBuffer(component_, buffer.header()), "OMX_FillThisBuffer");
}
void callEmptyThisBuffer(Buffer& buffer)
{
ERR_OMX( OMX_EmptyThisBuffer(component_, buffer.header()), "OMX_EmptyThisBuffer");
}
void eventCmdComplete(OMX_U32 cmd, OMX_U32 /*nPortIndex*/)
{
Lock lock(pSemaphore); // LOCK
switch (cmd)
{
case OMX_CommandStateSet:
++eventState_;
break;
case OMX_CommandFlush:
++eventFlushed_;
break;
case OMX_CommandPortDisable:
++eventDisabled_;
break;
case OMX_CommandPortEnable:
++eventEnabled_;
break;
case OMX_CommandMarkBuffer:
default:
break;
}
}
void eventPortSettingsChanged(OMX_U32 nPortIndex)
{
Lock lock(pSemaphore); // LOCK
++changedPorts_[n2idx(nPortIndex)];
}
protected:
OMX_HANDLETYPE component_;
ComponentType type_;
Component(ComponentType type, OMX_PTR pAppData, OMX_CALLBACKTYPE * callbacks)
: type_(type),
eventState_(0),
eventFlushed_(0),
eventDisabled_(0),
eventEnabled_(0)
{
changedPorts_.resize(numPorts());
OMX_STRING xName = const_cast<OMX_STRING>(name());
ERR_OMX( OMX_GetHandle(&component_, xName, pAppData, callbacks), "OMX_GetHandle");
disablePort();
}
~Component()
{
try
{
ERR_OMX( OMX_FreeHandle(component_), "OMX_FreeHandle" );
}
catch (const OMXExeption& )
{
// TODO
}
}
// type_ equals to first port number
unsigned n2idx(OMX_U32 nPortIndex) const { return nPortIndex - type_; }
unsigned idx2n(unsigned idx) const { return type_ + idx; }
private:
static const unsigned WAIT_CHANGES_US = 1000;
static const unsigned MAX_WAIT_COUNT = 200;
unsigned eventState_;
unsigned eventFlushed_;
unsigned eventDisabled_;
unsigned eventEnabled_;
std::vector<unsigned> changedPorts_;
// TODO: wait for specific port changes
bool waitValue(unsigned * pValue, unsigned wantedValue)
{
for (unsigned i = 0; i < MAX_WAIT_COUNT; ++i)
{
if (*pValue == wantedValue)
return true;
usleep(WAIT_CHANGES_US);
}
return false;
}
#if 0
bool waitStateChanged(OMX_STATETYPE wantedState)
{
for (unsigned i=0; i < MAX_WAIT_COUNT; ++i)
{
if (state() == wantedState)
return true;
usleep(WAIT_CHANGES_US);
}
return false;
}
#endif
};
/// Raspberry Pi Camera Module
class Camera : public Component
{
public:
static const ComponentType cType = broadcom::CAMERA;
static const unsigned OPORT_PREVIEW = 70;
static const unsigned OPORT_VIDEO = 71;
static const unsigned OPORT_STILL = 72;
static const unsigned IPORT = 73;
static const unsigned CAM_DEVICE_NUMBER = 0;
static int32_t align(unsigned x, unsigned y)
{
return (x + y - 1) & (~(y - 1));
}
// The recommended initialisation sequence:
// 1. Create component.
// 2. Use OMX_IndexConfigRequestCallback to request callbacks on OMX_IndexParamCameraDeviceNumber.
// 3. Set OMX_IndexParamISPTunerName.
// 4. Set OMX_IndexParamCameraFlashType.
// 5. Set OMX_IndexParamCameraDeviceNumber.
// 6. Wait for the callback that OMX_IndexParamCameraDeviceNumber has changed.
// At this point, all the drivers have been loaded. Other settings can be applied whilst waiting for this event.
// 7. Query for OMX_IndexConfigCameraSensorModes as required.
// 8. Change state to IDLE, and proceed as required.
Camera()
: Component(cType, (OMX_PTR) this, &cbsEvents),
ready_(false)
{
requestCallback();
setDeviceNumber(CAM_DEVICE_NUMBER);
}
void requestCallback()
{
Parameter<OMX_CONFIG_REQUESTCALLBACKTYPE> cbtype;
cbtype->nPortIndex = OMX_ALL;
cbtype->nIndex = OMX_IndexParamCameraDeviceNumber;
cbtype->bEnable = OMX_TRUE;
ERR_OMX( OMX_SetConfig(component_, OMX_IndexConfigRequestCallback, &cbtype), "request callbacks");
}
void setDeviceNumber(unsigned camNumber)
{
Parameter<OMX_PARAM_U32TYPE> device;
device->nPortIndex = OMX_ALL;
device->nU32 = camNumber;
ERR_OMX( OMX_SetParameter(component_, OMX_IndexParamCameraDeviceNumber, &device), "set camera device number");
}
void getSensorModes(OMX_U32 Mode=OMX_ALL)
{
Parameter<OMX_CONFIG_CAMERASENSORMODETYPE> sensor;
sensor->nPortIndex=Mode;
sensor->nModeIndex=0;
for(int i=1;i<100;i++)
{
if(OMX_GetParameter(component_, OMX_IndexConfigCameraSensorModes, &sensor)!=OMX_ErrorNone)
{usleep(5000);}
else
break;
}
if(Mode==OMX_ALL)
{
for(unsigned int i=0;i<sensor->nNumModes;i++)
{
sensor->nModeIndex=i;
ERR_OMX( OMX_GetParameter(component_, OMX_IndexConfigCameraSensorModes, &sensor)," Get sensor mode");
}
}
else
{
printf("Camera output used : %d x %d Padding %d-%d Fps %d-%d\n",sensor->nWidth,sensor->nHeight,sensor->nPaddingRight,sensor->nPaddingDown,sensor->nFrameRateMin,sensor->nFrameRateMax);
}
}
void getSensorCameraMode()
{
getSensorModes(OPORT_VIDEO);
}
void setVideoFromat(const VideoFromat& videoFormat,bool VideoPreview=false)
{
Parameter<OMX_PARAM_PORTDEFINITIONTYPE> portDef;
getPortDefinition(OPORT_VIDEO, portDef);
portDef->format.video.nFrameWidth = videoFormat.width;
portDef->format.video.nFrameHeight = videoFormat.height;
portDef->format.video.xFramerate = videoFormat.framerate << 16;
portDef->format.video.nStride = align(portDef->format.video.nFrameWidth, portDef->nBufferAlignment);
portDef->format.video.eColorFormat = OMX_COLOR_FormatYUV420PackedPlanar;
//printf("portDef->nBufferCountActual %d\n",portDef->nBufferCountActual);
setPortDefinition(OPORT_VIDEO, portDef);
if(VideoPreview)
{
getPortDefinition(OPORT_PREVIEW, portDef);
portDef->format.video.nFrameWidth = videoFormat.width;
portDef->format.video.nFrameHeight = videoFormat.height;
portDef->format.video.xFramerate = videoFormat.framerate << 16;
portDef->format.video.nStride = align(portDef->format.video.nFrameWidth, portDef->nBufferAlignment);
portDef->format.video.eColorFormat = OMX_COLOR_FormatYUV420PackedPlanar;
setPortDefinition(OPORT_PREVIEW, portDef);
}
//setFramerate(videoFormat.framerate);
}
void setFramerate(unsigned fps)
{
Parameter<OMX_CONFIG_FRAMERATETYPE> framerate;
framerate->xEncodeFramerate = fps << 16;
framerate->nPortIndex = OPORT_VIDEO;
ERR_OMX( OMX_SetConfig(component_, OMX_IndexConfigVideoFramerate, &framerate), "set framerate");
}
// -100 .. 100
void setSharpness(OMX_U32 nPortIndex = OMX_ALL, OMX_S32 nSharpness = 0)
{
Parameter<OMX_CONFIG_SHARPNESSTYPE> sharpness;
sharpness->nPortIndex = nPortIndex;
sharpness->nSharpness = nSharpness;
ERR_OMX( OMX_SetConfig(component_, OMX_IndexConfigCommonSharpness, &sharpness), "set camera sharpness");
}
// -100 .. 100
void setContrast(OMX_U32 nPortIndex = OMX_ALL, OMX_S32 nContrast = 0)
{
Parameter<OMX_CONFIG_CONTRASTTYPE> contrast;
contrast->nPortIndex = nPortIndex;
contrast->nContrast = nContrast;
ERR_OMX( OMX_SetConfig(component_, OMX_IndexConfigCommonContrast, &contrast), "set camera contrast");
}
// -100 .. 100
void setSaturation(OMX_U32 nPortIndex = OMX_ALL, OMX_S32 nSaturation = 0)
{
Parameter<OMX_CONFIG_SATURATIONTYPE> saturation;
saturation->nPortIndex = nPortIndex;
saturation->nSaturation = nSaturation;
ERR_OMX( OMX_SetConfig(component_, OMX_IndexConfigCommonSaturation, &saturation), "set camera saturation");
}
// 0 .. 100
void setBrightness(OMX_U32 nPortIndex = OMX_ALL, OMX_U32 nBrightness = 50)
{
Parameter<OMX_CONFIG_BRIGHTNESSTYPE> brightness;
brightness->nPortIndex = nPortIndex;
brightness->nBrightness = nBrightness;
ERR_OMX( OMX_SetConfig(component_, OMX_IndexConfigCommonBrightness, &brightness), "set camera brightness");
}
void setExposureValue(OMX_U32 nPortIndex = OMX_ALL,
OMX_S32 xEVCompensation = 0, OMX_U32 nSensitivity = 100, OMX_BOOL bAutoSensitivity = OMX_TRUE)
{
Parameter<OMX_CONFIG_EXPOSUREVALUETYPE> exposure_value;
exposure_value->nPortIndex = nPortIndex;
exposure_value->xEVCompensation = xEVCompensation;
exposure_value->nSensitivity = nSensitivity;
exposure_value->bAutoSensitivity = bAutoSensitivity;
exposure_value->bAutoShutterSpeed=OMX_TRUE;
//exposure_value->bAutoShutterSpeed=OMX_FALSE;
//exposure_value->nShutterSpeedMsec=10000;