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https://github.com/wpilibsuite/allwpilib
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[cscore] Add UVC Protocol Support for USB Camera Controls on macOS (#7926)
This commit is contained in:
Yuhao
@@ -2,12 +2,14 @@
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#import "UsbCameraImplObjc.h"
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#include "UsbCameraImpl.h"
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#include <wpi/SmallString.h>
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#pragma GCC diagnostic ignored "-Wunused-parameter"
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#import "UsbCameraImplObjc.h"
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#include "Notifier.h"
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#include "Log.h"
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#include "UsbCameraImpl.h"
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template <typename S, typename... Args>
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inline void NamedLog(UsbCameraImplObjc* objc, unsigned int level,
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@@ -104,44 +106,300 @@ using namespace cs;
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name:AVCaptureDeviceWasDisconnectedNotification
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object:nil];
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[self deviceConnect];
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[self deviceCacheProperties];
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});
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}
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- (BOOL)getEnabledWithProperty:(int)property withValue:(int)value {
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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return false;
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}
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// There is room for quirk handling improvement here, but I will leave it
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// for now.
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if (property == sharedThis->GetPropertyIndex(kPropertyAutoExposure)) {
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return value == kPropertyAutoExposureOn;
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}
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return value != 0;
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}
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- (int)clampToPercent:(int)value {
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if (value < 0) {
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return 0;
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}
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if (value > 100) {
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return 100;
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}
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return value;
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}
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- (int)percentageToRaw:(int)propID percentage:(int)percentage min:(int)min max:(int)max {
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if (min == max) {
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return min;
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}
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return min + (max - min) * percentage / 100;
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}
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- (BOOL)isPercentageProperty:(int)propID {
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return propID == CAPPROPID_BRIGHTNESS ||
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propID == CAPPROPID_CONTRAST ||
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propID == CAPPROPID_SATURATION ||
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propID == CAPPROPID_HUE ||
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propID == CAPPROPID_SHARPNESS ||
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propID == CAPPROPID_GAIN;
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}
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// Property functions
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- (void)setProperty:(int)property
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withValue:(int)value
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status:(CS_Status*)status {
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// Get the property name from the property index
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wpi::SmallString<128> nameBuf;
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std::string_view propName = sharedThis->GetPropertyName(property, nameBuf, status);
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if (*status != 0) {
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OBJCERROR("Failed to get property name for index {}", property);
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return;
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}
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std::string nameStr(propName);
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// Check if it's an auto property
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auto& propertyAutoCache = sharedThis->GetPropertyAutoCache();
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auto autoIt = propertyAutoCache.find(nameStr);
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if (autoIt != propertyAutoCache.end()) {
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uint32_t propID = autoIt->second;
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bool enabled = [self getEnabledWithProperty:property withValue:value];
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dispatch_async_and_wait(self.sessionQueue, ^{
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if (self.uvcControl == nil) {
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*status = CS_INVALID_PROPERTY;
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return;
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}
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if (![self.uvcControl setAutoProperty:propID enabled:enabled status:status]) {
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OBJCERROR("Failed to set auto property {} to {}",
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nameStr, enabled);
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return;
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}
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// Update property value
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sharedThis->UpdatePropertyValuePublic(property, false, value, {});
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});
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return;
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}
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// Handle regular property
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auto& propertyCache = sharedThis->GetPropertyCache();
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auto it = propertyCache.find(nameStr);
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if (it == propertyCache.end()) {
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OBJCERROR("Property not found in cache: {}", nameStr);
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*status = CS_INVALID_PROPERTY;
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return;
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}
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uint32_t propID = it->second;
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dispatch_async_and_wait(self.sessionQueue, ^{
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if (self.uvcControl == nil) {
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*status = CS_INVALID_PROPERTY;
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return;
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}
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// Get the property implementation to access its limits
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const PropertyImpl* prop = sharedThis->GetPropertyPublic(property);
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if (!prop) {
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*status = CS_INVALID_PROPERTY;
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return;
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}
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int32_t realValue = value;
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if ([self isPercentageProperty:propID]) {
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// Clamp to 0-100
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realValue = [self clampToPercent:realValue];
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// Scale to min/max
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realValue = [self percentageToRaw:propID percentage:realValue min:prop->minimum max:prop->maximum];
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}
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if (![self.uvcControl setProperty:propID withValue:realValue status:status]) {
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OBJCERROR("Failed to set property {} to value {}", nameStr, realValue);
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return;
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}
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// Update property value in the container
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sharedThis->UpdatePropertyValuePublic(property, false, value, {});
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});
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}
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- (void)setStringProperty:(int)property
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withValue:(std::string_view*)value
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status:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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return;
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}
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// Standard common camera properties
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- (void)setBrightness:(int)brightness status:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// Get the property index and set it
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int prop = sharedThis->GetPropertyIndex(kPropertyBrightness);
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sharedThis->SetProperty(prop, brightness, status);
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}
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- (int)getBrightness:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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return 0;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return 0;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// Get the property index and its value
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int prop = sharedThis->GetPropertyIndex(kPropertyBrightness);
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return sharedThis->GetProperty(prop, status);
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}
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- (void)setWhiteBalanceAuto:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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int prop = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
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sharedThis->SetProperty(prop, 1, status);
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}
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- (void)setWhiteBalanceHoldCurrent:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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int prop = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
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sharedThis->SetProperty(prop, 0, status);
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}
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- (void)setWhiteBalanceManual:(int)value status:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// First disable auto white balance
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int autoProp = sharedThis->GetPropertyIndex(kPropertyAutoWhiteBalance);
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sharedThis->SetProperty(autoProp, 0, status);
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if (*status != 0) {
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return;
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}
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// Then set the white balance value
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int prop = sharedThis->GetPropertyIndex(kPropertyWhiteBalance);
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sharedThis->SetProperty(prop, value, status);
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}
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- (void)setExposureAuto:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// Set the auto exposure property to enabled (1)
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int prop = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
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sharedThis->SetProperty(prop, kPropertyAutoExposureOn, status);
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}
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- (void)setExposureHoldCurrent:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// Set the auto exposure property to disabled (0)
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int prop = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
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sharedThis->SetProperty(prop, kPropertyAutoExposureOff, status);
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}
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- (void)setExposureManual:(int)value status:(CS_Status*)status {
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*status = CS_INVALID_PROPERTY;
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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*status = CS_INVALID_HANDLE;
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return;
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}
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// Make sure properties are cached
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if (!self.propertiesCached) {
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[self deviceCacheProperties];
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}
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// First disable auto exposure
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int autoProp = sharedThis->GetPropertyIndex(kPropertyAutoExposure);
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sharedThis->SetProperty(autoProp, kPropertyAutoExposureOff, status);
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if (*status != 0) {
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return;
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}
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// Then set the exposure value
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int prop = sharedThis->GetPropertyIndex(kPropertyExposure);
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sharedThis->SetProperty(prop, value, status);
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}
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- (bool)setVideoMode:(const cs::VideoMode&)mode status:(CS_Status*)status {
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@@ -295,10 +553,144 @@ using namespace cs;
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// All above are called from C++, must always dispatch to loop
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// Property caching methods
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- (void)deviceCacheProperties {
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if (self.session == nil) {
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return;
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}
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if (self.uvcControl == nil) {
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return;
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}
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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OBJCERROR("Cannot cache properties: UsbCameraImpl not available");
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return;
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}
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// Cache basic properties
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[self cacheProperty:CAPPROPID_BRIGHTNESS withName:@kPropertyBrightness];
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[self cacheProperty:CAPPROPID_WHITEBALANCE withName:@kPropertyWhiteBalance];
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[self cacheProperty:CAPPROPID_EXPOSURE withName:@kPropertyExposure];
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[self cacheProperty:CAPPROPID_CONTRAST withName:@kPropertyContrast];
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[self cacheProperty:CAPPROPID_SATURATION withName:@kPropertySaturation];
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[self cacheProperty:CAPPROPID_SHARPNESS withName:@kPropertySharpness];
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[self cacheProperty:CAPPROPID_GAIN withName:@kPropertyGain];
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[self cacheProperty:CAPPROPID_GAMMA withName:@kPropertyGamma];
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[self cacheProperty:CAPPROPID_HUE withName:@kPropertyHue];
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[self cacheProperty:CAPPROPID_FOCUS withName:@kPropertyFocus];
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[self cacheProperty:CAPPROPID_ZOOM withName:@kPropertyZoom];
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[self cacheProperty:CAPPROPID_BACKLIGHTCOMP withName:@kPropertyBackLightCompensation];
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[self cacheProperty:CAPPROPID_POWERLINEFREQ withName:@kPropertyPowerLineFrequency];
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// Cache auto properties
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[self cacheAutoProperty:CAPPROPID_EXPOSURE withName:@kPropertyAutoExposure];
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[self cacheAutoProperty:CAPPROPID_WHITEBALANCE withName:@kPropertyAutoWhiteBalance];
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[self cacheAutoProperty:CAPPROPID_FOCUS withName:@kPropertyAutoFocus];
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self.propertiesCached = true;
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}
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- (void)cacheProperty:(uint32_t)propID withName:(NSString *)name {
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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OBJCERROR("Cannot cache property: UsbCameraImpl not available");
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return;
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}
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if (self.uvcControl == nil) {
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OBJCWARNING("Cannot cache property {}: UVC control not initialized", [name UTF8String]);
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return;
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}
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// Get property limits
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int32_t minimum = 0, maximum = 0, defaultValue = 0;
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int32_t value = defaultValue;
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CS_Status status;
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std::string nameStr = std::string([name UTF8String]);
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// Get the property limits
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if (![self.uvcControl getPropertyLimits:propID
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min:&minimum
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max:&maximum
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defValue:&defaultValue
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status:&status]) {
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OBJCWARNING("Failed to get property limits for {}", nameStr);
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return;
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}
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// Get current value
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if (![self.uvcControl getProperty:propID withValue:&value status:&status]) {
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value = defaultValue;
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OBJCWARNING("Failed to get current value for {}: {}",
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nameStr, value);
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return;
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}
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// Create property
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auto& propertyCache = sharedThis->GetPropertyCache();
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propertyCache[nameStr] = propID;
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// Create the property implementation
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std::unique_ptr<PropertyImpl> prop;
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prop = std::make_unique<PropertyImpl>(nameStr);
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prop->propKind = CS_PROP_INTEGER;
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prop->value = value;
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prop->minimum = minimum;
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prop->maximum = maximum;
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prop->step = 1; // Most camera properties use a step of 1
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prop->defaultValue = defaultValue;
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// Add the property to the container
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std::scoped_lock lock(sharedThis->GetMutex());
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int ndx = sharedThis->CreatePropertyPublic(nameStr, [&] { return std::move(prop); });
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// Notify that property has been created
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sharedThis->NotifyPropertyCreatedPublic(ndx, *sharedThis->GetPropertyPublic(ndx));
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}
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- (void)cacheAutoProperty:(uint32_t)propID withName:(NSString *)baseName {
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auto sharedThis = self.cppImpl.lock();
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if (!sharedThis) {
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OBJCERROR("Cannot cache auto property: UsbCameraImpl not available");
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return;
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}
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if (self.uvcControl == nil) {
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OBJCWARNING("Cannot cache auto property {}: UVC control not initialized", [baseName UTF8String]);
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return;
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}
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// Build auto mode property name
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std::string nameStr = std::string([baseName UTF8String]);
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// Get current auto mode status
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bool enabled = false;
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CS_Status status = 0;
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if(![self.uvcControl getAutoProperty:propID enabled:&enabled status:&status]) {
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OBJCWARNING("Failed to get auto property {}", nameStr);
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return;
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}
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// Create property
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std::unique_ptr<PropertyImpl> prop;
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prop = std::make_unique<PropertyImpl>(nameStr);
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prop->propKind = CS_PROP_BOOLEAN;
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prop->value = enabled ? 1 : 0;
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prop->minimum = 0;
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prop->maximum = 1;
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prop->step = 1;
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prop->defaultValue = 0; // Default is manual mode
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// Add property to container
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std::scoped_lock lock(sharedThis->GetMutex());
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int ndx = sharedThis->CreatePropertyPublic(nameStr, [&] { return std::move(prop); });
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// Notify property created
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sharedThis->NotifyPropertyCreatedPublic(ndx, *sharedThis->GetPropertyPublic(ndx));
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// Map property name to ID
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auto& propertyAutoCache = sharedThis->GetPropertyAutoCache();
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propertyAutoCache[nameStr] = propID;
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}
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static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
|
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@@ -459,6 +851,53 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
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self.deviceValid = true;
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}
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||||
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- (CMTime)findNearestFrameDuration:(int)fps {
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if (self.currentFormat == nil) {
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return CMTimeMake(1, fps);
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}
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||||
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NSArray<AVFrameRateRange*>* frameRates = self.currentFormat.videoSupportedFrameRateRanges;
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||||
if (frameRates.count == 0) {
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return CMTimeMake(1, fps);
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}
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||||
|
||||
// Find the nearest frame duration
|
||||
CMTime nearestDuration = CMTimeMake(1, fps);
|
||||
double minDiff = DBL_MAX;
|
||||
|
||||
for (AVFrameRateRange* range in frameRates) {
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CMTime minDuration = range.minFrameDuration;
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CMTime maxDuration = range.maxFrameDuration;
|
||||
|
||||
// Calculate frame duration for current fps
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CMTime targetDuration = CMTimeMake(1, fps);
|
||||
|
||||
// Check if within range
|
||||
if (CMTimeCompare(targetDuration, minDuration) >= 0 &&
|
||||
CMTimeCompare(targetDuration, maxDuration) <= 0) {
|
||||
return targetDuration;
|
||||
}
|
||||
|
||||
// Calculate difference with min value
|
||||
double minDiffValue = fabs(CMTimeGetSeconds(targetDuration) - CMTimeGetSeconds(minDuration));
|
||||
if (minDiffValue < minDiff) {
|
||||
minDiff = minDiffValue;
|
||||
nearestDuration = minDuration;
|
||||
}
|
||||
|
||||
// Calculate difference with max value
|
||||
double maxDiffValue = fabs(CMTimeGetSeconds(targetDuration) - CMTimeGetSeconds(maxDuration));
|
||||
if (maxDiffValue < minDiff) {
|
||||
minDiff = maxDiffValue;
|
||||
nearestDuration = maxDuration;
|
||||
}
|
||||
}
|
||||
|
||||
OBJCDEBUG("Nearest fps: {}", nearestDuration.timescale / static_cast<double>(nearestDuration.value));
|
||||
|
||||
return nearestDuration;
|
||||
}
|
||||
|
||||
- (bool)deviceStreamOn {
|
||||
if (self.streaming) {
|
||||
return false;
|
||||
@@ -476,9 +915,9 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
|
||||
}
|
||||
if (self.currentFPS != 0) {
|
||||
self.videoDevice.activeVideoMinFrameDuration =
|
||||
CMTimeMake(1, self.currentFPS);
|
||||
[self findNearestFrameDuration:self.currentFPS];
|
||||
self.videoDevice.activeVideoMaxFrameDuration =
|
||||
CMTimeMake(1, self.currentFPS);
|
||||
[self findNearestFrameDuration:self.currentFPS];
|
||||
}
|
||||
[self.videoDevice unlockForConfiguration];
|
||||
} else {
|
||||
@@ -574,6 +1013,16 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
|
||||
goto err;
|
||||
}
|
||||
|
||||
CS_Status status;
|
||||
self.uvcControl = [UvcControlImpl createFromAVCaptureDevice:self.videoDevice status:&status];
|
||||
if (self.uvcControl == nil) {
|
||||
OBJCWARNING("Failed to initialize UVC control for camera: {}", status);
|
||||
} else {
|
||||
OBJCINFO("UVC control initialized successfully");
|
||||
}
|
||||
|
||||
self.uvcControl.cppImpl = self.cppImpl;
|
||||
|
||||
self.callback = [[UsbCameraDelegate alloc] init];
|
||||
if (self.callback == nil) {
|
||||
OBJCWARNING("Creating Camera Callback failed");
|
||||
|
||||
Reference in New Issue
Block a user