mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
cscore: Separate platform-specific sources (#1387)
This commit is contained in:
Peter Johnson
322
cscore/src/main/native/linux/UsbCameraProperty.cpp
Normal file
322
cscore/src/main/native/linux/UsbCameraProperty.cpp
Normal file
@@ -0,0 +1,322 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#include "UsbCameraProperty.h"
|
||||
|
||||
#include <wpi/STLExtras.h>
|
||||
#include <wpi/SmallString.h>
|
||||
|
||||
#include "UsbUtil.h"
|
||||
|
||||
using namespace cs;
|
||||
|
||||
static int GetIntCtrlIoctl(int fd, unsigned id, int type, int64_t* value) {
|
||||
unsigned ctrl_class = V4L2_CTRL_ID2CLASS(id);
|
||||
if (type == V4L2_CTRL_TYPE_INTEGER64 || V4L2_CTRL_DRIVER_PRIV(id) ||
|
||||
(ctrl_class != V4L2_CTRL_CLASS_USER &&
|
||||
ctrl_class != V4L2_CID_PRIVATE_BASE)) {
|
||||
// Use extended control
|
||||
struct v4l2_ext_control ctrl;
|
||||
struct v4l2_ext_controls ctrls;
|
||||
std::memset(&ctrl, 0, sizeof(ctrl));
|
||||
std::memset(&ctrls, 0, sizeof(ctrls));
|
||||
ctrl.id = id;
|
||||
ctrls.ctrl_class = ctrl_class;
|
||||
ctrls.count = 1;
|
||||
ctrls.controls = &ctrl;
|
||||
int rc = DoIoctl(fd, VIDIOC_G_EXT_CTRLS, &ctrls);
|
||||
if (rc < 0) return rc;
|
||||
*value = ctrl.value;
|
||||
} else {
|
||||
// Use normal control
|
||||
struct v4l2_control ctrl;
|
||||
std::memset(&ctrl, 0, sizeof(ctrl));
|
||||
ctrl.id = id;
|
||||
int rc = DoIoctl(fd, VIDIOC_G_CTRL, &ctrl);
|
||||
if (rc < 0) return rc;
|
||||
*value = ctrl.value;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int SetIntCtrlIoctl(int fd, unsigned id, int type, int64_t value) {
|
||||
unsigned ctrl_class = V4L2_CTRL_ID2CLASS(id);
|
||||
if (type == V4L2_CTRL_TYPE_INTEGER64 || V4L2_CTRL_DRIVER_PRIV(id) ||
|
||||
(ctrl_class != V4L2_CTRL_CLASS_USER &&
|
||||
ctrl_class != V4L2_CID_PRIVATE_BASE)) {
|
||||
// Use extended control
|
||||
struct v4l2_ext_control ctrl;
|
||||
struct v4l2_ext_controls ctrls;
|
||||
std::memset(&ctrl, 0, sizeof(ctrl));
|
||||
std::memset(&ctrls, 0, sizeof(ctrls));
|
||||
ctrl.id = id;
|
||||
if (type == V4L2_CTRL_TYPE_INTEGER64)
|
||||
ctrl.value64 = value;
|
||||
else
|
||||
ctrl.value = static_cast<__s32>(value);
|
||||
ctrls.ctrl_class = ctrl_class;
|
||||
ctrls.count = 1;
|
||||
ctrls.controls = &ctrl;
|
||||
return DoIoctl(fd, VIDIOC_S_EXT_CTRLS, &ctrls);
|
||||
} else {
|
||||
// Use normal control
|
||||
struct v4l2_control ctrl;
|
||||
ctrl.id = id;
|
||||
ctrl.value = static_cast<__s32>(value);
|
||||
return DoIoctl(fd, VIDIOC_S_CTRL, &ctrl);
|
||||
}
|
||||
}
|
||||
|
||||
static int GetStringCtrlIoctl(int fd, int id, int maximum, std::string* value) {
|
||||
struct v4l2_ext_control ctrl;
|
||||
struct v4l2_ext_controls ctrls;
|
||||
std::memset(&ctrl, 0, sizeof(ctrl));
|
||||
std::memset(&ctrls, 0, sizeof(ctrls));
|
||||
ctrl.id = id;
|
||||
ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(id);
|
||||
ctrls.count = 1;
|
||||
ctrls.controls = &ctrl;
|
||||
int rc = DoIoctl(fd, VIDIOC_G_EXT_CTRLS, &ctrls);
|
||||
if (rc < 0) {
|
||||
value->clear();
|
||||
return rc;
|
||||
}
|
||||
value->assign(ctrl.string, std::strlen(ctrl.string));
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int SetStringCtrlIoctl(int fd, int id, int maximum,
|
||||
const wpi::Twine& value) {
|
||||
wpi::SmallString<64> strBuf, strBuf2;
|
||||
wpi::StringRef str = value.toNullTerminatedStringRef(strBuf);
|
||||
if (str.size() > static_cast<size_t>(maximum)) {
|
||||
// don't know if strBuf was used, just recopy
|
||||
strBuf2 = str.take_front(maximum);
|
||||
str = strBuf2;
|
||||
strBuf2.push_back('\0'); // null terminate
|
||||
}
|
||||
|
||||
struct v4l2_ext_control ctrl;
|
||||
struct v4l2_ext_controls ctrls;
|
||||
std::memset(&ctrl, 0, sizeof(ctrl));
|
||||
std::memset(&ctrls, 0, sizeof(ctrls));
|
||||
ctrl.id = id;
|
||||
ctrl.size = str.size();
|
||||
ctrl.string = const_cast<char*>(str.data());
|
||||
ctrls.ctrl_class = V4L2_CTRL_ID2CLASS(id);
|
||||
ctrls.count = 1;
|
||||
ctrls.controls = &ctrl;
|
||||
return DoIoctl(fd, VIDIOC_S_EXT_CTRLS, &ctrls);
|
||||
}
|
||||
|
||||
// Removes non-alphanumeric characters and replaces spaces with underscores.
|
||||
// e.g. "Zoom, Absolute" -> "zoom_absolute", "Pan (Absolute)" -> "pan_absolute"
|
||||
static wpi::StringRef NormalizeName(wpi::StringRef name,
|
||||
wpi::SmallVectorImpl<char>& buf) {
|
||||
bool newWord = false;
|
||||
for (auto ch : name) {
|
||||
if (std::isalnum(ch)) {
|
||||
if (newWord) buf.push_back('_');
|
||||
newWord = false;
|
||||
buf.push_back(std::tolower(ch));
|
||||
} else if (!buf.empty()) {
|
||||
newWord = true;
|
||||
}
|
||||
}
|
||||
return wpi::StringRef(buf.data(), buf.size());
|
||||
}
|
||||
|
||||
#ifdef VIDIOC_QUERY_EXT_CTRL
|
||||
UsbCameraProperty::UsbCameraProperty(const struct v4l2_query_ext_ctrl& ctrl)
|
||||
: PropertyImpl(wpi::StringRef{}, CS_PROP_NONE, ctrl.step,
|
||||
ctrl.default_value, 0),
|
||||
id(ctrl.id & V4L2_CTRL_ID_MASK),
|
||||
type(ctrl.type) {
|
||||
hasMinimum = true;
|
||||
minimum = ctrl.minimum;
|
||||
hasMaximum = true;
|
||||
maximum = ctrl.maximum;
|
||||
|
||||
// propKind
|
||||
switch (ctrl.type) {
|
||||
case V4L2_CTRL_TYPE_INTEGER:
|
||||
case V4L2_CTRL_TYPE_INTEGER64:
|
||||
propKind = CS_PROP_INTEGER;
|
||||
break;
|
||||
case V4L2_CTRL_TYPE_BOOLEAN:
|
||||
propKind = CS_PROP_BOOLEAN;
|
||||
break;
|
||||
case V4L2_CTRL_TYPE_INTEGER_MENU:
|
||||
case V4L2_CTRL_TYPE_MENU:
|
||||
propKind = CS_PROP_ENUM;
|
||||
break;
|
||||
case V4L2_CTRL_TYPE_STRING:
|
||||
propKind = CS_PROP_STRING;
|
||||
break;
|
||||
default:
|
||||
return; // others unsupported
|
||||
}
|
||||
|
||||
// name
|
||||
size_t len = 0;
|
||||
while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') ++len;
|
||||
wpi::SmallString<64> name_buf;
|
||||
name = NormalizeName(wpi::StringRef(ctrl.name, len), name_buf);
|
||||
}
|
||||
#endif
|
||||
|
||||
UsbCameraProperty::UsbCameraProperty(const struct v4l2_queryctrl& ctrl)
|
||||
: PropertyImpl(wpi::StringRef{}, CS_PROP_NONE, ctrl.step,
|
||||
ctrl.default_value, 0),
|
||||
id(ctrl.id & V4L2_CTRL_ID_MASK),
|
||||
type(ctrl.type) {
|
||||
hasMinimum = true;
|
||||
minimum = ctrl.minimum;
|
||||
hasMaximum = true;
|
||||
maximum = ctrl.maximum;
|
||||
|
||||
// propKind
|
||||
switch (ctrl.type) {
|
||||
case V4L2_CTRL_TYPE_INTEGER:
|
||||
case V4L2_CTRL_TYPE_INTEGER64:
|
||||
propKind = CS_PROP_INTEGER;
|
||||
break;
|
||||
case V4L2_CTRL_TYPE_BOOLEAN:
|
||||
propKind = CS_PROP_BOOLEAN;
|
||||
break;
|
||||
case V4L2_CTRL_TYPE_INTEGER_MENU:
|
||||
case V4L2_CTRL_TYPE_MENU:
|
||||
propKind = CS_PROP_ENUM;
|
||||
break;
|
||||
case V4L2_CTRL_TYPE_STRING:
|
||||
propKind = CS_PROP_STRING;
|
||||
break;
|
||||
default:
|
||||
return; // others unsupported
|
||||
}
|
||||
|
||||
// name
|
||||
size_t len = 0;
|
||||
while (len < sizeof(ctrl.name) && ctrl.name[len] != '\0') ++len;
|
||||
wpi::SmallString<64> name_buf;
|
||||
name = NormalizeName(
|
||||
wpi::StringRef(reinterpret_cast<const char*>(ctrl.name), len), name_buf);
|
||||
}
|
||||
|
||||
std::unique_ptr<UsbCameraProperty> UsbCameraProperty::DeviceQuery(int fd,
|
||||
__u32* id) {
|
||||
int rc;
|
||||
std::unique_ptr<UsbCameraProperty> prop;
|
||||
#ifdef VIDIOC_QUERY_EXT_CTRL
|
||||
v4l2_query_ext_ctrl qc_ext;
|
||||
std::memset(&qc_ext, 0, sizeof(qc_ext));
|
||||
qc_ext.id = *id;
|
||||
rc = TryIoctl(fd, VIDIOC_QUERY_EXT_CTRL, &qc_ext);
|
||||
if (rc == 0) {
|
||||
*id = qc_ext.id; // copy back
|
||||
// We don't support array types
|
||||
if (qc_ext.elems > 1 || qc_ext.nr_of_dims > 0) return nullptr;
|
||||
prop = wpi::make_unique<UsbCameraProperty>(qc_ext);
|
||||
}
|
||||
#endif
|
||||
if (!prop) {
|
||||
// Fall back to normal QUERYCTRL
|
||||
struct v4l2_queryctrl qc;
|
||||
std::memset(&qc, 0, sizeof(qc));
|
||||
qc.id = *id;
|
||||
rc = TryIoctl(fd, VIDIOC_QUERYCTRL, &qc);
|
||||
*id = qc.id; // copy back
|
||||
if (rc != 0) return nullptr;
|
||||
prop = wpi::make_unique<UsbCameraProperty>(qc);
|
||||
}
|
||||
|
||||
// Cache enum property choices
|
||||
if (prop->propKind == CS_PROP_ENUM) {
|
||||
prop->enumChoices.resize(prop->maximum + 1);
|
||||
v4l2_querymenu qmenu;
|
||||
std::memset(&qmenu, 0, sizeof(qmenu));
|
||||
qmenu.id = *id;
|
||||
for (int i = prop->minimum; i <= prop->maximum; ++i) {
|
||||
qmenu.index = static_cast<__u32>(i);
|
||||
if (TryIoctl(fd, VIDIOC_QUERYMENU, &qmenu) != 0) continue;
|
||||
prop->enumChoices[i] = reinterpret_cast<const char*>(qmenu.name);
|
||||
}
|
||||
}
|
||||
|
||||
return prop;
|
||||
}
|
||||
|
||||
bool UsbCameraProperty::DeviceGet(std::unique_lock<wpi::mutex>& lock, int fd) {
|
||||
if (fd < 0) return true;
|
||||
unsigned idCopy = id;
|
||||
int rv = 0;
|
||||
|
||||
switch (propKind) {
|
||||
case CS_PROP_BOOLEAN:
|
||||
case CS_PROP_INTEGER:
|
||||
case CS_PROP_ENUM: {
|
||||
int typeCopy = type;
|
||||
int64_t newValue = 0;
|
||||
lock.unlock();
|
||||
rv = GetIntCtrlIoctl(fd, idCopy, typeCopy, &newValue);
|
||||
lock.lock();
|
||||
if (rv >= 0) value = newValue;
|
||||
break;
|
||||
}
|
||||
case CS_PROP_STRING: {
|
||||
int maximumCopy = maximum;
|
||||
std::string newValueStr;
|
||||
lock.unlock();
|
||||
rv = GetStringCtrlIoctl(fd, idCopy, maximumCopy, &newValueStr);
|
||||
lock.lock();
|
||||
if (rv >= 0) valueStr = std::move(newValueStr);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return rv >= 0;
|
||||
}
|
||||
|
||||
bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock,
|
||||
int fd) const {
|
||||
// Make a copy of the string as we're about to release the lock
|
||||
wpi::SmallString<128> valueStrCopy{valueStr};
|
||||
return DeviceSet(lock, fd, value, valueStrCopy);
|
||||
}
|
||||
|
||||
bool UsbCameraProperty::DeviceSet(std::unique_lock<wpi::mutex>& lock, int fd,
|
||||
int newValue,
|
||||
const wpi::Twine& newValueStr) const {
|
||||
if (!device || fd < 0) return true;
|
||||
unsigned idCopy = id;
|
||||
int rv = 0;
|
||||
|
||||
switch (propKind) {
|
||||
case CS_PROP_BOOLEAN:
|
||||
case CS_PROP_INTEGER:
|
||||
case CS_PROP_ENUM: {
|
||||
int typeCopy = type;
|
||||
lock.unlock();
|
||||
rv = SetIntCtrlIoctl(fd, idCopy, typeCopy, newValue);
|
||||
lock.lock();
|
||||
break;
|
||||
}
|
||||
case CS_PROP_STRING: {
|
||||
int maximumCopy = maximum;
|
||||
lock.unlock();
|
||||
rv = SetStringCtrlIoctl(fd, idCopy, maximumCopy, newValueStr);
|
||||
lock.lock();
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
return rv >= 0;
|
||||
}
|
||||
Reference in New Issue
Block a user