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RaspiStill.c
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RaspiStill.c
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/*
Copyright (c) 2013, Broadcom Europe Ltd
Copyright (c) 2013, James Hughes
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* \file RaspiStill.c
* Command line program to capture a still frame and encode it to file.
* Also optionally display a preview/viewfinder of current camera input.
*
* \date 31 Jan 2013
* \Author: James Hughes
*
* Description
*
* 3 components are created; camera, preview and JPG encoder.
* Camera component has three ports, preview, video and stills.
* This program connects preview and stills to the preview and jpg
* encoder. Using mmal we don't need to worry about buffers between these
* components, but we do need to handle buffers from the encoder, which
* are simply written straight to the file in the requisite buffer callback.
*
* We use the RaspiCamControl code to handle the specific camera settings.
*/
// We use some GNU extensions (asprintf, basename)
#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <memory.h>
#include <unistd.h>
#include <errno.h>
#include <sysexits.h>
#define VERSION_STRING "v1.3.8"
#include "bcm_host.h"
#include "interface/vcos/vcos.h"
#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_logging.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"
#include "RaspiCamControl.h"
#include "RaspiPreview.h"
#include "RaspiCLI.h"
#include "RaspiTex.h"
#include <semaphore.h>
// Standard port setting for the camera component
#define MMAL_CAMERA_PREVIEW_PORT 0
#define MMAL_CAMERA_VIDEO_PORT 1
#define MMAL_CAMERA_CAPTURE_PORT 2
// Stills format information
// 0 implies variable
#define STILLS_FRAME_RATE_NUM 0
#define STILLS_FRAME_RATE_DEN 1
/// Video render needs at least 2 buffers.
#define VIDEO_OUTPUT_BUFFERS_NUM 3
#define MAX_USER_EXIF_TAGS 32
#define MAX_EXIF_PAYLOAD_LENGTH 128
/// Frame advance method
#define FRAME_NEXT_SINGLE 0
#define FRAME_NEXT_TIMELAPSE 1
#define FRAME_NEXT_KEYPRESS 2
#define FRAME_NEXT_FOREVER 3
#define FRAME_NEXT_GPIO 4
#define FRAME_NEXT_SIGNAL 5
#define FRAME_NEXT_IMMEDIATELY 6
int mmal_status_to_int(MMAL_STATUS_T status);
static void signal_handler(int signal_number);
/** Structure containing all state information for the current run
*/
typedef struct
{
int timeout; /// Time taken before frame is grabbed and app then shuts down. Units are milliseconds
int width; /// Requested width of image
int height; /// requested height of image
int quality; /// JPEG quality setting (1-100)
int wantRAW; /// Flag for whether the JPEG metadata also contains the RAW bayer image
char *filename; /// filename of output file
char *linkname; /// filename of output file
MMAL_PARAM_THUMBNAIL_CONFIG_T thumbnailConfig;
int verbose; /// !0 if want detailed run information
int demoMode; /// Run app in demo mode
int demoInterval; /// Interval between camera settings changes
MMAL_FOURCC_T encoding; /// Encoding to use for the output file.
const char *exifTags[MAX_USER_EXIF_TAGS]; /// Array of pointers to tags supplied from the command line
int numExifTags; /// Number of supplied tags
int enableExifTags; /// Enable/Disable EXIF tags in output
int timelapse; /// Delay between each picture in timelapse mode. If 0, disable timelapse
int fullResPreview; /// If set, the camera preview port runs at capture resolution. Reduces fps.
int frameNextMethod; /// Which method to use to advance to next frame
int useGL; /// Render preview using OpenGL
int glCapture; /// Save the GL frame-buffer instead of camera output
int settings; /// Request settings from the camera
int cameraNum; /// Camera number
int burstCaptureMode; /// Enable burst mode
int sensor_mode; /// Sensor mode. 0=auto. Check docs/forum for modes selected by other values.
RASPIPREVIEW_PARAMETERS preview_parameters; /// Preview setup parameters
RASPICAM_CAMERA_PARAMETERS camera_parameters; /// Camera setup parameters
MMAL_COMPONENT_T *camera_component; /// Pointer to the camera component
MMAL_COMPONENT_T *encoder_component; /// Pointer to the encoder component
MMAL_COMPONENT_T *null_sink_component; /// Pointer to the null sink component
MMAL_CONNECTION_T *preview_connection; /// Pointer to the connection from camera to preview
MMAL_CONNECTION_T *encoder_connection; /// Pointer to the connection from camera to encoder
MMAL_POOL_T *encoder_pool; /// Pointer to the pool of buffers used by encoder output port
RASPITEX_STATE raspitex_state; /// GL renderer state and parameters
} RASPISTILL_STATE;
/** Struct used to pass information in encoder port userdata to callback
*/
typedef struct
{
FILE *file_handle; /// File handle to write buffer data to.
VCOS_SEMAPHORE_T complete_semaphore; /// semaphore which is posted when we reach end of frame (indicates end of capture or fault)
RASPISTILL_STATE *pstate; /// pointer to our state in case required in callback
} PORT_USERDATA;
static void display_valid_parameters(char *app_name);
static void store_exif_tag(RASPISTILL_STATE *state, const char *exif_tag);
/// Comamnd ID's and Structure defining our command line options
#define CommandHelp 0
#define CommandWidth 1
#define CommandHeight 2
#define CommandQuality 3
#define CommandRaw 4
#define CommandOutput 5
#define CommandVerbose 6
#define CommandTimeout 7
#define CommandThumbnail 8
#define CommandDemoMode 9
#define CommandEncoding 10
#define CommandExifTag 11
#define CommandTimelapse 12
#define CommandFullResPreview 13
#define CommandLink 14
#define CommandKeypress 15
#define CommandSignal 16
#define CommandGL 17
#define CommandGLCapture 18
#define CommandSettings 19
#define CommandCamSelect 20
#define CommandBurstMode 21
#define CommandSensorMode 22
static COMMAND_LIST cmdline_commands[] =
{
{ CommandHelp, "-help", "?", "This help information", 0 },
{ CommandWidth, "-width", "w", "Set image width <size>", 1 },
{ CommandHeight, "-height", "h", "Set image height <size>", 1 },
{ CommandQuality, "-quality", "q", "Set jpeg quality <0 to 100>", 1 },
{ CommandRaw, "-raw", "r", "Add raw bayer data to jpeg metadata", 0 },
{ CommandOutput, "-output", "o", "Output filename <filename> (to write to stdout, use '-o -'). If not specified, no file is saved", 1 },
{ CommandLink, "-latest", "l", "Link latest complete image to filename <filename>", 1},
{ CommandVerbose, "-verbose", "v", "Output verbose information during run", 0 },
{ CommandTimeout, "-timeout", "t", "Time (in ms) before takes picture and shuts down (if not specified, set to 5s)", 1 },
{ CommandThumbnail,"-thumb", "th", "Set thumbnail parameters (x:y:quality) or none", 1},
{ CommandDemoMode,"-demo", "d", "Run a demo mode (cycle through range of camera options, no capture)", 0},
{ CommandEncoding,"-encoding", "e", "Encoding to use for output file (jpg, bmp, gif, png)", 1},
{ CommandExifTag, "-exif", "x", "EXIF tag to apply to captures (format as 'key=value') or none", 1},
{ CommandTimelapse,"-timelapse", "tl", "Timelapse mode. Takes a picture every <t>ms", 1},
{ CommandFullResPreview,"-fullpreview","fp", "Run the preview using the still capture resolution (may reduce preview fps)", 0},
{ CommandKeypress,"-keypress", "k", "Wait between captures for a ENTER, X then ENTER to exit", 0},
{ CommandSignal, "-signal", "s", "Wait between captures for a SIGUSR1 from another process", 0},
{ CommandGL, "-gl", "g", "Draw preview to texture instead of using video render component", 0},
{ CommandGLCapture, "-glcapture","gc", "Capture the GL frame-buffer instead of the camera image", 0},
{ CommandSettings, "-settings", "set","Retrieve camera settings and write to stdout", 0},
{ CommandCamSelect, "-camselect","cs", "Select camera <number>. Default 0", 1 },
{ CommandBurstMode, "-burst", "bm", "Enable 'burst capture mode'", 0},
{ CommandSensorMode,"-mode", "md", "Force sensor mode. 0=auto. See docs for other modes available", 1},
};
static int cmdline_commands_size = sizeof(cmdline_commands) / sizeof(cmdline_commands[0]);
static struct
{
char *format;
MMAL_FOURCC_T encoding;
} encoding_xref[] =
{
{"jpg", MMAL_ENCODING_JPEG},
{"bmp", MMAL_ENCODING_BMP},
{"gif", MMAL_ENCODING_GIF},
{"png", MMAL_ENCODING_PNG}
};
static int encoding_xref_size = sizeof(encoding_xref) / sizeof(encoding_xref[0]);
static struct
{
char *description;
int nextFrameMethod;
} next_frame_description[] =
{
{"Single capture", FRAME_NEXT_SINGLE},
{"Capture on timelapse", FRAME_NEXT_TIMELAPSE},
{"Capture on keypress", FRAME_NEXT_KEYPRESS},
{"Run forever", FRAME_NEXT_FOREVER},
{"Capture on GPIO", FRAME_NEXT_GPIO},
{"Capture on signal", FRAME_NEXT_SIGNAL},
};
static int next_frame_description_size = sizeof(next_frame_description) / sizeof(next_frame_description[0]);
/**
* Assign a default set of parameters to the state passed in
*
* @param state Pointer to state structure to assign defaults to
*/
static void default_status(RASPISTILL_STATE *state)
{
if (!state)
{
vcos_assert(0);
return;
}
state->timeout = 5000; // 5s delay before take image
state->width = 2592;
state->height = 1944;
state->quality = 85;
state->wantRAW = 0;
state->filename = NULL;
state->linkname = NULL;
state->verbose = 0;
state->thumbnailConfig.enable = 1;
state->thumbnailConfig.width = 64;
state->thumbnailConfig.height = 48;
state->thumbnailConfig.quality = 35;
state->demoMode = 0;
state->demoInterval = 250; // ms
state->camera_component = NULL;
state->encoder_component = NULL;
state->preview_connection = NULL;
state->encoder_connection = NULL;
state->encoder_pool = NULL;
state->encoding = MMAL_ENCODING_JPEG;
state->numExifTags = 0;
state->enableExifTags = 1;
state->timelapse = 0;
state->fullResPreview = 0;
state->frameNextMethod = FRAME_NEXT_SINGLE;
state->useGL = 0;
state->glCapture = 0;
state->settings = 0;
state->cameraNum = 0;
state->burstCaptureMode=0;
state->sensor_mode = 0;
// Setup preview window defaults
raspipreview_set_defaults(&state->preview_parameters);
// Set up the camera_parameters to default
raspicamcontrol_set_defaults(&state->camera_parameters);
// Set initial GL preview state
raspitex_set_defaults(&state->raspitex_state);
}
/**
* Dump image state parameters to stderr. Used for debugging
*
* @param state Pointer to state structure to assign defaults to
*/
static void dump_status(RASPISTILL_STATE *state)
{
int i;
if (!state)
{
vcos_assert(0);
return;
}
fprintf(stderr, "Width %d, Height %d, quality %d, filename %s\n", state->width,
state->height, state->quality, state->filename);
fprintf(stderr, "Time delay %d, Raw %s\n", state->timeout,
state->wantRAW ? "yes" : "no");
fprintf(stderr, "Thumbnail enabled %s, width %d, height %d, quality %d\n",
state->thumbnailConfig.enable ? "Yes":"No", state->thumbnailConfig.width,
state->thumbnailConfig.height, state->thumbnailConfig.quality);
fprintf(stderr, "Link to latest frame enabled ");
if (state->linkname)
{
fprintf(stderr, " yes, -> %s\n", state->linkname);
}
else
{
fprintf(stderr, " no\n");
}
fprintf(stderr, "Full resolution preview %s\n", state->fullResPreview ? "Yes": "No");
fprintf(stderr, "Capture method : ");
for (i=0;i<next_frame_description_size;i++)
{
if (state->frameNextMethod == next_frame_description[i].nextFrameMethod)
fprintf(stderr, next_frame_description[i].description);
}
fprintf(stderr, "\n\n");
if (state->enableExifTags)
{
if (state->numExifTags)
{
fprintf(stderr, "User supplied EXIF tags :\n");
for (i=0;i<state->numExifTags;i++)
{
fprintf(stderr, "%s", state->exifTags[i]);
if (i != state->numExifTags-1)
fprintf(stderr, ",");
}
fprintf(stderr, "\n\n");
}
}
else
fprintf(stderr, "EXIF tags disabled\n");
raspipreview_dump_parameters(&state->preview_parameters);
raspicamcontrol_dump_parameters(&state->camera_parameters);
}
/**
* Parse the incoming command line and put resulting parameters in to the state
*
* @param argc Number of arguments in command line
* @param argv Array of pointers to strings from command line
* @param state Pointer to state structure to assign any discovered parameters to
* @return non-0 if failed for some reason, 0 otherwise
*/
static int parse_cmdline(int argc, const char **argv, RASPISTILL_STATE *state)
{
// Parse the command line arguments.
// We are looking for --<something> or -<abreviation of something>
int valid = 1;
int i;
for (i = 1; i < argc && valid; i++)
{
int command_id, num_parameters;
if (!argv[i])
continue;
if (argv[i][0] != '-')
{
valid = 0;
continue;
}
// Assume parameter is valid until proven otherwise
valid = 1;
command_id = raspicli_get_command_id(cmdline_commands, cmdline_commands_size, &argv[i][1], &num_parameters);
// If we found a command but are missing a parameter, continue (and we will drop out of the loop)
if (command_id != -1 && num_parameters > 0 && (i + 1 >= argc) )
continue;
// We are now dealing with a command line option
switch (command_id)
{
case CommandHelp:
display_valid_parameters(basename(argv[0]));
// exit straight away if help requested
return -1;
case CommandWidth: // Width > 0
if (sscanf(argv[i + 1], "%u", &state->width) != 1)
valid = 0;
else
i++;
break;
case CommandHeight: // Height > 0
if (sscanf(argv[i + 1], "%u", &state->height) != 1)
valid = 0;
else
i++;
break;
case CommandQuality: // Quality = 1-100
if (sscanf(argv[i + 1], "%u", &state->quality) == 1)
{
if (state->quality > 100)
{
fprintf(stderr, "Setting max quality = 100\n");
state->quality = 100;
}
i++;
}
else
valid = 0;
break;
case CommandRaw: // Add raw bayer data in metadata
state->wantRAW = 1;
break;
case CommandOutput: // output filename
{
int len = strlen(argv[i + 1]);
if (len)
{
state->filename = malloc(len + 10); // leave enough space for any timelapse generated changes to filename
vcos_assert(state->filename);
if (state->filename)
strncpy(state->filename, argv[i + 1], len+1);
i++;
}
else
valid = 0;
break;
}
case CommandLink :
{
int len = strlen(argv[i+1]);
if (len)
{
state->linkname = malloc(len + 10);
vcos_assert(state->linkname);
if (state->linkname)
strncpy(state->linkname, argv[i + 1], len+1);
i++;
}
else
valid = 0;
break;
}
case CommandVerbose: // display lots of data during run
state->verbose = 1;
break;
case CommandTimeout: // Time to run viewfinder for before taking picture, in seconds
{
if (sscanf(argv[i + 1], "%u", &state->timeout) == 1)
{
// Ensure that if previously selected CommandKeypress we don't overwrite it
if (state->timeout == 0 && state->frameNextMethod != FRAME_NEXT_KEYPRESS)
state->frameNextMethod = FRAME_NEXT_FOREVER;
i++;
}
else
valid = 0;
break;
}
case CommandThumbnail : // thumbnail parameters - needs string "x:y:quality"
if ( strcmp( argv[ i + 1 ], "none" ) == 0 )
{
state->thumbnailConfig.enable = 0;
}
else
{
sscanf(argv[i + 1], "%d:%d:%d",
&state->thumbnailConfig.width,
&state->thumbnailConfig.height,
&state->thumbnailConfig.quality);
}
i++;
break;
case CommandDemoMode: // Run in demo mode - no capture
{
// Demo mode might have a timing parameter
// so check if a) we have another parameter, b) its not the start of the next option
if (i + 1 < argc && argv[i+1][0] != '-')
{
if (sscanf(argv[i + 1], "%u", &state->demoInterval) == 1)
{
// TODO : What limits do we need for timeout?
state->demoMode = 1;
i++;
}
else
valid = 0;
}
else
{
state->demoMode = 1;
}
break;
}
case CommandEncoding :
{
int len = strlen(argv[i + 1]);
valid = 0;
if (len)
{
int j;
for (j=0;j<encoding_xref_size;j++)
{
if (strcmp(encoding_xref[j].format, argv[i+1]) == 0)
{
state->encoding = encoding_xref[j].encoding;
valid = 1;
i++;
break;
}
}
}
break;
}
case CommandExifTag:
if ( strcmp( argv[ i + 1 ], "none" ) == 0 )
{
state->enableExifTags = 0;
}
else
{
store_exif_tag(state, argv[i+1]);
}
i++;
break;
case CommandTimelapse:
if (sscanf(argv[i + 1], "%u", &state->timelapse) != 1)
valid = 0;
else
{
if (state->timelapse)
state->frameNextMethod = FRAME_NEXT_TIMELAPSE;
else
state->frameNextMethod = FRAME_NEXT_IMMEDIATELY;
i++;
}
break;
case CommandFullResPreview:
state->fullResPreview = 1;
break;
case CommandKeypress: // Set keypress between capture mode
state->frameNextMethod = FRAME_NEXT_KEYPRESS;
break;
case CommandSignal: // Set SIGUSR1 between capture mode
state->frameNextMethod = FRAME_NEXT_SIGNAL;
// Reenable the signal
signal(SIGUSR1, signal_handler);
break;
case CommandGL:
state->useGL = 1;
break;
case CommandGLCapture:
state->glCapture = 1;
break;
case CommandSettings:
state->settings = 1;
break;
case CommandCamSelect: //Select camera input port
{
if (sscanf(argv[i + 1], "%u", &state->cameraNum) == 1)
{
i++;
}
else
valid = 0;
break;
}
case CommandBurstMode:
state->burstCaptureMode=1;
break;
case CommandSensorMode:
{
if (sscanf(argv[i + 1], "%u", &state->sensor_mode) == 1)
{
i++;
}
else
valid = 0;
break;
}
default:
{
// Try parsing for any image specific parameters
// result indicates how many parameters were used up, 0,1,2
// but we adjust by -1 as we have used one already
const char *second_arg = (i + 1 < argc) ? argv[i + 1] : NULL;
int parms_used = raspicamcontrol_parse_cmdline(&state->camera_parameters, &argv[i][1], second_arg);
// Still unused, try preview options
if (!parms_used)
parms_used = raspipreview_parse_cmdline(&state->preview_parameters, &argv[i][1], second_arg);
// Still unused, try GL preview options
if (!parms_used)
parms_used = raspitex_parse_cmdline(&state->raspitex_state, &argv[i][1], second_arg);
// If no parms were used, this must be a bad parameters
if (!parms_used)
valid = 0;
else
i += parms_used - 1;
break;
}
}
}
/* GL preview parameters use preview parameters as defaults unless overriden */
if (! state->raspitex_state.gl_win_defined)
{
state->raspitex_state.x = state->preview_parameters.previewWindow.x;
state->raspitex_state.y = state->preview_parameters.previewWindow.y;
state->raspitex_state.width = state->preview_parameters.previewWindow.width;
state->raspitex_state.height = state->preview_parameters.previewWindow.height;
}
/* Also pass the preview information through so GL renderer can determine
* the real resolution of the multi-media image */
state->raspitex_state.preview_x = state->preview_parameters.previewWindow.x;
state->raspitex_state.preview_y = state->preview_parameters.previewWindow.y;
state->raspitex_state.preview_width = state->preview_parameters.previewWindow.width;
state->raspitex_state.preview_height = state->preview_parameters.previewWindow.height;
state->raspitex_state.opacity = state->preview_parameters.opacity;
state->raspitex_state.verbose = state->verbose;
if (!valid)
{
fprintf(stderr, "Invalid command line option (%s)\n", argv[i-1]);
return 1;
}
return 0;
}
/**
* Display usage information for the application to stdout
*
* @param app_name String to display as the application name
*/
static void display_valid_parameters(char *app_name)
{
fprintf(stderr, "Runs camera for specific time, and take JPG capture at end if requested\n\n");
fprintf(stderr, "usage: %s [options]\n\n", app_name);
fprintf(stderr, "Image parameter commands\n\n");
raspicli_display_help(cmdline_commands, cmdline_commands_size);
// Help for preview options
raspipreview_display_help();
// Now display any help information from the camcontrol code
raspicamcontrol_display_help();
// Now display GL preview help
raspitex_display_help();
fprintf(stderr, "\n");
return;
}
/**
* buffer header callback function for camera control
*
* No actions taken in current version
*
* @param port Pointer to port from which callback originated
* @param buffer mmal buffer header pointer
*/
static void camera_control_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
if (buffer->cmd == MMAL_EVENT_PARAMETER_CHANGED)
{
MMAL_EVENT_PARAMETER_CHANGED_T *param = (MMAL_EVENT_PARAMETER_CHANGED_T *)buffer->data;
switch (param->hdr.id) {
case MMAL_PARAMETER_CAMERA_SETTINGS:
{
MMAL_PARAMETER_CAMERA_SETTINGS_T *settings = (MMAL_PARAMETER_CAMERA_SETTINGS_T*)param;
vcos_log_error("Exposure now %u, analog gain %u/%u, digital gain %u/%u",
settings->exposure,
settings->analog_gain.num, settings->analog_gain.den,
settings->digital_gain.num, settings->digital_gain.den);
vcos_log_error("AWB R=%u/%u, B=%u/%u",
settings->awb_red_gain.num, settings->awb_red_gain.den,
settings->awb_blue_gain.num, settings->awb_blue_gain.den
);
}
break;
}
}
else
vcos_log_error("Received unexpected camera control callback event, 0x%08x", buffer->cmd);
mmal_buffer_header_release(buffer);
}
/**
* buffer header callback function for encoder
*
* Callback will dump buffer data to the specific file
*
* @param port Pointer to port from which callback originated
* @param buffer mmal buffer header pointer
*/
static void encoder_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
int complete = 0;
// We pass our file handle and other stuff in via the userdata field.
PORT_USERDATA *pData = (PORT_USERDATA *)port->userdata;
if (pData)
{
int bytes_written = buffer->length;
if (buffer->length && pData->file_handle)
{
mmal_buffer_header_mem_lock(buffer);
bytes_written = fwrite(buffer->data, 1, buffer->length, pData->file_handle);
mmal_buffer_header_mem_unlock(buffer);
}
// We need to check we wrote what we wanted - it's possible we have run out of storage.
if (bytes_written != buffer->length)
{
vcos_log_error("Unable to write buffer to file - aborting");
complete = 1;
}
// Now flag if we have completed
if (buffer->flags & (MMAL_BUFFER_HEADER_FLAG_FRAME_END | MMAL_BUFFER_HEADER_FLAG_TRANSMISSION_FAILED))
complete = 1;
}
else
{
vcos_log_error("Received a encoder buffer callback with no state");
}
// release buffer back to the pool
mmal_buffer_header_release(buffer);
// and send one back to the port (if still open)
if (port->is_enabled)
{
MMAL_STATUS_T status = MMAL_SUCCESS;
MMAL_BUFFER_HEADER_T *new_buffer;
new_buffer = mmal_queue_get(pData->pstate->encoder_pool->queue);
if (new_buffer)
{
status = mmal_port_send_buffer(port, new_buffer);
}
if (!new_buffer || status != MMAL_SUCCESS)
vcos_log_error("Unable to return a buffer to the encoder port");
}
if (complete)
vcos_semaphore_post(&(pData->complete_semaphore));
}
/**
* Create the camera component, set up its ports
*
* @param state Pointer to state control struct. camera_component member set to the created camera_component if successfull.
*
* @return MMAL_SUCCESS if all OK, something else otherwise
*
*/
static MMAL_STATUS_T create_camera_component(RASPISTILL_STATE *state)
{
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
MMAL_STATUS_T status;
/* Create the component */
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Failed to create camera component");
goto error;
}
MMAL_PARAMETER_INT32_T camera_num =
{{MMAL_PARAMETER_CAMERA_NUM, sizeof(camera_num)}, state->cameraNum};
status = mmal_port_parameter_set(camera->control, &camera_num.hdr);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Could not select camera : error %d", status);
goto error;
}
if (!camera->output_num)
{
status = MMAL_ENOSYS;
vcos_log_error("Camera doesn't have output ports");
goto error;
}
status = mmal_port_parameter_set_uint32(camera->control, MMAL_PARAMETER_CAMERA_CUSTOM_SENSOR_CONFIG, state->sensor_mode);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Could not set sensor mode : error %d", status);
goto error;
}
preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
if (state->settings)
{
MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T change_event_request =
{{MMAL_PARAMETER_CHANGE_EVENT_REQUEST, sizeof(MMAL_PARAMETER_CHANGE_EVENT_REQUEST_T)},
MMAL_PARAMETER_CAMERA_SETTINGS, 1};
status = mmal_port_parameter_set(camera->control, &change_event_request.hdr);
if ( status != MMAL_SUCCESS )
{
vcos_log_error("No camera settings events");
}
}
// Enable the camera, and tell it its control callback function
status = mmal_port_enable(camera->control, camera_control_callback);
if (status != MMAL_SUCCESS)
{
vcos_log_error("Unable to enable control port : error %d", status);
goto error;
}
// set up the camera configuration
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
{
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
.max_stills_w = state->width,
.max_stills_h = state->height,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = state->preview_parameters.previewWindow.width,
.max_preview_video_h = state->preview_parameters.previewWindow.height,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
if (state->fullResPreview)
{
cam_config.max_preview_video_w = state->width;
cam_config.max_preview_video_h = state->height;
}
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);
// Now set up the port formats
format = preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
else if(state->camera_parameters.shutter_speed > 1000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 166, 1000 }, {999, 1000}};
mmal_port_parameter_set(preview_port, &fps_range.hdr);
}
if (state->fullResPreview)
{
// In this mode we are forcing the preview to be generated from the full capture resolution.
// This runs at a max of 15fps with the OV5647 sensor.
format->es->video.width = VCOS_ALIGN_UP(state->width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->width;
format->es->video.crop.height = state->height;
format->es->video.frame_rate.num = FULL_RES_PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = FULL_RES_PREVIEW_FRAME_RATE_DEN;
}
else
{
// Use a full FOV 4:3 mode
format->es->video.width = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.width, 32);
format->es->video.height = VCOS_ALIGN_UP(state->preview_parameters.previewWindow.height, 16);
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = state->preview_parameters.previewWindow.width;
format->es->video.crop.height = state->preview_parameters.previewWindow.height;
format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
}
status = mmal_port_format_commit(preview_port);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera viewfinder format couldn't be set");
goto error;
}
// Set the same format on the video port (which we dont use here)
mmal_format_full_copy(video_port->format, format);
status = mmal_port_format_commit(video_port);
if (status != MMAL_SUCCESS)
{
vcos_log_error("camera video format couldn't be set");
goto error;
}
// Ensure there are enough buffers to avoid dropping frames
if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;
format = still_port->format;
if(state->camera_parameters.shutter_speed > 6000000)
{
MMAL_PARAMETER_FPS_RANGE_T fps_range = {{MMAL_PARAMETER_FPS_RANGE, sizeof(fps_range)},
{ 50, 1000 }, {166, 1000}};
mmal_port_parameter_set(still_port, &fps_range.hdr);