1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
|
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright 2020 Sony Semiconductor Solutions Corporation
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <string.h>
#include <fcntl.h>
#include <arch/board/board.h>
#include <nuttx/video/video.h>
#include <nuttx/arch.h>
#include "py/runtime.h"
#include "shared-bindings/camera/Camera.h"
typedef struct {
const char *devpath;
int fd;
} camera_dev_t;
STATIC camera_dev_t camera_dev = {"/dev/video", -1};
typedef struct {
uint16_t width;
uint16_t height;
} image_size_t;
STATIC const image_size_t image_size_table[] = {
{ VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA },
{ VIDEO_HSIZE_VGA, VIDEO_VSIZE_VGA },
{ VIDEO_HSIZE_HD, VIDEO_VSIZE_HD },
{ VIDEO_HSIZE_QUADVGA, VIDEO_VSIZE_QUADVGA },
{ VIDEO_HSIZE_FULLHD, VIDEO_VSIZE_FULLHD },
{ VIDEO_HSIZE_3M, VIDEO_VSIZE_3M },
{ VIDEO_HSIZE_5M, VIDEO_VSIZE_5M },
};
static bool camera_check_width_and_height(uint16_t width, uint16_t height) {
for (int i = 0; i < MP_ARRAY_SIZE(image_size_table); i++) {
if (image_size_table[i].width == width && image_size_table[i].height == height) {
return true;
}
}
return false;
}
static bool camera_check_buffer_length(uint16_t width, uint16_t height, camera_imageformat_t format, size_t length) {
if (format == IMAGEFORMAT_JPG) {
// In SPRESENSE SDK, JPEG compression quality=80 by default.
// In such setting, the maximum actual measured size of JPEG image
// is about width * height * 2 / 9.
return length >= (size_t)(width * height * 2 / 9);
} else {
return false;
}
}
static bool camera_check_format(camera_imageformat_t format) {
return format == IMAGEFORMAT_JPG;
}
static void camera_set_format(enum v4l2_buf_type type, uint32_t pixformat, uint16_t width, uint16_t height) {
v4l2_requestbuffers_t req = {0};
// Set Buffer Mode.
req.type = type;
req.memory = V4L2_MEMORY_USERPTR;
req.count = 1;
req.mode = V4L2_BUF_MODE_RING;
ioctl(camera_dev.fd, VIDIOC_REQBUFS, (unsigned long)&req);
v4l2_format_t fmt = {0};
// Set Format.
fmt.type = type;
fmt.fmt.pix.width = width;
fmt.fmt.pix.height = height;
fmt.fmt.pix.field = V4L2_FIELD_ANY;
fmt.fmt.pix.pixelformat = pixformat;
ioctl(camera_dev.fd, VIDIOC_S_FMT, (unsigned long)&fmt);
}
static void camera_start_streaming(enum v4l2_buf_type type) {
ioctl(camera_dev.fd, VIDIOC_STREAMON, (unsigned long)&type);
}
static void camera_start_preview() {
camera_set_format(V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_PIX_FMT_UYVY, VIDEO_HSIZE_QVGA, VIDEO_VSIZE_QVGA);
v4l2_buffer_t buf;
memset(&buf, 0, sizeof(v4l2_buffer_t));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf);
camera_start_streaming(V4L2_BUF_TYPE_VIDEO_CAPTURE);
}
void common_hal_camera_construct(camera_obj_t *self) {
if (camera_dev.fd < 0) {
if (video_initialize(camera_dev.devpath) < 0) {
mp_raise_ValueError(translate("Could not initialize Camera"));
}
camera_dev.fd = open(camera_dev.devpath, 0);
if (camera_dev.fd < 0) {
mp_raise_ValueError(translate("Could not initialize Camera"));
}
}
camera_start_preview();
camera_start_streaming(V4L2_BUF_TYPE_STILL_CAPTURE);
sleep(1);
}
void common_hal_camera_deinit(camera_obj_t *self) {
if (common_hal_camera_deinited(self)) {
return;
}
video_uninitialize();
close(camera_dev.fd);
camera_dev.fd = -1;
}
bool common_hal_camera_deinited(camera_obj_t *self) {
return camera_dev.fd < 0;
}
size_t common_hal_camera_take_picture(camera_obj_t *self, uint8_t *buffer, size_t len, uint16_t width, uint16_t height, camera_imageformat_t format) {
if (!camera_check_width_and_height(width, height)) {
mp_raise_ValueError(translate("Size not supported"));
}
if (!camera_check_buffer_length(width, height, format, len)) {
mp_raise_ValueError(translate("Buffer is too small"));
}
if (!camera_check_format(format)) {
mp_raise_ValueError(translate("Format not supported"));
}
camera_set_format(V4L2_BUF_TYPE_STILL_CAPTURE, V4L2_PIX_FMT_JPEG, width, height);
v4l2_buffer_t buf;
memset(&buf, 0, sizeof(v4l2_buffer_t));
buf.type = V4L2_BUF_TYPE_STILL_CAPTURE;
buf.memory = V4L2_MEMORY_USERPTR;
buf.m.userptr = (unsigned long)buffer;
buf.length = len;
ioctl(camera_dev.fd, VIDIOC_QBUF, (unsigned long)&buf);
ioctl(camera_dev.fd, VIDIOC_TAKEPICT_START, 0);
ioctl(camera_dev.fd, VIDIOC_DQBUF, (unsigned long)&buf);
ioctl(camera_dev.fd, VIDIOC_TAKEPICT_STOP, false);
return (size_t)buf.bytesused;
}
|
