mirror of
https://github.com/thead-yocto-mirror/csi_hal
synced 2026-06-21 08:52:22 +02:00
304 lines
9.7 KiB
C
304 lines
9.7 KiB
C
/*
|
||
* Copyright (C) 2021 Alibaba Group Holding Limited
|
||
* Author: LuChongzhi <chongzhi.lcz@alibaba-inc.com>
|
||
*
|
||
* This program is free software; you can redistribute it and/or modify
|
||
* it under the terms of the GNU General Public License version 2 as
|
||
* published by the Free Software Foundation.
|
||
*/
|
||
|
||
#include <stdio.h>
|
||
#include <stdlib.h>
|
||
#include <string.h>
|
||
|
||
#define LOG_LEVEL 3
|
||
#define LOG_PREFIX "camera_demo1"
|
||
#include <syslog.h>
|
||
|
||
#include <csi_frame.h>
|
||
#include <csi_camera.h>
|
||
|
||
#ifdef PLATFORM_SIMULATOR
|
||
#include "apputilities.h"
|
||
#include "platform_action.h"
|
||
#endif
|
||
|
||
static void dump_camera_meta(csi_frame_s *frame);
|
||
|
||
//#define TEST_DEVICE_NAME "/dev/fake"
|
||
#define TEST_DEVICE_NAME "/dev/video0"
|
||
|
||
int main(int argc, char *argv[])
|
||
{
|
||
bool running = true;
|
||
csi_camera_info_s camera_info;
|
||
|
||
// 打印HAL接口版本号
|
||
csi_api_version_u version;
|
||
csi_camera_get_version(&version);
|
||
printf("Camera HAL version: %d.%d\n", version.major, version.minor);
|
||
|
||
// 获取设备中，所有的Camera
|
||
struct csi_camera_infos camera_infos;
|
||
csi_camera_query_list(&camera_infos);
|
||
|
||
// 打印所有设备所支持的Camera
|
||
for (int i = 0; i < camera_infos.count; i++) {
|
||
camera_info = camera_infos.info[i];
|
||
printf("Camera[%d]: camera_name='%s', device_name='%s', bus_info='%s', capabilities=0x%08x\n",
|
||
i,
|
||
camera_info.camera_name, camera_info.device_name, camera_info.bus_info,
|
||
camera_info.capabilities);
|
||
printf("Camera[%d] caps are:\n",
|
||
i); /* The caps are: Video capture, metadata capture */
|
||
for (int j = 1; j <= 0x08000000; j = j << 1) {
|
||
switch (camera_info.capabilities & j) {
|
||
case CSI_CAMERA_CAP_VIDEO_CAPTURE:
|
||
printf("\t camera_infos.info[%d]:Video capture,\n", i);
|
||
break;
|
||
case CSI_CAMERA_CAP_META_CAPTURE:
|
||
printf("\t camera_infos.info[%d] metadata capture,\n", i);
|
||
break;
|
||
default:
|
||
if (camera_info.capabilities & j) {
|
||
printf("\t camera_infos.info[%d] unknown capabilities(0x%08x)\n", i,
|
||
camera_info.capabilities & j);
|
||
}
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
/* Camera[0]: camera_name='RGB_Camera', device_name='/dev/video0', bus_info='CSI-MIPI', capabilities=0x00800001
|
||
* Camera[1]: camera_name:'Mono_Camera', device_name:'/dev/video8', bus_info='USB', capabilities=0x00000001
|
||
*/
|
||
|
||
bool found_camera = false;
|
||
for (int i = 0; i < camera_infos.count; i++) {
|
||
if (strcmp(camera_infos.info[i].device_name, TEST_DEVICE_NAME) == 0) {
|
||
camera_info = camera_infos.info[i];
|
||
printf("found device_name:'%s'\n", camera_info.device_name);
|
||
found_camera = true;
|
||
break;
|
||
}
|
||
}
|
||
if (!found_camera) {
|
||
LOG_E("Can't find camera_name:'%s'\n", TEST_DEVICE_NAME);
|
||
exit(-1);
|
||
}
|
||
|
||
|
||
// 打开Camera设备获取句柄，作为后续操对象
|
||
csi_cam_handle_t cam_handle;
|
||
csi_camera_open(&cam_handle, camera_info.device_name);
|
||
|
||
// 获取Camera支持的工作模式
|
||
struct csi_camera_modes camera_modes;
|
||
csi_camera_get_modes(cam_handle, &camera_modes);
|
||
|
||
// 打印camera所支持的所有工作模式
|
||
printf("Camera:'%s' modes are:\n", TEST_DEVICE_NAME);
|
||
printf("{\n");
|
||
for (int i = 0; i < camera_modes.count; i++) {
|
||
printf("\t mode_id=%d: description:'%s'\n",
|
||
camera_modes.modes[i].mode_id, camera_modes.modes[i].description);
|
||
}
|
||
printf("}\n");
|
||
|
||
// 设置camera的工作模式及其配置
|
||
csi_camera_mode_cfg_s camera_cfg;
|
||
camera_cfg.mode_id = 1;
|
||
camera_cfg.calibriation = NULL; // 采用系统默认配置
|
||
camera_cfg.lib3a = NULL; // 采用系统默认配置
|
||
csi_camera_set_mode(cam_handle, &camera_cfg);
|
||
|
||
// 获取单个可控单元的属性
|
||
csi_camera_property_description_s description;
|
||
description.id = CSI_CAMERA_PID_HFLIP;
|
||
csi_camera_query_property(cam_handle, &description);
|
||
printf("id=0x%08x type=%d default=%d value=%d\n",
|
||
description.id, description.type,
|
||
description.default_value.bool_value, description.value.bool_value);
|
||
/* id=0x0098090x, type=2 default=0 value=1 */
|
||
/* Other example:
|
||
* id=0x0098090y, type=3 min=0 max=255 step=1 default=127 value=116
|
||
* id=0x0098090z, type=4 min=0 max=3 default=0 value=2
|
||
* 0: IDLE
|
||
* 1: BUSY
|
||
* 2: REACHED
|
||
* 3: FAILED
|
||
*/
|
||
|
||
// 轮询获取所有可控制的单元
|
||
printf("all properties are:\n");
|
||
description.id = CSI_CAMERA_PID_HFLIP;
|
||
while (!csi_camera_query_property(cam_handle, &description)) {
|
||
switch (description.type) {
|
||
case (CSI_CAMERA_PROPERTY_TYPE_INTEGER):
|
||
printf("id=0x%08x type=%d default=%d value=%d\n",
|
||
description.id, description.type,
|
||
description.default_value.int_value, description.value.int_value);
|
||
break;
|
||
case (CSI_CAMERA_PROPERTY_TYPE_BOOLEAN):
|
||
printf("id=0x%08x type=%d default=%d value=%d\n",
|
||
description.id, description.type,
|
||
description.default_value.bool_value, description.value.bool_value);
|
||
break;
|
||
case (CSI_CAMERA_PROPERTY_TYPE_ENUM):
|
||
printf("id=0x%08x type=%d default=%d value=%d\n",
|
||
description.id, description.type,
|
||
description.default_value.enum_value, description.value.enum_value);
|
||
break;
|
||
case (CSI_CAMERA_PROPERTY_TYPE_STRING):
|
||
printf("id=0x%08x type=%d default=%s value=%s\n",
|
||
description.id, description.type,
|
||
description.default_value.str_value, description.value.str_value);
|
||
break;
|
||
case (CSI_CAMERA_PROPERTY_TYPE_BITMASK):
|
||
printf("id=0x%08x type=%d default=%x value=%x\n",
|
||
description.id, description.type,
|
||
description.default_value.bitmask_value, description.value.bitmask_value);
|
||
break;
|
||
default:
|
||
LOG_E("error type!\n");
|
||
break;
|
||
}
|
||
description.id |= CSI_CAMERA_FLAG_NEXT_CTRL;
|
||
}
|
||
|
||
// 同时配置多个参数
|
||
csi_camera_properties_s properties;
|
||
csi_camera_property_s property[2];
|
||
property[0].id = CSI_CAMERA_PID_HFLIP;
|
||
property[0].type = CSI_CAMERA_PROPERTY_TYPE_BOOLEAN;
|
||
property[0].value.bool_value = true;
|
||
property[1].id = CSI_CAMERA_PID_VFLIP;
|
||
property[1].type = CSI_CAMERA_PROPERTY_TYPE_BOOLEAN;
|
||
property[1].value.bool_value = false;
|
||
properties.count = 2;
|
||
properties.property = property;
|
||
csi_camera_set_property(cam_handle, &properties);
|
||
LOG_O("set_property ok!\n");
|
||
|
||
csi_camera_get_property(cam_handle, &properties);
|
||
|
||
|
||
|
||
// 查询输出channel
|
||
csi_camera_channel_cfg_s chn_cfg;
|
||
chn_cfg.chn_id = CSI_CAMERA_CHANNEL_0;
|
||
csi_camera_channel_query(cam_handle, &chn_cfg);
|
||
if (chn_cfg.status != CSI_CAMERA_CHANNEL_CLOSED) {
|
||
printf("Can't open CSI_CAMERA_CHANNEL_0\n");
|
||
exit(-1);
|
||
}
|
||
|
||
// 打开输出channel
|
||
chn_cfg.chn_id = CSI_CAMERA_CHANNEL_0;
|
||
chn_cfg.frm_cnt = 4;
|
||
chn_cfg.img_fmt.width = 1280;
|
||
chn_cfg.img_fmt.height = 720;
|
||
chn_cfg.img_fmt.pix_fmt = CSI_PIX_FMT_BGR;
|
||
chn_cfg.img_type = CSI_IMG_TYPE_DMA_BUF;
|
||
chn_cfg.meta_fields = CSI_CAMERA_META_DEFAULT_FIELDS;
|
||
chn_cfg.capture_type = CSI_CAMERA_CHANNEL_CAPTURE_VIDEO |
|
||
CSI_CAMERA_CHANNEL_CAPTURE_META;
|
||
csi_camera_channel_open(cam_handle, &chn_cfg);
|
||
|
||
// 订阅Event
|
||
csi_cam_event_handle_t event_handle;
|
||
csi_camera_create_event(&event_handle, cam_handle);
|
||
csi_camera_event_subscription_s subscribe;
|
||
subscribe.type =
|
||
CSI_CAMERA_EVENT_TYPE_CAMERA; // 订阅Camera的ERROR事件
|
||
subscribe.id = CSI_CAMERA_EVENT_WARNING | CSI_CAMERA_EVENT_ERROR;
|
||
csi_camera_subscribe_event(event_handle, &subscribe);
|
||
subscribe.type =
|
||
CSI_CAMERA_EVENT_TYPE_CHANNEL0; // 订阅Channel0的FRAME_READY事件
|
||
subscribe.id = CSI_CAMERA_CHANNEL_EVENT_FRAME_READY |
|
||
CSI_CAMERA_CHANNEL_EVENT_OVERFLOW;
|
||
csi_camera_subscribe_event(event_handle, &subscribe);
|
||
|
||
// 开始从channel中取出准备好的frame
|
||
csi_camera_channel_start(cam_handle, CSI_CAMERA_CHANNEL_0);
|
||
|
||
// 处理订阅的Event
|
||
csi_frame_s frame;
|
||
struct csi_camera_event event;
|
||
|
||
while (running) {
|
||
int timeout = -1; // unit: ms, -1 means wait forever, or until error occurs
|
||
csi_camera_get_event(event_handle, &event, timeout);
|
||
|
||
switch (event.type) {
|
||
case CSI_CAMERA_EVENT_TYPE_CAMERA:
|
||
switch (event.id) {
|
||
case CSI_CAMERA_EVENT_ERROR:
|
||
// do sth.
|
||
LOG_D("get CAMERA EVENT CSI_CAMERA_EVENT_ERROR!\n");
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL0:
|
||
switch (event.id) {
|
||
case CSI_CAMERA_CHANNEL_EVENT_FRAME_READY: {
|
||
int read_frame_count = csi_camera_get_frame_count(cam_handle,
|
||
CSI_CAMERA_CHANNEL_0);
|
||
for (int i = 0; i < read_frame_count; i++) {
|
||
csi_camera_get_frame(cam_handle, CSI_CAMERA_CHANNEL_0, &frame, timeout);
|
||
|
||
// frame.image: {.width, .height, .pix_fmt, .dma-buf}
|
||
//show_frame_image(frame.image); // 伪代码
|
||
#ifdef PLATFORM_SIMULATOR
|
||
camera_action_image_display(&frame);
|
||
csi_camera_put_frame(&frame);
|
||
#endif
|
||
|
||
// frame.meta: {.count,
|
||
// .meta_data[]={meta_id, type,
|
||
// union{int_value, str_value, ...}}}
|
||
|
||
dump_camera_meta(&frame);
|
||
|
||
//csi_camera_put_frame(&frame);
|
||
}
|
||
break;
|
||
}
|
||
default:
|
||
break;
|
||
}
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
// 取消订阅某一个event, 也可以直接调用csi_camera_destory_event，结束所有的订阅
|
||
subscribe.type = CSI_CAMERA_EVENT_TYPE_CHANNEL0;
|
||
subscribe.id = CSI_CAMERA_CHANNEL_EVENT_FRAME_READY;
|
||
csi_camera_unsubscribe_event(event_handle, &subscribe);
|
||
|
||
csi_camera_destory_event(event_handle);
|
||
csi_camera_channel_stop(cam_handle, CSI_CAMERA_CHANNEL_0);
|
||
csi_camera_channel_close(cam_handle, CSI_CAMERA_CHANNEL_0);
|
||
csi_camera_close(cam_handle);
|
||
}
|
||
|
||
static void dump_camera_meta(csi_frame_s *frame)
|
||
{
|
||
int i;
|
||
if (frame->meta.type != CSI_META_TYPE_CAMERA)
|
||
return;
|
||
|
||
csi_camera_meta_s *meta_data = (csi_camera_meta_s *)frame->meta.data;
|
||
int meta_count = meta_data->count;
|
||
csi_camrea_meta_unit_s meta_unit;
|
||
|
||
for (i = 0; i < meta_count; i++) {
|
||
csi_camera_frame_get_meta_unit(
|
||
&meta_unit, meta_data, CSI_CAMERA_META_ID_FRAME_ID);
|
||
printf("meta_id=%d, meta_type=%d, meta_value=%d",
|
||
meta_unit.id, meta_unit.type, meta_unit.int_value);
|
||
}
|
||
}
|
||
|