mirror of
https://github.com/thead-yocto-mirror/csi_hal
synced 2026-06-21 08:52:22 +02:00
726 lines
23 KiB
C
726 lines
23 KiB
C
/*
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* Copyright (C) 2021 Alibaba Group Holding Limited
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* Author: LuChongzhi <chongzhi.lcz@alibaba-inc.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/mman.h>
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#include <fcntl.h>
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#include <unistd.h>
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#define LOG_LEVEL 2
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#define LOG_PREFIX "cam_demo_simple"
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#include <syslog.h>
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#include <csi_frame.h>
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#include <csi_camera.h>
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#include "csi_camera_dev_api.h"
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// #include "vi_mem.h"
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#ifdef PLATFORM_SIMULATOR
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#include "apputilities.h"
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#endif
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static void dump_camera_meta(csi_frame_s *frame);
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static void dump_camera_frame(csi_frame_s *frame, csi_pixel_fmt_e fmt);
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#define TEST_DEVICE_NAME "/dev/video0"
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#define CSI_CAMERA_TRUE 1
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#define CSI_CAMERA_FALSE 0
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typedef struct frame_fps {
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uint64_t frameNumber;
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struct timeval initTick;
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float fps;
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} frame_fps_t;
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typedef struct cb_context{
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int id;
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csi_cam_handle_t cam_handle;
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int dsp_id;
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int dsp_path;
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void *ref_buf;
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int buf_size;
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}cb_context_t;
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typedef struct cb_args{
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char setting[16];
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uint32_t frame_id;
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uint32_t timestap;
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}cb_args_t;
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cb_context_t cb_context[2];
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void dsp_algo_result_cb(void*context,void*arg)
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{
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cb_context_t *ctx = (cb_context_t *)context;
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cb_args_t *cb_args= (cb_args_t*)arg;
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char update_setting[16];
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uint32_t frame_id = cb_args->frame_id;
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uint32_t frame_timestap = cb_args->timestap;
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LOG_O("cb:%d,setting:%s,frame :%d,timestad:0x%x\n",ctx->id,cb_args->setting,frame_id,frame_timestap);
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sprintf(update_setting, "update_%d", frame_id);
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csi_camera_update_dsp_algo_setting(ctx->cam_handle,ctx->dsp_id,ctx->dsp_path,update_setting);
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if(frame_id%20)
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{
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void *replace_buf;
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csi_camera_update_dsp_algo_buf(ctx->cam_handle, ctx->dsp_id,ctx->dsp_path,ctx->ref_buf,&replace_buf);
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LOG_O("cb:%d,old buffer:0x%lx,new buffer:0x%lx\n",ctx->id,(uint64_t)ctx->ref_buf,(uint64_t)replace_buf);
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ctx->ref_buf = replace_buf;
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}
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}
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static void usage(void)
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{
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printf(" 1 : video id cases\n");
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printf(" 2 : channel cases\n");
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printf(" 3 : dump enable\n");
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printf(" 4 : display enable\n");
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printf(" 5 : width\n");
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printf(" 6 : heithg\n");
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printf(" 7 : fmt\n");
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printf(" 8 : frame_num\n");
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printf(" 9 : file_id\n");
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}
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static void get_system_time(const char *func, int line_num)
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{
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struct timeval cur_time;
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memset(&cur_time, 0, sizeof(cur_time));
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gettimeofday(&cur_time, 0);
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LOG_O("%s %s line_num = %d, cur_time.tv_sec = %ld, cur_time.tv_usec = %ld\n",
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__func__, func, line_num, cur_time.tv_sec, cur_time.tv_usec);
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}
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int file_id = 0;
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extern void *vi_plink_create(csi_camera_channel_cfg_s *chn_cfg);
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extern void vi_plink_release(void * plink);
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extern void display_camera_frame(void * plink, csi_frame_s *frame);
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int main(int argc, char *argv[])
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{
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bool running = true;
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int channel_id = -1;
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int video_id = -1;
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int dump_enable = -1;
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int display_enable = -1;
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int width = 0, height = 0, fmt = -1;
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int ret = 0;
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uint64_t frame_num = 0;
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csi_camera_info_s camera_info;
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memset(&camera_info, 0, sizeof(camera_info));
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int chn_id = CSI_CAMERA_CHANNEL_0;
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int env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL0;
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frame_fps_t demo_fps;
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memset(&demo_fps, 0, sizeof(demo_fps));
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struct timeval init_time, cur_time;
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memset(&init_time, 0, sizeof(init_time));
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memset(&cur_time, 0, sizeof(cur_time));
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get_system_time(__func__, __LINE__);
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char dev_name[128];
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// 打印HAL接口版本号
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csi_api_version_u version;
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csi_camera_get_version(&version);
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if (argc == 5)
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{
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video_id = atoi(argv[1]);
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channel_id = atoi(argv[2]);
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dump_enable = atoi(argv[3]);
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display_enable = atoi(argv[4]);
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width = 640;
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height = 480;
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fmt = 1;
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printf("%s, %s, %s, %s \n", argv[1],argv[2],argv[3],argv[4]);
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printf("$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$, %d, display_enable is %d\n", __LINE__, display_enable );
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} else if (argc == 8) {
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video_id = atoi(argv[1]);
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channel_id = atoi(argv[2]);
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dump_enable = atoi(argv[3]);
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display_enable = atoi(argv[4]);
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width = atoi(argv[5]);
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height = atoi(argv[6]);
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fmt = atoi(argv[7]);
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}else if (argc == 9) {
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video_id = atoi(argv[1]);
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channel_id = atoi(argv[2]);
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dump_enable = atoi(argv[3]);
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display_enable = atoi(argv[4]);
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width = atoi(argv[5]);
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height = atoi(argv[6]);
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fmt = atoi(argv[7]);
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frame_num = atoi(argv[8]);
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}else if (argc == 10) {
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video_id = atoi(argv[1]);
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channel_id = atoi(argv[2]);
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dump_enable = atoi(argv[3]);
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display_enable = atoi(argv[4]);
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width = atoi(argv[5]);
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height = atoi(argv[6]);
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fmt = atoi(argv[7]);
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frame_num = atoi(argv[8]);
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file_id = atoi(argv[9]);
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} else {
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usage();
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video_id = 0;
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channel_id = 0;
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dump_enable = 0;
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display_enable = 0;
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width = 640;
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height = 480;
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fmt = 1;
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printf("$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$, %d, display_enable is %d\n", __LINE__, display_enable );
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}
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sprintf(dev_name, "/dev/video%d", video_id);
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LOG_O("Camera HAL version: %d.%d video_id = %d channel_id = %d size{%d, %d} fmt = %d\n", version.major, version.minor, video_id, channel_id, width, height, fmt);
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// 获取设备中，所有的Camera
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struct csi_camera_infos camera_infos;
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memset(&camera_infos, 0, sizeof(camera_infos));
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csi_camera_query_list(&camera_infos);
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// 打印所有设备所支持的Camera
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for (int i = 0; i < camera_infos.count; i++) {
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camera_info = camera_infos.info[i];
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printf("Camera[%d]: camera_name='%s', device_name='%s', bus_info='%s', capabilities=0x%08x\n",
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i,
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camera_info.camera_name, camera_info.device_name, camera_info.bus_info,
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camera_info.capabilities);
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printf("Camera[%d] caps are:\n", i); /* The caps are: Video capture, metadata capture */
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for (int j = 1; j <= 0x08000000; j = j << 1) {
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switch (camera_info.capabilities & j) {
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case CSI_CAMERA_CAP_VIDEO_CAPTURE:
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printf("\t camera_infos.info[%d]:Video capture,\n", i);
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break;
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case CSI_CAMERA_CAP_META_CAPTURE:
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printf("\t camera_infos.info[%d] metadata capture,\n", i);
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break;
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default:
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if (camera_info.capabilities & j) {
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printf("\t camera_infos.info[%d] unknown capabilities(0x%08x)\n", i,
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camera_info.capabilities & j);
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}
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break;
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}
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}
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}
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/* Camera[0]: camera_name='RGB_Camera', device_name='/dev/video0', bus_info='CSI-MIPI', capabilities=0x00800001
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* Camera[1]: camera_name:'Mono_Camera', device_name:'/dev/video8', bus_info='USB', capabilities=0x00000001
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*/
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bool found_camera = false;
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for (int i = 0; i < camera_infos.count; i++) {
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if (strcmp(camera_infos.info[i].device_name, dev_name) == 0) {
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camera_info = camera_infos.info[i];
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printf("found device_name:'%s'\n", camera_info.device_name);
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found_camera = true;
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break;
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}
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}
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if (!found_camera) {
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LOG_E("Can't find camera_name:'%s'\n", dev_name);
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exit(-1);
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}
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get_system_time(__func__, __LINE__);
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// 打开Camera设备获取句柄，作为后续操对象
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csi_cam_handle_t cam_handle;
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ret = csi_camera_open(&cam_handle, camera_info.device_name);
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if (ret) {
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LOG_E("Failed to csi_camera_open %s\n", camera_info.device_name);
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exit(-1);
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}
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get_system_time(__func__, __LINE__);
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// 获取Camera支持的工作模式
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struct csi_camera_modes camera_modes;
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csi_camera_get_modes(cam_handle, &camera_modes);
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// 打印camera所支持的所有工作模式
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printf("Camera:'%s' modes are:\n", dev_name);
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printf("{\n");
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for (int i = 0; i < camera_modes.count; i++) {
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printf("\t mode_id=%d: description:'%s'\n",
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camera_modes.modes[i].mode_id, camera_modes.modes[i].description);
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}
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printf("}\n");
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// 设置camera的工作模式及其配置
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csi_camera_mode_cfg_s camera_cfg;
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camera_cfg.mode_id = 1;
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camera_cfg.calibriation = NULL; // 采用系统默认配置
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camera_cfg.lib3a = NULL; // 采用系统默认配置
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csi_camera_set_mode(cam_handle, &camera_cfg);
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// 获取单个可控单元的属性
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csi_camera_property_description_s description;
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/* id=0x0098090x, type=2 default=0 value=1 */
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/* Other example:
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* id=0x0098090y, type=3 min=0 max=255 step=1 default=127 value=116
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* id=0x0098090z, type=4 min=0 max=3 default=0 value=2
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* 0: IDLE
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* 1: BUSY
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* 2: REACHED
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* 3: FAILED
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*/
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// 轮询获取所有可控制的单元
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printf("all properties are:\n");
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description.id = CSI_CAMERA_PID_HFLIP;
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while (!csi_camera_query_property(cam_handle, &description)) {
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switch (description.type) {
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case (CSI_CAMERA_PROPERTY_TYPE_INTEGER):
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printf("id=0x%08x type=%d default=%d value=%d\n",
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description.id, description.type,
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description.default_value.int_value, description.value.int_value);
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break;
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case (CSI_CAMERA_PROPERTY_TYPE_BOOLEAN):
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printf("id=0x%08x type=%d default=%d value=%d\n",
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description.id, description.type,
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description.default_value.bool_value, description.value.bool_value);
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break;
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case (CSI_CAMERA_PROPERTY_TYPE_ENUM):
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printf("id=0x%08x type=%d default=%d value=%d\n",
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description.id, description.type,
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description.default_value.enum_value, description.value.enum_value);
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break;
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case (CSI_CAMERA_PROPERTY_TYPE_STRING):
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printf("id=0x%08x type=%d default=%s value=%s\n",
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description.id, description.type,
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description.default_value.str_value, description.value.str_value);
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break;
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case (CSI_CAMERA_PROPERTY_TYPE_BITMASK):
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printf("id=0x%08x type=%d default=%x value=%x\n",
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description.id, description.type,
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description.default_value.bitmask_value, description.value.bitmask_value);
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break;
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default:
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LOG_E("error type!\n");
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break;
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}
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description.id |= CSI_CAMERA_FLAG_NEXT_CTRL;
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}
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// 同时配置多个参数
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csi_camera_properties_s properties;
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csi_camera_property_s property[3];
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property[0].id = CSI_CAMERA_PID_HFLIP;
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property[0].type = CSI_CAMERA_PROPERTY_TYPE_BOOLEAN;
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property[0].value.bool_value = false;
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property[1].id = CSI_CAMERA_PID_VFLIP;
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property[1].type = CSI_CAMERA_PROPERTY_TYPE_BOOLEAN;
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property[1].value.bool_value = false;
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property[2].id = CSI_CAMERA_PID_ROTATE;
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property[2].type = CSI_CAMERA_PROPERTY_TYPE_INTEGER;
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property[2].value.int_value = 0;
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properties.count = 3;
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properties.property = property;
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if (csi_camera_set_property(cam_handle, &properties) < 0) {
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LOG_O("set_property fail!\n");
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}
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else
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{
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LOG_O("set_property ok!\n");
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}
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// extern int csi_camera_set_pp_path_param(csi_cam_handle_t cam_handle, uint16_t line_num,uint16_t buf_mode);
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// csi_camera_set_pp_path_param(cam_handle,80,0);
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// 查询输出channel
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switch (channel_id) {
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case 0:
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chn_id = CSI_CAMERA_CHANNEL_0;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL0;
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break;
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case 1:
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chn_id = CSI_CAMERA_CHANNEL_1;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL1;
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break;
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case 2:
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chn_id = CSI_CAMERA_CHANNEL_2;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL2;
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break;
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case 3:
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chn_id = CSI_CAMERA_CHANNEL_3;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL3;
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break;
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case 4:
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chn_id = CSI_CAMERA_CHANNEL_4;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL4;
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break;
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case 5:
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chn_id = CSI_CAMERA_CHANNEL_5;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL5;
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break;
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case 6:
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chn_id = CSI_CAMERA_CHANNEL_6;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL6;
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break;
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case 7:
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chn_id = CSI_CAMERA_CHANNEL_7;
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env_type = CSI_CAMERA_EVENT_TYPE_CHANNEL7;
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break;
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default:
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LOG_E("fail to check chn_id = %d unsupport\n", chn_id);
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exit(-1);
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}
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csi_camera_channel_cfg_s chn_cfg;
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chn_cfg.chn_id = chn_id;
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csi_camera_channel_query(cam_handle, &chn_cfg);
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if (chn_cfg.status != CSI_CAMERA_CHANNEL_CLOSED) {
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LOG_E("Can't open chn_id = %d\n", chn_id);
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exit(-1);
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}
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extern int csi_camera_set_pp_path_param(csi_cam_handle_t cam_handle, uint16_t line_num,uint16_t buf_mode);
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/*set PP line num to default and enable sram*/
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csi_camera_set_pp_path_param(cam_handle,0,1);
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// 打开输出channel
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chn_cfg.chn_id = chn_id;
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chn_cfg.frm_cnt = 1;
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chn_cfg.img_fmt.width = width;
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chn_cfg.img_fmt.height = height;
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chn_cfg.img_fmt.pix_fmt = fmt;
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chn_cfg.img_type = CSI_IMG_TYPE_DMA_BUF;
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chn_cfg.meta_fields = CSI_CAMERA_META_DEFAULT_FIELDS;
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chn_cfg.capture_type = CSI_CAMERA_CHANNEL_CAPTURE_VIDEO |
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CSI_CAMERA_CHANNEL_CAPTURE_META;
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ret = csi_camera_channel_open(cam_handle, &chn_cfg);
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if (ret) {
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exit(-1);
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}
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get_system_time(__func__, __LINE__);
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/*init for vi->vo plink*/
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void * display_plink = NULL;
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if (display_enable == 1) {
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chn_cfg.chn_id = chn_id;
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display_plink = vi_plink_create(&chn_cfg);
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if(display_plink==NULL)
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{
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LOG_E("plink create fail\n");
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exit(-1);
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}
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}
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// 订阅Event
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csi_cam_event_handle_t event_handle;
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csi_camera_create_event(&event_handle, cam_handle);
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csi_camera_event_subscription_s subscribe;
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subscribe.type =
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CSI_CAMERA_EVENT_TYPE_CAMERA; // 订阅Camera的ERROR事件
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subscribe.id = CSI_CAMERA_EVENT_WARNING | CSI_CAMERA_EVENT_ERROR;
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csi_camera_subscribe_event(event_handle, &subscribe);
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subscribe.type =
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env_type; // 订阅Channel0的FRAME_READY事件
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subscribe.id = CSI_CAMERA_CHANNEL_EVENT_FRAME_READY |
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CSI_CAMERA_CHANNEL_EVENT_OVERFLOW;
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csi_camera_subscribe_event(event_handle, &subscribe);
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/* for dsp algo setting
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cb_context[0].id=0;
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cb_context[0].cam_handle = cam_handle;
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cb_context[0].dsp_id = 1;
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cb_context[0].dsp_path = 2;
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char test_set[16]="init";
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cb_context[0].buf_size = 1920*1080;
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cb_context[0].ref_buf=NULL;
|
||
csi_camera_dsp_algo_param_t algo_param_1={
|
||
.algo_name = "dsp1_dummy_algo_flo",
|
||
.algo_cb.cb = dsp_algo_result_cb,
|
||
.algo_cb.context = &cb_context[0],
|
||
.algo_cb.arg_size = sizeof(cb_args_t),
|
||
.sett_ptr = test_set,
|
||
.sett_size =16,
|
||
.extra_buf_num =1,
|
||
.extra_buf_sizes = &cb_context[0].buf_size,
|
||
.extra_bufs = &cb_context[0].ref_buf,
|
||
};
|
||
|
||
if(csi_camera_set_dsp_algo_param(cam_handle,cb_context[0].dsp_id,cb_context[0].dsp_path, &algo_param_1))
|
||
{
|
||
LOG_E("set DSP algo fail\n");
|
||
|
||
}
|
||
*/
|
||
// 开始从channel中取出准备好的frame
|
||
ret = csi_camera_channel_start(cam_handle, chn_id);
|
||
if (ret) {
|
||
LOG_E("Failed to csi_camera_channel_start ch%d\n", chn_id);
|
||
exit(-1);
|
||
}
|
||
get_system_time(__func__, __LINE__);
|
||
// 处理订阅的Event
|
||
csi_frame_s frame;
|
||
struct csi_camera_event event;
|
||
|
||
while (running) {
|
||
if (frame_num != 0) {
|
||
if (demo_fps.frameNumber > frame_num) {
|
||
running = false;
|
||
}
|
||
}
|
||
int timeout = -1; // unit: ms, -1 means wait forever, or until error occurs
|
||
if(csi_camera_get_event(event_handle, &event, timeout))
|
||
{
|
||
LOG_E("Failed to get event \n");
|
||
continue;
|
||
}
|
||
// printf("%s event.type = %d, event.id = %d\n", __func__, event.type, event.id);
|
||
switch (event.type) {
|
||
case CSI_CAMERA_EVENT_TYPE_CAMERA:
|
||
switch (event.id) {
|
||
case CSI_CAMERA_EVENT_ERROR:
|
||
// do sth.
|
||
LOG_O("get CAMERA EVENT CSI_CAMERA_EVENT_ERROR!\n");
|
||
break;
|
||
case CSI_CAMERA_EVENT_WARNING:
|
||
LOG_O("get CAMERA EVENT CSI_CAMERA_EVENT_WRN,RC: %s\n",event.bin);
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
break;
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL0:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL1:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL2:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL3:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL4:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL5:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL6:
|
||
case CSI_CAMERA_EVENT_TYPE_CHANNEL7:
|
||
switch (event.id) {
|
||
case CSI_CAMERA_CHANNEL_EVENT_FRAME_READY: {
|
||
get_system_time(__func__, __LINE__);
|
||
int read_frame_count = csi_camera_get_frame_count(cam_handle,
|
||
chn_id);
|
||
unsigned long diff;
|
||
if (init_time.tv_usec == 0)
|
||
gettimeofday(&init_time,0);//osGetTick();
|
||
gettimeofday(&cur_time, 0);
|
||
diff = 1000000 * (cur_time.tv_sec-init_time.tv_sec)+ cur_time.tv_usec-init_time.tv_usec;
|
||
demo_fps.frameNumber++;
|
||
if (diff != 0)
|
||
demo_fps.fps = (float)demo_fps.frameNumber / diff * 1000000.0f;
|
||
LOG_O("%s %d read_frame_count = %d, frame_count = %ld, fps = %.2f diff = %ld\n", __func__, __LINE__, read_frame_count, demo_fps.frameNumber, demo_fps.fps, diff);
|
||
|
||
for (int i = 0; i < read_frame_count; i++) {
|
||
if(csi_camera_get_frame(cam_handle, chn_id, &frame, timeout))
|
||
{
|
||
LOG_W("get frame fail\n");
|
||
continue;
|
||
}
|
||
#ifdef PLATFORM_SIMULATOR
|
||
if (frame.img.type == CSI_IMG_TYPE_DMA_BUF) {
|
||
void *phyaddr = vi_mem_import(frame.img.dmabuf[0].fds);
|
||
void *p = vi_mem_map(phyaddr) + frame.img.dmabuf[0].offset;
|
||
show_frame_image(p, frame.img.height, frame.img.width);
|
||
vi_mem_release(phyaddr);
|
||
} else {
|
||
show_frame_image(frame.img.usr_addr[0], frame.img.height, frame.img.width);
|
||
}
|
||
#endif
|
||
dump_camera_meta(&frame);
|
||
chn_cfg.chn_id = chn_id;
|
||
csi_camera_channel_query(cam_handle, &chn_cfg);
|
||
frame.img.pix_format = chn_cfg.img_fmt.pix_fmt;
|
||
|
||
if (dump_enable) {
|
||
dump_camera_frame(&frame, chn_cfg.img_fmt.pix_fmt);
|
||
}
|
||
if (display_enable == 1) {
|
||
display_camera_frame(display_plink, &frame);
|
||
continue;
|
||
}
|
||
csi_camera_put_frame(&frame);
|
||
csi_frame_release(&frame);
|
||
}
|
||
break;
|
||
}
|
||
default:
|
||
break;
|
||
}
|
||
break;
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
csi_camera_channel_stop(cam_handle, chn_id);
|
||
usleep (1000000);
|
||
// 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 = env_type;
|
||
subscribe.id = CSI_CAMERA_CHANNEL_EVENT_FRAME_READY;
|
||
csi_camera_unsubscribe_event(event_handle, &subscribe);
|
||
|
||
csi_camera_destory_event(event_handle);
|
||
|
||
csi_camera_channel_close(cam_handle, chn_id);
|
||
csi_camera_close(cam_handle);
|
||
if(display_plink)
|
||
{
|
||
vi_plink_release(display_plink);
|
||
}
|
||
}
|
||
|
||
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;
|
||
|
||
|
||
csi_camera_frame_get_meta_unit(
|
||
&meta_unit, meta_data, CSI_CAMERA_META_ID_FRAME_ID);
|
||
LOG_O("meta_id=%d, meta_type=%d, meta_value=%d\n",
|
||
meta_unit.id, meta_unit.type, meta_unit.int_value);
|
||
}
|
||
|
||
static void dump_camera_frame(csi_frame_s *frame, csi_pixel_fmt_e fmt)
|
||
{
|
||
char file[128];
|
||
static int file_indx=0;
|
||
int size;
|
||
uint32_t indexd, j;
|
||
void *buf[3];
|
||
int buf_size;
|
||
csi_camera_meta_s *meta_data = (csi_camera_meta_s *)frame->meta.data;
|
||
csi_camrea_meta_unit_s meta_unit;
|
||
|
||
|
||
csi_camera_frame_get_meta_unit(
|
||
&meta_unit, meta_data, CSI_CAMERA_META_ID_CAMERA_NAME);
|
||
|
||
|
||
sprintf(file,"demo_save_img%s_%d_%d",meta_unit.str_value,file_id, file_indx++%10);
|
||
int fd = open(file, O_RDWR | O_CREAT | O_TRUNC, S_IRUSR | S_IWUSR | S_IROTH);
|
||
if(fd == -1) {
|
||
LOG_E("%s, %d, open file error!!!!!!!!!!!!!!!\n", __func__, __LINE__);
|
||
return ;
|
||
}
|
||
if (frame->img.type == CSI_IMG_TYPE_DMA_BUF) {
|
||
|
||
buf_size = frame->img.strides[0]*frame->img.height;
|
||
switch(fmt) {
|
||
case CSI_PIX_FMT_NV12:
|
||
case CSI_PIX_FMT_YUV_SEMIPLANAR_420:
|
||
if(frame->img.num_planes ==2)
|
||
{
|
||
buf_size+=frame->img.strides[1]*frame->img.height/2;
|
||
}
|
||
else{
|
||
LOG_E("img fomrat is not match with frame planes:%d\n",frame->img.num_planes);
|
||
return;
|
||
}
|
||
break;
|
||
case CSI_PIX_FMT_YUV_SEMIPLANAR_422:
|
||
if(frame->img.num_planes ==2)
|
||
{
|
||
buf_size+=frame->img.strides[1]*frame->img.height;
|
||
}
|
||
else{
|
||
LOG_E("img fomrat is not match with frame planes:%d\n",frame->img.num_planes);
|
||
return;
|
||
}
|
||
break;
|
||
default:
|
||
break;
|
||
|
||
}
|
||
|
||
buf[0]= mmap(0, buf_size, PROT_READ | PROT_WRITE,
|
||
MAP_SHARED, frame->img.dmabuf[0].fds, frame->img.dmabuf[0].offset);
|
||
// plane_size[1] = frame->img.strides[1]*frame->img.height;
|
||
// printf("frame plane 1 stride:%d,offset:%d\n", frame->img.strides[1],(uint32_t)frame->img.dmabuf[1].offset);
|
||
if(frame->img.num_planes ==2)
|
||
{
|
||
// buf[1] = mmap(0, plane_size[1]/2, PROT_READ | PROT_WRITE,
|
||
// MAP_SHARED, frame->img.dmabuf[1].fds, frame->img.dmabuf[1].offset);
|
||
buf[1] = buf[0]+frame->img.dmabuf[1].offset;
|
||
}
|
||
|
||
}
|
||
else{
|
||
buf[0] = frame->img.usr_addr[0];
|
||
buf[1] = frame->img.usr_addr[1];
|
||
}
|
||
|
||
LOG_O("%s,save img from : (%lx,%lx)size:%d to %s, fmt:%d width:%d stride:%d height:%d\n",__FUNCTION__, (uint64_t)buf[0],(uint64_t)buf[1],size, file, fmt, frame->img.width, frame->img.strides[0], frame->img.height);
|
||
|
||
if (frame->img.strides[0] == 0) {
|
||
frame->img.strides[0] = frame->img.width;
|
||
}
|
||
switch(fmt) {
|
||
case CSI_PIX_FMT_NV12:
|
||
case CSI_PIX_FMT_YUV_SEMIPLANAR_420:
|
||
for (j = 0; j < frame->img.height; j++) { //Y
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd, buf[0] + indexd, frame->img.width);
|
||
}
|
||
for (j = 0; j < frame->img.height / 2; j++) { //UV
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd, buf[1] + indexd, frame->img.width);
|
||
}
|
||
break;
|
||
case CSI_PIX_FMT_RGB_INTEVLEAVED_888:
|
||
case CSI_PIX_FMT_YUV_TEVLEAVED_444:
|
||
size = frame->img.width*3;
|
||
for (j = 0; j < frame->img.height; j++) {
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd, buf[0] + indexd, size);
|
||
}
|
||
break;
|
||
case CSI_PIX_FMT_BGR:
|
||
case CSI_PIX_FMT_RGB_PLANAR_888:
|
||
case CSI_PIX_FMT_YUV_PLANAR_444:
|
||
size = frame->img.width * frame->img.height * 3;
|
||
write(fd, buf[0], size);
|
||
break;
|
||
case CSI_PIX_FMT_RAW_8BIT:
|
||
size = frame->img.width;
|
||
for (j = 0; j < frame->img.height; j++) {
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd, buf[0] + indexd, size);
|
||
}
|
||
break;
|
||
case CSI_PIX_FMT_YUV_TEVLEAVED_422:
|
||
case CSI_PIX_FMT_RAW_10BIT:
|
||
case CSI_PIX_FMT_RAW_12BIT:
|
||
case CSI_PIX_FMT_RAW_14BIT:
|
||
case CSI_PIX_FMT_RAW_16BIT:
|
||
size = frame->img.width*2;
|
||
for (j = 0; j < frame->img.height; j++) {
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd, buf[0] + indexd, size);
|
||
}
|
||
break;
|
||
case CSI_PIX_FMT_YUV_SEMIPLANAR_422:
|
||
if (frame->img.strides[0] == 0) {
|
||
frame->img.strides[0] = frame->img.width;
|
||
}
|
||
for (j = 0; j < frame->img.height; j++) { //Y
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd,buf[0] + indexd, frame->img.width);
|
||
}
|
||
for (j = 0; j < frame->img.height; j++) { //UV
|
||
indexd = j*frame->img.strides[0];
|
||
write(fd, buf[1]+ indexd, frame->img.width);
|
||
}
|
||
break;
|
||
default:
|
||
LOG_E("%s unsupported format to save\n", __func__);
|
||
exit(-1);
|
||
break;
|
||
}
|
||
|
||
close(fd);
|
||
munmap(buf[0],buf_size);
|
||
// munmap(buf[1],plane_size[1]);
|
||
LOG_O("%s exit\n", __func__);
|
||
}
|