v4l2.c

/*
 * Video4Linux2 grab interface
 * Copyright (c) 2000,2001 Fabrice Bellard.
 * Copyright (c) 2006 Luca Abeni.
 *
 * Part of this file is based on the V4L2 video capture example
 * (http://v4l2spec.bytesex.org/v4l2spec/capture.c)
 *
 * Thanks to Michael Niedermayer for providing the mapping between
 * V4L2_PIX_FMT_* and PIX_FMT_*
 *
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
 */
#include "avformat.h"
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/time.h>
#define _LINUX_TIME_H 1
#include <linux/videodev.h>
#include <time.h>

static const int desired_video_buffers = 256;

enum io_method {
    io_read,
    io_mmap,
    io_userptr
};

struct video_data {
    int fd;
    int frame_format; /* V4L2_PIX_FMT_* */
    enum io_method io_method;
    int width, height;
    int frame_rate;
    int frame_rate_base;
    int frame_size;
    int top_field_first;

    int buffers;
    void **buf_start;
    unsigned int *buf_len;
};

struct fmt_map {
    enum PixelFormat ff_fmt;
    int32_t v4l2_fmt;
};

static struct fmt_map fmt_conversion_table[] = {
    {
        .ff_fmt = PIX_FMT_YUV420P,
        .v4l2_fmt = V4L2_PIX_FMT_YUV420,
    },
    {
        .ff_fmt = PIX_FMT_YUV422P,
        .v4l2_fmt = V4L2_PIX_FMT_YUV422P,
    },
    {
        .ff_fmt = PIX_FMT_YUV422,
        .v4l2_fmt = V4L2_PIX_FMT_YUYV,
    },
    {
        .ff_fmt = PIX_FMT_UYVY422,
        .v4l2_fmt = V4L2_PIX_FMT_UYVY,
    },
    {
        .ff_fmt = PIX_FMT_YUV411P,
        .v4l2_fmt = V4L2_PIX_FMT_YUV411P,
    },
    {
        .ff_fmt = PIX_FMT_YUV410P,
        .v4l2_fmt = V4L2_PIX_FMT_YUV410,
    },
    {
        .ff_fmt = PIX_FMT_BGR24,
        .v4l2_fmt = V4L2_PIX_FMT_BGR24,
    },
    {
        .ff_fmt = PIX_FMT_RGB24,
        .v4l2_fmt = V4L2_PIX_FMT_RGB24,
    },
    /*
    {
        .ff_fmt = PIX_FMT_RGBA32,
        .v4l2_fmt = V4L2_PIX_FMT_BGR32,
    },
    */
    {
        .ff_fmt = PIX_FMT_GRAY8,
        .v4l2_fmt = V4L2_PIX_FMT_GREY,
    },
};

static int device_open(const char *devname, uint32_t *capabilities)
{
    struct v4l2_capability cap;
    int fd;
    int res;

    fd = open(devname, O_RDWR /*| O_NONBLOCK*/, 0);
    if (fd < 0) {
        av_log(NULL, AV_LOG_ERROR, "Cannot open video device %s : %s\n",
                 devname, strerror(errno));

        return -1;
    }

    res = ioctl(fd, VIDIOC_QUERYCAP, &cap);
    if (res < 0) {
        av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_QUERYCAP): %s\n",
                 strerror(errno));

        return -1;
    }
    if ((cap.capabilities & V4L2_CAP_VIDEO_CAPTURE) == 0) {
        av_log(NULL, AV_LOG_ERROR, "Not a video capture device\n");

        return -1;
    }
    *capabilities = cap.capabilities;

    return fd;
}

static int device_init(int fd, int width, int height, int pix_fmt)
{
    struct v4l2_format fmt;

    memset(&fmt, 0, sizeof(struct v4l2_format));
    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    fmt.fmt.pix.width = width;
    fmt.fmt.pix.height = height;
    fmt.fmt.pix.pixelformat = pix_fmt;
    fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
    return ioctl (fd, VIDIOC_S_FMT, &fmt);
}

static int first_field(int fd)
{
    int res;
    v4l2_std_id std;

    res = ioctl(fd, VIDIOC_G_STD, &std);
    if (res < 0) {
        return 0;
    }
    if (std & V4L2_STD_NTSC) {
        return 0;
    }

    return 1;
}

static uint32_t fmt_ff2v4l(enum PixelFormat pix_fmt)
{
    int i;

    for (i = 0; i < sizeof(fmt_conversion_table) / sizeof(struct fmt_map); i++) {
        if (fmt_conversion_table[i].ff_fmt == pix_fmt) {
            return fmt_conversion_table[i].v4l2_fmt;
        }
    }

    return 0;
}

static enum PixelFormat fmt_v4l2ff(uint32_t pix_fmt)
{
    int i;

    for (i = 0; i < sizeof(fmt_conversion_table) / sizeof(struct fmt_map); i++) {
        if (fmt_conversion_table[i].v4l2_fmt == pix_fmt) {
            return fmt_conversion_table[i].ff_fmt;
        }
    }

    return -1;
}

static int mmap_init(struct video_data *s)
{
    struct v4l2_requestbuffers req;
    int i, res;

    memset(&req, 0, sizeof(struct v4l2_requestbuffers));
    req.count = desired_video_buffers;
    req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    req.memory = V4L2_MEMORY_MMAP;
    res = ioctl (s->fd, VIDIOC_REQBUFS, &req);
    if (res < 0) {
        if (errno == EINVAL) {
            av_log(NULL, AV_LOG_ERROR, "Device does not support mmap\n");
        } else {
            av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_REQBUFS)\n");
        }

        return -1;
    }

    if (req.count < 2) {
        av_log(NULL, AV_LOG_ERROR, "Insufficient buffer memory\n");

        return -1;
    }
    s->buffers = req.count;
    s->buf_start = av_malloc(sizeof(void *) * s->buffers);
    if (s->buf_start == NULL) {
        av_log(NULL, AV_LOG_ERROR, "Cannot allocate buffer pointers\n");

        return -1;
    }
    s->buf_len = av_malloc(sizeof(unsigned int) * s->buffers);
    if (s->buf_len == NULL) {
        av_log(NULL, AV_LOG_ERROR, "Cannot allocate buffer sizes\n");
        av_free(s->buf_start);

        return -1;
    }

    for (i = 0; i < req.count; i++) {
        struct v4l2_buffer buf;

        memset(&buf, 0, sizeof(struct v4l2_buffer));
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index = i;
        res = ioctl (s->fd, VIDIOC_QUERYBUF, &buf);
        if (res < 0) {
            av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_QUERYBUF)\n");

            return -1;
        }

        s->buf_len[i] = buf.length;
        if (s->buf_len[i] < s->frame_size) {
            av_log(NULL, AV_LOG_ERROR, "Buffer len [%d] = %d != %d\n", i, s->buf_len[i], s->frame_size);

            return -1;
        }
        s->buf_start[i] = mmap (NULL, buf.length,
                        PROT_READ | PROT_WRITE, MAP_SHARED, s->fd, buf.m.offset);
        if (s->buf_start[i] == MAP_FAILED) {
            av_log(NULL, AV_LOG_ERROR, "mmap: %s\n", strerror(errno));

            return -1;
        }
    }

    return 0;
}

static int read_init(struct video_data *s)
{
    return -1;
}

static int mmap_read_frame(struct video_data *s, void *frame, int64_t *ts)
{
    struct v4l2_buffer buf;
    int res;

    memset(&buf, 0, sizeof(struct v4l2_buffer));
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    /* FIXME: Some special treatment might be needed in case of loss of signal... */
    while ((res = ioctl(s->fd, VIDIOC_DQBUF, &buf)) < 0 &&
           ((errno == EAGAIN) || (errno == EINTR)));
    if (res < 0) {
        av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_DQBUF): %s\n", strerror(errno));

        return -1;
    }
    assert (buf.index < s->buffers);
    assert(buf.bytesused == s->frame_size);
    /* Image is at s->buff_start[buf.index] */
    memcpy(frame, s->buf_start[buf.index], buf.bytesused);
    *ts = buf.timestamp.tv_sec * int64_t_C(1000000) + buf.timestamp.tv_usec;

    res = ioctl (s->fd, VIDIOC_QBUF, &buf);
    if (res < 0) {
        av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_QBUF)\n");

        return -1;
    }

    return s->buf_len[buf.index];
}

static int read_frame(struct video_data *s, void *frame, int64_t *ts)
{
    return -1;
}

static int mmap_start(struct video_data *s)
{
    enum v4l2_buf_type type;
    int i, res;

    for (i = 0; i < s->buffers; i++) {
        struct v4l2_buffer buf;

        memset(&buf, 0, sizeof(struct v4l2_buffer));
        buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index  = i;

        res = ioctl (s->fd, VIDIOC_QBUF, &buf);
        if (res < 0) {
            av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_QBUF): %s\n", strerror(errno));

            return -1;
        }
    }

    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    res = ioctl (s->fd, VIDIOC_STREAMON, &type);
    if (res < 0) {
        av_log(NULL, AV_LOG_ERROR, "ioctl(VIDIOC_STREAMON): %s\n", strerror(errno));

        return -1;
    }

    return 0;
}

static void mmap_close(struct video_data *s)
{
    enum v4l2_buf_type type;
    int i;

    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    /* We do not check for the result, because we could
     * not do anything about it anyway...
     */
    ioctl(s->fd, VIDIOC_STREAMOFF, &type);
    for (i = 0; i < s->buffers; i++) {
        munmap(s->buf_start[i], s->buf_len[i]);
    }
    av_free(s->buf_start);
    av_free(s->buf_len);
}

static int v4l2_read_header(AVFormatContext *s1, AVFormatParameters *ap)
{
    struct video_data *s = s1->priv_data;
    AVStream *st;
    int width, height;
    int res, frame_rate, frame_rate_base;
    uint32_t desired_format, capabilities;
    const char *video_device;

    if (!ap || ap->width <= 0 || ap->height <= 0 || ap->time_base.den <= 0) {
        av_log(s1, AV_LOG_ERROR, "Missing/Wrong parameters\n");

        return -1;
    }

    width = ap->width;
    height = ap->height;
    frame_rate = ap->time_base.den;
    frame_rate_base = ap->time_base.num;

    if((unsigned)width > 32767 || (unsigned)height > 32767) {
        av_log(s1, AV_LOG_ERROR, "Wrong size %dx%d\n", width, height);

        return -1;
    }

    st = av_new_stream(s1, 0);
    if (!st) {
        return -ENOMEM;
    }
    av_set_pts_info(st, 64, 1, 1000000); /* 64 bits pts in us */

    s->width = width;
    s->height = height;
    s->frame_rate      = frame_rate;
    s->frame_rate_base = frame_rate_base;

    video_device = ap->device;
    if (!video_device) {
        video_device = "/dev/video";
    }
    capabilities = 0;
    s->fd = device_open(video_device, &capabilities);
    if (s->fd < 0) {
        av_free(st);

        return AVERROR_IO;
    }
    av_log(s1, AV_LOG_ERROR, "[%d]Capabilities: %x\n", s->fd, capabilities);

    desired_format = fmt_ff2v4l(ap->pix_fmt);
    if (desired_format == 0 || (device_init(s->fd, width, height, desired_format) < 0)) {
        int i, done;

        done = 0; i = 0;
        while (!done) {
            desired_format = fmt_conversion_table[i].v4l2_fmt;
            if (device_init(s->fd, width, height, desired_format) < 0) {
                desired_format = 0;
                i++;
            } else {
               done = 1;
            }
            if (i == sizeof(fmt_conversion_table) / sizeof(struct fmt_map)) {
               done = 1;
            }
        }
    }
    if (desired_format == 0) {
        av_log(s1, AV_LOG_ERROR, "Cannot find a proper format.\n");
        close(s->fd);
        av_free(st);

        return AVERROR_IO;
    }
    s->frame_format = desired_format;

    st->codec->pix_fmt = fmt_v4l2ff(desired_format);
    s->frame_size = avpicture_get_size(st->codec->pix_fmt, width, height);
    if (capabilities & V4L2_CAP_STREAMING) {
        s->io_method = io_mmap;
        res = mmap_init(s);
        res = mmap_start(s);
    } else {
        s->io_method = io_read;
        res = read_init(s);
    }
    if (res < 0) {
        close(s->fd);
        av_free(st);

        return AVERROR_IO;
    }
    s->top_field_first = first_field(s->fd);

    st->codec->codec_type = CODEC_TYPE_VIDEO;
    st->codec->codec_id = CODEC_ID_RAWVIDEO;
    st->codec->width = width;
    st->codec->height = height;
    st->codec->time_base.den = frame_rate;
    st->codec->time_base.num = frame_rate_base;
    st->codec->bit_rate = s->frame_size * 1/av_q2d(st->codec->time_base) * 8;

    return 0;
}

static int v4l2_read_packet(AVFormatContext *s1, AVPacket *pkt)
{
    struct video_data *s = s1->priv_data;
    int res;

    if (av_new_packet(pkt, s->frame_size) < 0)
        return AVERROR_IO;

    if (s->io_method == io_mmap) {
        res = mmap_read_frame(s, pkt->data, &pkt->pts);
    } else if (s->io_method == io_read) {
        res = read_frame(s, pkt->data, &pkt->pts);
    } else {
        return AVERROR_IO;
    }
    if (res < 0) {
        return AVERROR_IO;
    }

    if (s1->streams[0]->codec->coded_frame) {
        s1->streams[0]->codec->coded_frame->interlaced_frame = 1;
        s1->streams[0]->codec->coded_frame->top_field_first = s->top_field_first;
    }

    return s->frame_size;
}

static int v4l2_read_close(AVFormatContext *s1)
{
    struct video_data *s = s1->priv_data;

    if (s->io_method == io_mmap) {
        mmap_close(s);
    }

    close(s->fd);
    return 0;
}

static AVInputFormat v4l2_format = {
    "video4linux2",
    "video grab",
    sizeof(struct video_data),
    NULL,
    v4l2_read_header,
    v4l2_read_packet,
    v4l2_read_close,
    .flags = AVFMT_NOFILE,
};

int v4l2_init(void)
{
    av_register_input_format(&v4l2_format);
    return 0;
}