FCam: src/F2/V4L2Sensor.cpp Source File

00001 #include <asm/types.h>
00002 #include <sys/types.h>
00003 #include <sys/syscall.h>
00004 #include <sys/prctl.h>
00005 #include <linux/capability.h>
00006 
00007 #include <pthread.h>
00008 #include <poll.h>
00009 
00010 #include <stdio.h>
00011 #include <stdlib.h>
00012 #include <string.h>
00013 #include <unistd.h>
00014 #include <math.h>
00015 
00016 #include <sys/fcntl.h>
00017 #include <sys/ioctl.h>
00018 #include <sys/mman.h>
00019 #include <sys/time.h>
00020 #include <time.h>
00021 
00022 #include <errno.h>
00023 #include <malloc.h>
00024 #include <linux/videodev2.h>
00025 
00026 #include "../Debug.h"
00027 #include "FCam/Event.h"
00028 #include "V4L2Sensor.h"
00029 #warning make sure to point isp_user to the right place before long!
00030 #include "/elphel/git/linux-omap-2.6/drivers/media/video/isp/isp_user.h"
00031 //#include "/elphel/git/linux-omap-2.6/arch/arm/plat-omap/include/mach/isp_user.h"
00032 //#include "linux/isp_user.h"
00033 
00034 namespace FCam { namespace F2 {
00035 
00036     V4L2Sensor *V4L2Sensor::instance(std::string fname) {
00037     std::map<std::string, V4L2Sensor *>::iterator i;
00038     i = instances_.find(fname);
00039     if (i == instances_.end()) {
00040         instances_[fname] = new V4L2Sensor(fname);      
00041     }
00042 
00043     return instances_[fname];
00044     };
00045 
00046     V4L2Sensor::V4L2Sensor(std::string fname) : state(CLOSED), filename(fname) {
00047     
00048     }
00049 
00050     std::map<std::string, V4L2Sensor *> V4L2Sensor::instances_;
00051 
00052     void V4L2Sensor::open() {
00053     if (state != CLOSED) {
00054         printf("Sensor is already open!\n");
00055         return;
00056     }
00057 
00058     fd = ::open(filename.c_str(), O_RDWR | O_NONBLOCK, 0);
00059     
00060     if (fd < 0) {
00061         error(Event::DriverError,"V4L2Sensor: Error opening device %s: %s", filename.c_str(), strerror(errno));
00062         return;
00063     }
00064     
00065     state = IDLE;
00066     }
00067 
00068     void V4L2Sensor::close() {
00069         switch(state) {
00070         case STREAMING:
00071             stopStreaming();
00072         case IDLE:
00073         ::close(fd);
00074         case CLOSED:
00075             break;
00076     }
00077     state = CLOSED;
00078     }
00079 
00080     int V4L2Sensor::getFD() {
00081     if (state == CLOSED) {
00082         return -1;
00083     }
00084     return fd;
00085     }
00086 
00087     void V4L2Sensor::startStreaming(Mode m, 
00088                     const HistogramConfig &histogram,
00089                     const SharpnessMapConfig &sharpness) {
00090     
00091     if (state != IDLE) {
00092         printf("Can only initiate streaming if sensor is idle\n");
00093         return;
00094     }
00095 
00096     struct v4l2_format fmt;
00097     
00098     memset(&fmt, 0, sizeof(struct v4l2_format));
00099     
00100     fmt.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00101     fmt.fmt.pix.width       = m.width;
00102     fmt.fmt.pix.height      = m.height;
00103     if (m.type == UYVY) {
00104         fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
00105     } else if (m.type == RAW) {
00106         fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_SGRBG10;
00107     } else {
00108         error(Event::InternalError, "V4L2Sensor: Unknown image format requested");
00109         return;
00110     }
00111     fmt.fmt.pix.field       = V4L2_FIELD_NONE;
00112 
00113     // Request format
00114     if (ioctl(fd, VIDIOC_S_FMT, &fmt) < 0) {
00115         error(Event::DriverError,"VIDIOC_S_FMT: %s", strerror(errno));
00116         return;
00117     }
00118     
00119     currentMode.width = fmt.fmt.pix.width;
00120     currentMode.height = fmt.fmt.pix.height;
00121     currentMode.type = (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_UYVY) ? UYVY : RAW;
00122 
00123     struct v4l2_requestbuffers req;    
00124     memset(&req, 0, sizeof(req));
00125     req.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00126     req.memory = V4L2_MEMORY_MMAP;
00127     req.count  = 8;
00128 
00129     if (ioctl(fd, VIDIOC_REQBUFS, &req) < 0) {
00130         error(Event::DriverError,"VIDIOC_REQBUFS: %s", strerror(errno));
00131         return;
00132     } 
00133 
00134     buffers.resize(req.count);
00135 
00136     for (size_t i = 0; i < buffers.size(); i++) {
00137         v4l2_buffer buf;
00138         memset(&buf, 0, sizeof(v4l2_buffer));
00139         buf.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00140         buf.memory = V4L2_MEMORY_MMAP;
00141         buf.index  = i;
00142 
00143         if (ioctl(fd, VIDIOC_QUERYBUF, &buf) < 0) {
00144         error(Event::DriverError,"VIDIOC_QUERYBUF: %s", strerror(errno));
00145         return;
00146         }
00147     
00148         buffers[i].index = i;
00149         buffers[i].length = buf.length;
00150         buffers[i].data = 
00151         (unsigned char *)mmap(NULL, buffers[i].length, PROT_READ | PROT_WRITE,
00152                       MAP_SHARED, fd, buf.m.offset);
00153     
00154         if (buffers[i].data == MAP_FAILED) {
00155         error(Event::InternalError, "V4L2Sensor: mmap failed: %s", strerror(errno));
00156         return;
00157         }
00158     }   
00159 
00160     for (size_t i = 0; i < buffers.size(); i++) {
00161         releaseFrame(&buffers[i]);
00162     }
00163 
00164     // set the starting parameters
00165     setHistogramConfig(histogram);
00166     setSharpnessMapConfig(sharpness);
00167 
00168     enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00169     if (ioctl(fd, VIDIOC_STREAMON, &type) < 0) {
00170         error(Event::DriverError,"VIDIOC_STREAMON: %s", strerror(errno));
00171         return;
00172     }
00173     
00174     dprintf(DBG_MAJOR, "Sensor now streaming\n");
00175     state = STREAMING;
00176     }
00177 
00178 
00179     void V4L2Sensor::stopStreaming() {
00180     if (state != STREAMING) {
00181         printf("Camera is already not streaming!\n");
00182         return;
00183     }
00184 
00185     enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00186     if (ioctl(fd, VIDIOC_STREAMOFF, &type) < 0) {
00187         error(Event::DriverError,"VIDIOC_STREAMOFF: %s", strerror(errno));
00188         return;
00189     }
00190 
00191     for (size_t i = 0; i < buffers.size(); i++) {
00192         if (munmap(buffers[i].data, buffers[i].length)) {
00193         error(Event::InternalError, "V4L2Sensor: munmap failed: %s", strerror(errno));
00194         }
00195     }
00196 
00197     state = IDLE;
00198     }
00199 
00200 
00201 
00202     V4L2Sensor::V4L2Frame *V4L2Sensor::acquireFrame(bool blocking) {
00203     if (state != STREAMING) {
00204         printf("Can't acquire a frame when not streaming!\n");
00205         return NULL;
00206     }
00207 
00208     //printf("Acquiring frame...\n"); fflush(stdout);
00209     
00210     v4l2_buffer buf;
00211     memset(&buf, 0, sizeof(v4l2_buffer));
00212     buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00213     buf.memory = V4L2_MEMORY_MMAP;
00214     
00215     if (blocking) {
00216         struct pollfd p = {fd, POLLIN, 0};
00217         poll(&p, 1, -1);
00218         if (!(p.revents & POLLIN)) {
00219         error(Event::DriverError,"Poll returned without data being available: %s", strerror(errno));
00220         return NULL;
00221         }
00222     }    
00223     
00224     if (ioctl(fd, VIDIOC_DQBUF, &buf) < 0) {
00225         if (errno == EAGAIN && !blocking) {
00226         return NULL;
00227         }
00228         
00229         error(Event::DriverError,"VIDIOC_DQBUF: %s", strerror(errno));
00230         return NULL;
00231     }
00232 
00233 
00234     buffers[buf.index].processingDoneTime = Time(buf.timestamp);
00235     return &(buffers[buf.index]);
00236     }
00237 
00238 
00239 
00240     Histogram V4L2Sensor::getHistogram(Time t, const HistogramConfig &conf) {
00241 
00242     //printf("Buffer timestamp: %d %d\n", t.s(), t.us());
00243         if (!conf.enabled) {
00244             return Histogram();
00245         }
00246 
00247     // grab the histogram data for this frame
00248     struct isp_hist_data hist_data;
00249         unsigned buf[64 * 4];  // Hardcoded for OMAP3 ISP histogram (64 buckets, 4 channels)
00250     Time h;
00251     int tries = 3;
00252     while (--tries > 0) {
00253         hist_data.hist_statistics_buf = buf;
00254         hist_data.update = REQUEST_STATISTICS;
00255         
00256         // For now we assume acquire_frame is being called quickly
00257         // enough that only the newest frame is relevant
00258         hist_data.frame_number = NEWEST_FRAME;
00259         hist_data.curr_frame = 0;
00260         hist_data.config_counter = 0;
00261         hist_data.ts.tv_sec = 0;
00262         hist_data.ts.tv_usec = 0;
00263         
00264         if (ioctl(fd, VIDIOC_PRIVATE_ISP_HIST_REQ, &hist_data)) {
00265         error(Event::DriverError, "V4L2Sensor::getHistogram: VIDIOC_PRIVATE_ISP_HIST_REQ: %s\n",strerror(errno));
00266         return Histogram();
00267         }    
00268     
00269         // TODO: Deal with timestamps that are too early or too late
00270         
00271         h = Time(hist_data.ts); 
00272         
00273         if ((t - h) < 6000) {
00274         break;
00275         }
00276         usleep(10000);
00277     }
00278     if (tries != 2) dprintf(DBG_MINOR, "V4L2Sensor::getHistogram: Waited for the histogram %d times\n", 2-tries);
00279     if (!tries) {
00280             error(Event::DriverError, "Histogram cannot be found\n");
00281         return Histogram();
00282     }
00283     
00284     while ((t-h) < -4000) {
00285         // we got the wrong histogram!
00286         if (hist_data.frame_number == 0) hist_data.frame_number = 4095;
00287         else hist_data.frame_number--;
00288 
00289         if (ioctl(fd, VIDIOC_PRIVATE_ISP_HIST_REQ, &hist_data)) {
00290                 error(Event::DriverError, "V4L2Sensor::getHistogram: VIDIOC_PRIVATE_ISP_HIST_REQ: %s\n", strerror(errno));
00291                 return Histogram();
00292         }    
00293 
00294         h = Time(hist_data.ts);
00295     }
00296         Histogram hist(64, 3, conf.region);
00297         for (int i = 0; i < 64; i++) {
00298             hist(i, 0) = buf[64 + i];  // r
00299             hist(i, 1) = buf[i];       // g
00300             hist(i, 2) = buf[128 + i]; // b
00301         }
00302         return hist;
00303     }
00304 
00305     SharpnessMap V4L2Sensor::getSharpnessMap(Time t, const SharpnessMapConfig &conf) {    
00306     if (!conf.enabled) {
00307         return SharpnessMap();
00308     }
00309 
00310     // grab the sharpness map for this frame    
00311     struct isp_af_data af_data;
00312     af_data.frame_number = NEWEST_FRAME;
00313     af_data.update = REQUEST_STATISTICS;
00314     af_data.curr_frame = 0;
00315     af_data.config_counter = 0;
00316     af_data.xtrastats.ts.tv_sec = 0;
00317     af_data.xtrastats.ts.tv_usec = 0;
00318         unsigned buf[16*12*12]; // Hardcoded for OMAP3 ISP size
00319     af_data.af_statistics_buf = buf;
00320     
00321     if (ioctl(fd, VIDIOC_PRIVATE_ISP_AF_REQ, &af_data)) {
00322             error(Event::DriverError, "V4L2Sensor::getSharpnessMap: VIDIOC_PRIVATE_ISP_AF_REQ: %s\n", strerror(errno) );
00323             return SharpnessMap();
00324     }    
00325 
00326     Time s(af_data.xtrastats.ts);   
00327     if ((t - s) > 6000) {
00328             warning(Event::DriverError, "Missing sharpness: (%d)\n", t-s );
00329     }
00330 
00331     while ((t-s) < -2000) {
00332         // we got the wrong sharpness map
00333         if (af_data.frame_number == 0) af_data.frame_number = 4095;
00334         else af_data.frame_number--;
00335 
00336         if (ioctl(fd, VIDIOC_PRIVATE_ISP_AF_REQ, &af_data)) {
00337                 error(Event::DriverError, "V4L2Sensor::getSharpnessMap: VIDIOC_PRIVATE_ISP_AF_REQ: %s\n", strerror(errno) );
00338                 return SharpnessMap();
00339         }    
00340         s = Time(af_data.xtrastats.ts);
00341     }
00342         SharpnessMap m(Size(16,12), 3);
00343         unsigned *bufPtr = &buf[0];
00344         for (int y = 0; y < m.size().height; y++) {
00345             for (int x = 0; x < m.size().width; x++) {
00346                 m(x, y, 0) = bufPtr[1];
00347                 m(x, y, 1) = bufPtr[5];
00348                 m(x, y, 2) = bufPtr[9];
00349                 bufPtr += 12;
00350             }
00351         }
00352 
00353         return m;
00354     }
00355 
00356     void V4L2Sensor::setHistogramConfig(const HistogramConfig &histogram) {       
00357     if (!histogram.enabled) return;
00358 
00359     // get the output size from the ccdc
00360     isp_pipeline_stats pstats;
00361     if (ioctl(fd, VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ, &pstats) < 0) {
00362             error(Event::DriverError, "V4L2Sensor::setHistogramConfig: VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ: %s\n", strerror(errno));
00363         return;
00364     }
00365         
00366     dprintf(4, "CCDC output: %d x %d\n", pstats.ccdc_out_w, pstats.ccdc_out_h);
00367     dprintf(4, "PRV  output: %d x %d\n", pstats.prv_out_w, pstats.prv_out_h);
00368     dprintf(4, "RSZ  input:  %d x %d + %d, %d\n",
00369            pstats.rsz_in_w, pstats.rsz_in_h,
00370            pstats.rsz_in_x, pstats.rsz_in_y);
00371     dprintf(4, "RSZ  output: %d x %d\n", pstats.rsz_out_w, pstats.rsz_out_h);
00372     
00373     struct isp_hist_config hist_cfg;            
00374     hist_cfg.enable = 1;
00375     hist_cfg.source = HIST_SOURCE_CCDC;
00376     hist_cfg.input_bit_width = 10;
00377     hist_cfg.num_acc_frames = 1;
00378     hist_cfg.hist_bins = HIST_BINS_64;
00379     hist_cfg.cfa = HIST_CFA_BAYER;
00380     // set the gains to slightly above 1 in 3Q5 format, in
00381     // order to use the full range in the histogram. Without
00382     // this, bucket #60 is saturated pixels, and 61-64 are
00383     // unused.
00384     hist_cfg.wg[0] = 35;
00385     hist_cfg.wg[1] = 35;
00386     hist_cfg.wg[2] = 35;
00387     hist_cfg.wg[3] = 35;
00388     hist_cfg.num_regions = 1;
00389     
00390         // set up its width and height
00391         unsigned x = ((unsigned)histogram.region.x * pstats.ccdc_out_w) / currentMode.width;
00392         unsigned y = ((unsigned)histogram.region.y * pstats.ccdc_out_h) / currentMode.height;
00393         unsigned w = ((unsigned)histogram.region.width * pstats.ccdc_out_w) / currentMode.width;
00394         unsigned h = ((unsigned)histogram.region.height * pstats.ccdc_out_h) / currentMode.height;
00395         if (x > pstats.ccdc_out_w) x = pstats.ccdc_out_w-1;
00396         if (y > pstats.ccdc_out_h) y = pstats.ccdc_out_h-1;
00397         if (w > pstats.ccdc_out_w) w = pstats.ccdc_out_w-x;
00398         if (h > pstats.ccdc_out_h) h = pstats.ccdc_out_h-y;
00399         hist_cfg.reg_hor[0] = (x << 16) | w;
00400         hist_cfg.reg_ver[0] = (y << 16) | h;
00401         dprintf(4, "Histogram size: %d x %d + %d, %d\n", w, h, x, y);
00402     
00403     dprintf(DBG_MINOR, "Enabling histogram generator\n");
00404     // enable the histogram generator
00405     if (ioctl(fd, VIDIOC_PRIVATE_ISP_HIST_CFG, &hist_cfg)) {
00406         error(Event::DriverError, "VIDIOC_PRIVATE_ISP_HIST_CFG: %s", strerror(errno));
00407         return;
00408     }
00409 
00410     currentHistogram = histogram;
00411     currentHistogram.buckets = 64;
00412     }
00413 
00414     void V4L2Sensor::setSharpnessMapConfig(const SharpnessMapConfig &sharpness) {       
00415     if (!sharpness.enabled) return;
00416 
00417         // Ignore the requested size and use 16x12
00418         Size size = Size(16, 12);
00419 
00420     // get the output size from the ccdc
00421     isp_pipeline_stats pstats;
00422     if (ioctl(fd, VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ, &pstats) < 0) {
00423         error(Event::DriverError, "VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ: %s", strerror(errno));
00424         return;
00425     }
00426    
00427     struct af_configuration af_config;
00428     
00429     af_config.alaw_enable = H3A_AF_ALAW_DISABLE;
00430     af_config.hmf_config.enable = H3A_AF_HMF_ENABLE;
00431     af_config.hmf_config.threshold = 10;
00432     af_config.rgb_pos = RG_GB_BAYER;
00433     af_config.iir_config.hz_start_pos = 0;
00434     
00435     // The IIR coefficients are as follows (yay reverse-engineering!)
00436     
00437     // The format is S6Q5 fixed point. A positive value of x
00438     // should be written as 32*x. A negatives value of x
00439     // should be written as 4096 - 32*x
00440     
00441     // 0: global gain? not sure.
00442     // 1-2: IIR taps on the first biquad
00443     // 3-5: FIR taps on the first biquad
00444     // 6-7: IIR taps on the second biquad
00445     // 8-10: FIR taps on the second biquad      
00446     
00447     // A high pass filter aimed at ~8 pixel frequencies and above
00448     af_config.iir_config.coeff_set0[0] = 32; // gain of 1
00449     
00450     af_config.iir_config.coeff_set0[1] = 4096-27;
00451     af_config.iir_config.coeff_set0[2] = 6;
00452     
00453     af_config.iir_config.coeff_set0[3] = 16;
00454     af_config.iir_config.coeff_set0[4] = 4096-32;
00455     af_config.iir_config.coeff_set0[5] = 16;
00456     
00457     af_config.iir_config.coeff_set0[6] = 0;
00458     af_config.iir_config.coeff_set0[7] = 0;
00459     
00460     af_config.iir_config.coeff_set0[8] = 32;
00461     af_config.iir_config.coeff_set0[9] = 0;
00462     af_config.iir_config.coeff_set0[10] = 0;
00463     
00464     
00465     // A high pass filter aimed at ~4 pixel frequencies and above
00466     af_config.iir_config.coeff_set1[0] = 32; // gain of 1
00467     
00468     af_config.iir_config.coeff_set1[1] = 0;
00469     af_config.iir_config.coeff_set1[2] = 0;
00470     
00471     af_config.iir_config.coeff_set1[3] = 16;
00472     af_config.iir_config.coeff_set1[4] = 4096-32;
00473     af_config.iir_config.coeff_set1[5] = 16;
00474     
00475     af_config.iir_config.coeff_set1[6] = 0;
00476     af_config.iir_config.coeff_set1[7] = 0;
00477     
00478     af_config.iir_config.coeff_set1[8] = 32;
00479     af_config.iir_config.coeff_set1[9] = 0;
00480     af_config.iir_config.coeff_set1[10] = 0;
00481     
00482     af_config.mode = ACCUMULATOR_SUMMED;
00483     af_config.af_config = H3A_AF_CFG_ENABLE;
00484     int paxWidth = ((pstats.ccdc_out_w-4) / (2*size.width))*2;
00485     int paxHeight = ((pstats.ccdc_out_h-4) / (2*size.height))*2;
00486 
00487         if (paxWidth > 256) {
00488             error(Event::InternalError, "AF paxels are too wide. Use a higher resolution sharpness map\n");
00489             return;
00490         }
00491         if (paxHeight > 256) {
00492             error(Event::InternalError, "AF paxels are too tall. Use a higher resolution sharpness map\n");
00493             return;
00494         }
00495         if (paxWidth < 16) {            
00496             error(Event::InternalError, "AF paxels are too narrow. Use a lower resolution sharpness map\n");
00497             return;
00498         }
00499         if (paxHeight < 2) {
00500             error(Event::InternalError, "AF paxels are too short. Use a lower resolution sharpness map\n");
00501             return;
00502         }
00503     
00504     dprintf(4, "V4L2Sensor::setSharpnessMapConfig: Using %d x %d paxels for af\n", paxWidth, paxHeight);
00505     af_config.paxel_config.width = (paxWidth-2)/2;
00506     af_config.paxel_config.height = (paxHeight-2)/2;
00507     af_config.paxel_config.hz_start = (pstats.ccdc_out_w - size.width * paxWidth)/2;
00508     af_config.paxel_config.vt_start = (pstats.ccdc_out_h - size.height * paxHeight)/2;
00509     af_config.paxel_config.hz_cnt = size.width-1;
00510     af_config.paxel_config.vt_cnt = size.height-1;
00511     af_config.paxel_config.line_incr = 0;       
00512     
00513     dprintf(DBG_MINOR, "Enabling sharpness detector\n");
00514     if (ioctl(fd, VIDIOC_PRIVATE_ISP_AF_CFG, &af_config)) {
00515         error(Event::DriverError, "VIDIOC_PRIVATE_ISP_AF_CFG: %s", strerror(errno));
00516         return;
00517     }
00518 
00519     currentSharpness = sharpness;
00520     }
00521 
00522     void V4L2Sensor::releaseFrame(V4L2Frame *frame) {
00523     //printf("Releasing frame %d\n", frame->index); fflush(stdout);
00524 
00525     //usleep(1000);
00526     
00527     // requeue the buffer
00528     v4l2_buffer buf;
00529     memset(&buf, 0, sizeof(v4l2_buffer));
00530     buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
00531     buf.memory = V4L2_MEMORY_MMAP;
00532     buf.index = frame->index;
00533     
00534     if (ioctl(fd, VIDIOC_QBUF, &buf) < 0) {
00535         error(Event::DriverError, "VIDIOC_QBUF: %s", strerror(errno));
00536         return;
00537     }
00538     }
00539    
00540     void V4L2Sensor::setControl(unsigned int id, int value) {
00541     if (state == CLOSED) return;
00542     v4l2_control ctrl;
00543     ctrl.id = id;
00544     ctrl.value = value;
00545     if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
00546         // TODO: Better error reporting for all the get/set
00547         error(Event::DriverError, "VIDIOC_S_CTRL: %s", strerror(errno));
00548         return;
00549     }
00550     }
00551 
00552     int V4L2Sensor::getControl(unsigned int id) {
00553     if (state == CLOSED) return -1;
00554     v4l2_control ctrl;
00555     ctrl.id = id;
00556     if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
00557         error(Event::DriverError, "VIDIOC_G_CTRL: %s", strerror(errno));
00558         return -1;
00559     }
00560 
00561     return ctrl.value;
00562     }
00563 
00564     void V4L2Sensor::setExposure(int e) {
00565     if (state == CLOSED) return;
00566 
00567     struct v4l2_control ctrl;
00568     ctrl.id = V4L2_CID_EXPOSURE;
00569     ctrl.value = e;
00570     if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
00571         error(Event::DriverError,"VIDIOC_S_CTRL: %s", strerror(errno));
00572         return;
00573     }       
00574     
00575     }
00576 
00577     int V4L2Sensor::getExposure() {
00578     if (state == CLOSED) return -1; 
00579 
00580     struct v4l2_control ctrl;
00581     ctrl.id = V4L2_CID_EXPOSURE;
00582     
00583     if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
00584         error(Event::DriverError,"VIDIOC_G_CTRL: %s", strerror(errno));
00585         return -1;
00586     }       
00587     
00588     return ctrl.value;
00589     }
00590 
00591 #define V4L2_CID_FRAME_TIME (V4L2_CTRL_CLASS_CAMERA | 0x10ff)
00592 
00593     void V4L2Sensor::setFrameTime(int e) {
00594     if (state == CLOSED) return;
00595     
00596     struct v4l2_control ctrl;
00597     ctrl.id = V4L2_CID_FRAME_TIME;
00598     ctrl.value = e;
00599     if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
00600         error(Event::DriverError,"VIDIOC_S_CTRL: %s", strerror(errno));
00601         return;
00602     }       
00603     }
00604 
00605     int V4L2Sensor::getFrameTime() {
00606     if (state == CLOSED) return -1; 
00607 
00608     struct v4l2_control ctrl;
00609     ctrl.id = V4L2_CID_FRAME_TIME;
00610     
00611     if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
00612         error(Event::DriverError,"VIDIOC_G_CTRL: %s", strerror(errno));
00613         return -1;
00614     }       
00615     
00616     return ctrl.value;
00617     }
00618 
00619     void V4L2Sensor::setGain(float g) {
00620     if (state == CLOSED) return;
00621 
00622     unsigned int gain;
00623     struct v4l2_control ctrl;
00624     
00625     gain = (int)(g * 32.0 + 0.5);
00626     
00627     ctrl.id = V4L2_CID_GAIN;
00628     ctrl.value = gain;
00629     if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
00630         error(Event::DriverError,"VIDIOC_S_CTRL: %s", strerror(errno));
00631         return;
00632     }              
00633     }
00634 
00635     float V4L2Sensor::getGain() {
00636     if (state == CLOSED) return -1.0f;
00637 
00638     struct v4l2_control ctrl;
00639     
00640     ctrl.id = V4L2_CID_GAIN;
00641     if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
00642         error(Event::DriverError,"VIDIOC_G_CTRL: %s", strerror(errno));
00643         return -1.0f;
00644     }       
00645     
00646     return ctrl.value / 32.0f;    
00647     }
00648 }}
00649 
00650