F2/V4L2Sensor.cpp

#include <linux/videodev2.h>
#warning make sure to point isp_user to the right place before long!
#include "/elphel/git/linux-omap-2.6/drivers/media/video/isp/isp_user.h"
//#include "/elphel/git/linux-omap-2.6/arch/arm/plat-omap/include/mach/isp_user.h"
//#include "linux/isp_user.h"
#include <asm/types.h>
#include <sys/types.h>
#include <sys/syscall.h>
#include <sys/prctl.h>
#include <linux/capability.h>

#include <pthread.h>
#include <poll.h>

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <math.h>

#include <sys/fcntl.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/time.h>
#include <time.h>

#include <errno.h>
#include <malloc.h>

#include "V4L2Sensor.h"

namespace FCam { namespace F2 {

    V4L2Sensor *V4L2Sensor::instance(std::string fname) {
    std::map<std::string, V4L2Sensor *>::iterator i;
    i = instances_.find(fname);
    if (i == instances_.end()) {
        instances_[fname] = new V4L2Sensor(fname);      
    }

    return instances_[fname];
    };

    V4L2Sensor::V4L2Sensor(std::string fname) : state(CLOSED), filename(fname) {
    
    }

    std::map<std::string, V4L2Sensor *> V4L2Sensor::instances_;

    void V4L2Sensor::open() {
    if (state != CLOSED) {
        printf("Sensor is already open!\n");
        return;
    }

    fd = ::open(filename.c_str(), O_RDWR | O_NONBLOCK, 0);
    
    if (fd < 0) {
        perror("opening device");
        return;
    }
    
    state = IDLE;
    }

    void V4L2Sensor::close() {
    if (state != CLOSED) {
        ::close(fd);
    }
    state = CLOSED;
    }

    int V4L2Sensor::getFD() {
    if (state == CLOSED) {
        return -1;
    }
    return fd;
    }

    void V4L2Sensor::startStreaming(Mode m, 
                    HistogramConfig *histogram,
                    SharpnessMapConfig *sharpness) {
    
    if (state != IDLE) {
        printf("Can only initiate streaming if sensor is idle\n");
        return;
    }

    struct v4l2_format fmt;
    
    memset(&fmt, 0, sizeof(struct v4l2_format));
    
    fmt.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    fmt.fmt.pix.width       = m.width;
    fmt.fmt.pix.height      = m.height;
    if (m.type == UYVY) {
        fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_UYVY;
    } else if (m.type == RAW) {
        fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_SGRBG10;
    } else {
        perror("Unknown image format requested");
        return;
    }
    fmt.fmt.pix.field       = V4L2_FIELD_NONE;

    // Request format
    if (ioctl(fd, VIDIOC_S_FMT, &fmt) < 0) {
        perror("VIDIOC_S_FMT");
        return;
    }
    
    currentMode.width = fmt.fmt.pix.width;
    currentMode.height = fmt.fmt.pix.height;
    currentMode.type = (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_UYVY) ? UYVY : RAW;

    struct v4l2_requestbuffers req;    
    memset(&req, 0, sizeof(req));
    req.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    req.memory = V4L2_MEMORY_MMAP;
    req.count  = 8;

    if (ioctl(fd, VIDIOC_REQBUFS, &req) < 0) {
        perror("VIDIOC_REQBUFS");
        return;
    } 

    buffers.resize(req.count);

    for (size_t i = 0; i < buffers.size(); i++) {
        v4l2_buffer buf;
        memset(&buf, 0, sizeof(v4l2_buffer));
        buf.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory = V4L2_MEMORY_MMAP;
        buf.index  = i;

        if (ioctl(fd, VIDIOC_QUERYBUF, &buf) < 0) {
        perror("VIDIOC_QUERYBUF");
        return;
        }
    
        buffers[i].index = i;
        buffers[i].length = buf.length;
        buffers[i].data = 
        (unsigned char *)mmap(NULL, buffers[i].length, PROT_READ | PROT_WRITE,
                      MAP_SHARED, fd, buf.m.offset);
    
        if (buffers[i].data == MAP_FAILED) {
        perror("mmap");
        return;
        }
    }   

    for (size_t i = 0; i < buffers.size(); i++) {
        printf("Queueing up buffer %d\n", i);
        releaseFrame(&buffers[i]);
    }

    // set the starting parameters
    setHistogramConfig(histogram);
    setSharpnessMapConfig(sharpness);

    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (ioctl(fd, VIDIOC_STREAMON, &type) < 0) {
        perror("VIDIOC_STREAMON");
        return;
    }
    
    printf("Sensor now streaming\n");
    state = STREAMING;
    }


    void V4L2Sensor::stopStreaming() {
    if (state != STREAMING) {
        printf("Camera is already not streaming!\n");
        return;
    }

    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if (ioctl(fd, VIDIOC_STREAMOFF, &type) < 0) {
        perror("VIDIOC_STREAMOFF");
        return;
    }

    for (size_t i = 0; i < buffers.size(); i++) {
        if (munmap(buffers[i].data, buffers[i].length)) {
        perror("MUNMAP");
        }
    }

    state = IDLE;
    }



    V4L2Sensor::V4L2Frame *V4L2Sensor::acquireFrame(bool blocking) {
    if (state != STREAMING) {
        printf("Can't acquire a frame when not streaming!\n");
        return NULL;
    }

    //printf("Acquiring frame...\n"); fflush(stdout);
    
    v4l2_buffer buf;
    memset(&buf, 0, sizeof(v4l2_buffer));
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;
    
    if (blocking) {
        struct pollfd p = {fd, POLLIN, 0};
        poll(&p, 1, -1);
        if (!(p.revents & POLLIN)) {
        perror("Poll returned without data being available");
        return NULL;
        }
    }    
    
    if (ioctl(fd, VIDIOC_DQBUF, &buf) < 0) {
        if (errno == EAGAIN && !blocking) {
        printf("VIDIOC_DQBUF: EAGAIN\n"); fflush(stdout);
        return NULL;
        }
        
        perror("VIDIOC_DQBUF");
        return NULL;
    }


    //printf("Acquired frame %d\n", buf.index); fflush(stdout);

    buffers[buf.index].processingDoneTime = Time(buf.timestamp);
    return &(buffers[buf.index]);
    }



    void V4L2Sensor::getHistogram(Time t, Histogram *histogram, HistogramConfig *conf) {

    //printf("Buffer timestamp: %d %d\n", t.s(), t.us());
    if (!histogram || !conf) return;

    if (!conf->regions) {
        histogram->data = NULL;
        wipeHistogram(histogram);
        return;
    }

    // grab the histogram data for this frame
    
    struct isp_hist_data hist_data;
    histogram->data = new unsigned[currentHistogram.regions * currentHistogram.buckets * 4];
    hist_data.hist_statistics_buf = histogram->data;
    hist_data.update = REQUEST_STATISTICS;
    
    // For now we assume acquire_frame is being called quickly
    // enough that only the newest frame is relevant
    hist_data.frame_number = NEWEST_FRAME;
    hist_data.curr_frame = 0;
    hist_data.config_counter = 0;
    hist_data.ts.tv_sec = 0;
    hist_data.ts.tv_usec = 0;
    
    if (ioctl(fd, VIDIOC_PRIVATE_ISP_HIST_REQ, &hist_data)) {
        perror("VIDIOC_PRIVATE_ISP_HIST_REQ");
        wipeHistogram(histogram); return;
    }    
    
    //printf("  Histogram frame_number = %d\n", hist_data.frame_number);
    
    // TODO: Deal with timestamps that are too early or too late
    
    Time h(hist_data.ts);   

    if ((t - h) > 2000) {
        printf("  WARNING: Missing histogram (%d)\n", t-h);
        wipeHistogram(histogram); return;
    } 
    
    while ((t-h) < -2000) {
        // we got the wrong histogram!
        //printf("  We got back frame %d, from %d %d ", hist_data.frame_number,
        //   h.s(), h.us());
        if (hist_data.frame_number == 0) hist_data.frame_number = 4095;
        else hist_data.frame_number--;
        //printf("trying frame %d instead\n", hist_data.frame_number);

        if (ioctl(fd, VIDIOC_PRIVATE_ISP_HIST_REQ, &hist_data)) {
        perror("VIDIOC_PRIVATE_ISP_HIST_REQ");
        wipeHistogram(histogram); return;
        }    

        h = Time(hist_data.ts);
    }
    //printf("   Using frame %d, from %d %d\n", hist_data.frame_number, h.s(), h.us());
    histogram->valid = true;
    histogram->channels = 4;
    histogram->buckets  = currentHistogram.buckets;
    histogram->regions  = currentHistogram.regions;
    for (int i = 0; i < 4; i++) {
        histogram->region[i] = currentHistogram.region[i];
    }
    }

    void V4L2Sensor::wipeHistogram(Histogram *histogram) {
    if (histogram->data) delete[] histogram->data;
    histogram->valid = false;
    histogram->data = NULL;
    histogram->regions = 0;
    histogram->channels = 0;
    histogram->buckets = 0;
    }
    
    void V4L2Sensor::getSharpnessMap(Time t, SharpnessMap *sharpness, SharpnessMapConfig *conf) {    
    if (!sharpness || !conf) return;

    if (!conf->enabled) {
        sharpness->data = NULL;
        wipeSharpnessMap(sharpness);
        return;
    }

    // grab the sharpness map for this frame    
    struct isp_af_data af_data;
    af_data.frame_number = NEWEST_FRAME;
    af_data.update = REQUEST_STATISTICS;
    af_data.curr_frame = 0;
    af_data.config_counter = 0;
    af_data.xtrastats.ts.tv_sec = 0;
    af_data.xtrastats.ts.tv_usec = 0;
    sharpness->data = new unsigned[12*currentSharpness.size.width*currentSharpness.size.height];
    af_data.af_statistics_buf = sharpness->data;       
    
    if (ioctl(fd, VIDIOC_PRIVATE_ISP_AF_REQ, &af_data)) {
        perror("VIDIOC_PRIVATE_ISP_AF_REQ");
        wipeSharpnessMap(sharpness); return;
    }    

    Time s(af_data.xtrastats.ts);   
    if ((t - s) > 2000) {
        printf("WARNING: Missing sharpness (%d)\n", t-s);
        wipeSharpnessMap(sharpness); return;
    }

    while ((t-s) < -2000) {
        // we got the wrong sharpness map
        //printf("We got back frame %d, ", af_data.frame_number);
        if (af_data.frame_number == 0) af_data.frame_number = 4095;
        else af_data.frame_number--;
        //printf("trying frame %d instead\n", af_data.frame_number);

        if (ioctl(fd, VIDIOC_PRIVATE_ISP_AF_REQ, &af_data)) {
        perror("VIDIOC_PRIVATE_ISP_AF_REQ");
        wipeSharpnessMap(sharpness); return;
        }    
        s = Time(af_data.xtrastats.ts);
    }

    sharpness->valid = true;
    sharpness->channels = 3;
    sharpness->size = currentSharpness.size;
    }

    void V4L2Sensor::wipeSharpnessMap(SharpnessMap *sharpness) {
    if (sharpness->data) delete[] sharpness->data;
    sharpness->valid = false;
    sharpness->data = NULL;
    sharpness->size = FCam::Size(0, 0);
    }   

    void V4L2Sensor::setHistogramConfig(HistogramConfig *histogram) {       
    if (!histogram) return;
    if (!histogram->regions) return;

    // get the output size from the ccdc
    isp_pipeline_stats pstats;
    if (ioctl(fd, VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ, &pstats) < 0) {
        perror("VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ");
        return;
    }
    
    
    printf("CCDC output: %d x %d\n", pstats.ccdc_out_w, pstats.ccdc_out_h);
    printf("PRV  output: %d x %d\n", pstats.prv_out_w, pstats.prv_out_h);
    printf("RSZ  input:  %d x %d + %d, %d\n",
           pstats.rsz_in_w, pstats.rsz_in_h,
           pstats.rsz_in_x, pstats.rsz_in_y);
    printf("RSZ  output: %d x %d\n", pstats.rsz_out_w, pstats.rsz_out_h);
    
    struct isp_hist_config hist_cfg;            
    hist_cfg.enable = 1;
    hist_cfg.source = HIST_SOURCE_CCDC;
    hist_cfg.input_bit_width = 10;
    hist_cfg.num_acc_frames = 1;
    hist_cfg.hist_bins = HIST_BINS_64;
    hist_cfg.cfa = HIST_CFA_BAYER;
    // set the gains to slightly above 1 in 3Q5 format, in
    // order to use the full range in the histogram. Without
    // this, bucket #60 is saturated pixels, and 61-64 are
    // unused.
    hist_cfg.wg[0] = 35;
    hist_cfg.wg[1] = 35;
    hist_cfg.wg[2] = 35;
    hist_cfg.wg[3] = 35;
    hist_cfg.num_regions = histogram->regions;
    
    for (int i = 0; i < histogram->regions; i++) {
        // set up its width and height
        unsigned x = ((unsigned)histogram->region[i].x * pstats.ccdc_out_w) / currentMode.width;
        unsigned y = ((unsigned)histogram->region[i].y * pstats.ccdc_out_h) / currentMode.height;
        unsigned w = ((unsigned)histogram->region[i].width * pstats.ccdc_out_w) / currentMode.width;
        unsigned h = ((unsigned)histogram->region[i].height * pstats.ccdc_out_h) / currentMode.height;
        if (x > pstats.ccdc_out_w) x = pstats.ccdc_out_w-1;
        if (y > pstats.ccdc_out_h) y = pstats.ccdc_out_h-1;
        if (w > pstats.ccdc_out_w) w = pstats.ccdc_out_w-x;
        if (h > pstats.ccdc_out_h) h = pstats.ccdc_out_h-y;
        hist_cfg.reg_hor[i] = (x << 16) | w;
        hist_cfg.reg_ver[i] = (y << 16) | h;
        printf("Histogram size: %d x %d + %d, %d\n", w, h, x, y);
    }
    
    printf("Enabling histogram generator\n");
    // enable the histogram generator
    if (ioctl(fd, VIDIOC_PRIVATE_ISP_HIST_CFG, &hist_cfg)) {
        perror("VIDIOC_PRIVATE_ISP_HIST_CFG");
        return;
    }

    currentHistogram = *histogram;
    currentHistogram.buckets = 64;
    }

    void V4L2Sensor::setSharpnessMapConfig(SharpnessMapConfig *sharpness) {       
    if (!sharpness) return;
    if (!sharpness->enabled) return;

    // get the output size from the ccdc
    isp_pipeline_stats pstats;
    if (ioctl(fd, VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ, &pstats) < 0) {
        perror("VIDIOC_PRIVATE_ISP_PIPELINE_STATS_REQ");
        return;
    }
           
    printf("CCDC output: %d x %d\n", pstats.ccdc_out_w, pstats.ccdc_out_h);
    printf("PRV  output: %d x %d\n", pstats.prv_out_w, pstats.prv_out_h);
    printf("RSZ  input:  %d x %d + %d, %d\n",
           pstats.rsz_in_w, pstats.rsz_in_h,
           pstats.rsz_in_x, pstats.rsz_in_y);
    printf("RSZ  output: %d x %d\n", pstats.rsz_out_w, pstats.rsz_out_h);

    struct af_configuration af_config;
    
    af_config.alaw_enable = H3A_AF_ALAW_DISABLE;
    af_config.hmf_config.enable = H3A_AF_HMF_ENABLE;
    af_config.hmf_config.threshold = 10;
    af_config.rgb_pos = RG_GB_BAYER;
    af_config.iir_config.hz_start_pos = 0;
    
    // The IIR coefficients are as follows (yay reverse-engineering!)
    
    // The format is S6Q5 fixed point. A positive value of x
    // should be written as 32*x. A negatives value of x
    // should be written as 4096 - 32*x
    
    // 0: global gain? not sure.
    // 1-2: IIR taps on the first biquad
    // 3-5: FIR taps on the first biquad
    // 6-7: IIR taps on the second biquad
    // 8-10: FIR taps on the second biquad      
    
    // A high pass filter aimed at ~8 pixel frequencies and above
    af_config.iir_config.coeff_set0[0] = 32; // gain of 1
    
    af_config.iir_config.coeff_set0[1] = 4096-27;
    af_config.iir_config.coeff_set0[2] = 6;
    
    af_config.iir_config.coeff_set0[3] = 16;
    af_config.iir_config.coeff_set0[4] = 4096-32;
    af_config.iir_config.coeff_set0[5] = 16;
    
    af_config.iir_config.coeff_set0[6] = 0;
    af_config.iir_config.coeff_set0[7] = 0;
    
    af_config.iir_config.coeff_set0[8] = 32;
    af_config.iir_config.coeff_set0[9] = 0;
    af_config.iir_config.coeff_set0[10] = 0;
    
    
    // A high pass filter aimed at ~4 pixel frequencies and above
    af_config.iir_config.coeff_set1[0] = 32; // gain of 1
    
    af_config.iir_config.coeff_set1[1] = 0;
    af_config.iir_config.coeff_set1[2] = 0;
    
    af_config.iir_config.coeff_set1[3] = 16;
    af_config.iir_config.coeff_set1[4] = 4096-32;
    af_config.iir_config.coeff_set1[5] = 16;
    
    af_config.iir_config.coeff_set1[6] = 0;
    af_config.iir_config.coeff_set1[7] = 0;
    
    af_config.iir_config.coeff_set1[8] = 32;
    af_config.iir_config.coeff_set1[9] = 0;
    af_config.iir_config.coeff_set1[10] = 0;
    
    af_config.mode = ACCUMULATOR_SUMMED;
    af_config.af_config = H3A_AF_CFG_ENABLE;
    int paxWidth = ((pstats.ccdc_out_w-4) / (2*sharpness->size.width))*2;
    int paxHeight = ((pstats.ccdc_out_h-4) / (2*sharpness->size.height))*2;
    if (paxWidth > 256) {
        printf("ERROR: AF paxels are too wide. Use a higher resolution sharpness map\n");
        return;
    }
    if (paxHeight > 256) {
        printf("ERROR: AF paxels are too tall. Use a higher resolution sharpness map\n");
        return;
    }
    if (paxWidth < 16) {
        printf("ERROR: AF paxels are too narrow. Use a lower resolution sharpness map\n");
        return;
    }
    if (paxHeight < 2) {
        printf("ERROR: AF paxels are too short. Use a lower resolution sharpness map\n");
        return;
    }
    
    //printf("Using %d x %d paxels for af\n", paxWidth, paxHeight);
    af_config.paxel_config.width = (paxWidth-2)/2;
    af_config.paxel_config.height = (paxHeight-2)/2;
    af_config.paxel_config.hz_start = (pstats.ccdc_out_w - sharpness->size.width * paxWidth)/2;
    af_config.paxel_config.vt_start = (pstats.ccdc_out_h - sharpness->size.height * paxHeight)/2;
    af_config.paxel_config.hz_cnt = sharpness->size.width-1;
    af_config.paxel_config.vt_cnt = sharpness->size.height-1;
    af_config.paxel_config.line_incr = 0;       
    
    printf("Enabling sharpness detector\n");
    if (ioctl(fd, VIDIOC_PRIVATE_ISP_AF_CFG, &af_config)) {
        perror("VIDIOC_PRIVATE_ISP_AF_CFG");
        return;
    }

    currentSharpness = *sharpness;
    }

    void V4L2Sensor::releaseFrame(V4L2Frame *frame) {
    //printf("Releasing frame %d\n", frame->index); fflush(stdout);

    //usleep(1000);
    
    // requeue the buffer
    v4l2_buffer buf;
    memset(&buf, 0, sizeof(v4l2_buffer));
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;
    buf.index = frame->index;
    
    if (ioctl(fd, VIDIOC_QBUF, &buf) < 0) {
        perror("VIDIOC_QBUF");
        return;
    }
    }
   
    void V4L2Sensor::setControl(unsigned int id, int value) {
    if (state == CLOSED) return;
    v4l2_control ctrl;
    ctrl.id = id;
    ctrl.value = value;
    if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
        // TODO: Better error reporting for all the get/set
        perror("VIDIOC_S_CTRL");
        return;
    }
    }

    int V4L2Sensor::getControl(unsigned int id) {
    if (state == CLOSED) return -1;
    v4l2_control ctrl;
    ctrl.id = id;
    if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
        perror("VIDIOC_G_CTRL");
        return -1;
    }

    return ctrl.value;
    }

    void V4L2Sensor::setExposure(int e) {
    if (state == CLOSED) return;

    struct v4l2_control ctrl;
    ctrl.id = V4L2_CID_EXPOSURE;
    ctrl.value = e;
    if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
        perror("VIDIOC_S_CTRL");
        return;
    }       
    
    }

    int V4L2Sensor::getExposure() {
    if (state == CLOSED) return -1; 

    struct v4l2_control ctrl;
    ctrl.id = V4L2_CID_EXPOSURE;
    
    if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
        perror("VIDIOC_G_CTRL");
        return -1;
    }       
    
    return ctrl.value;
    }

#define V4L2_CID_FRAME_TIME (V4L2_CTRL_CLASS_CAMERA | 0x10ff)

    void V4L2Sensor::setFrameTime(int e) {
    if (state == CLOSED) return;
    
    struct v4l2_control ctrl;
    ctrl.id = V4L2_CID_FRAME_TIME;
    ctrl.value = e;
    if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
        perror("VIDIOC_S_CTRL");
        return;
    }       
    }

    int V4L2Sensor::getFrameTime() {
    if (state == CLOSED) return -1; 

    struct v4l2_control ctrl;
    ctrl.id = V4L2_CID_FRAME_TIME;
    
    if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
        perror("VIDIOC_G_CTRL");
        return -1;
    }       
    
    return ctrl.value;
    }

    void V4L2Sensor::setGain(float g) {
    if (state == CLOSED) return;

    unsigned int gain;
    struct v4l2_control ctrl;
    
    gain = (int)(g * 32.0 + 0.5);
    
    ctrl.id = V4L2_CID_GAIN;
    ctrl.value = gain;
    if (ioctl(fd, VIDIOC_S_CTRL, &ctrl) < 0) {
        perror("VIDIOC_S_CTRL");
        return;
    }              
    }

    float V4L2Sensor::getGain() {
    if (state == CLOSED) return -1.0f;

    struct v4l2_control ctrl;
    
    ctrl.id = V4L2_CID_GAIN;
    if (ioctl(fd, VIDIOC_G_CTRL, &ctrl) < 0) {
        perror("VIDIOC_G_CTRL");
        return -1.0f;
    }       
    
    return ctrl.value / 32.0f;    
    }
}}

---