1 files changed, 0 insertions, 524 deletions
diff --git a/peripheral/libupm/src/vcap/vcap.cxx b/peripheral/libupm/src/vcap/vcap.cxx
deleted file mode 100644
index 8a992ce..0000000
--- a/peripheral/libupm/src/vcap/vcap.cxx
+++ /dev/null
@@ -1,524 +0,0 @@
-/*
- * Author: Jon Trulson <jtrulson@ics.com>
- * Copyright (c) 2016 Intel Corporation.
- *
- * Permission is hereby granted, free of charge, to any person obtaining
- * a copy of this software and associated documentation files (the
- * "Software"), to deal in the Software without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Software, and to
- * permit persons to whom the Software is furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
- * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
- * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
- * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- */
-
-#include <iostream>
-#include <stdexcept>
-#include <unistd.h>
-#include <stdio.h>
-#include <math.h>
-#include <string.h>
-
-#include "vcap.hpp"
-
-using namespace upm;
-using namespace std;
-
-#define CLAMP(_val, _min, _max) \
-  (((_val) < (_min)) ? (_min) : (((_val) > (_max)) ? (_max) : (_val)))
-
-VCAP::VCAP(string videoDev) :
-  m_buffer(0), m_fd(-1)
-{
-  memset(&m_caps, 0, sizeof(struct v4l2_capability));
-  memset(&m_format, 0, sizeof(struct v4l2_format));
-  
-  m_debugging = false;
-  m_bufferLen = 0;
-  m_videoDevice = videoDev;
-  setJPGQuality(VCAP_DEFAULT_JPEG_QUALITY);
-
-  // try to open the video device, and set a default format.
-  if (!initVideoDevice())
-    throw std::runtime_error(std::string(__FUNCTION__) +
-                             ": initVideoDevice() failed");
-
-  m_height = 0;
-  m_width = 0;
-  m_imageCaptured = false;
-}
-
-VCAP::~VCAP()
-{
-  releaseBuffer();
-
-  if (m_fd >= 0)
-    close(m_fd);
-
-  m_fd = -1;
-}
-
-bool VCAP::initVideoDevice()
-{
-  if (m_videoDevice.empty())
-    return false;
-
-  if ((m_fd = open(m_videoDevice.c_str(), O_RDWR)) < 0)
-    {
-      cerr << __FUNCTION__ << ": open failed: " << strerror(errno) << endl;
-      return false;
-    }
-  
-  if (!checkCapabilities())
-    {
-      close(m_fd);
-      m_fd = -1;
-      return false;
-    }
-
-  return true;
-}
-
-// This seems... odd, but appears to be necessary.
-// Ignore error and retry if the ioctl fails due to EINTR
-int VCAP::xioctl(int fd, int request, void* argp)
-{
-  int r;
-  
-  do {
-    r = ioctl(fd, request, argp);
-  }
-  while (r == -1 && errno == EINTR);
-  
-  return r;
-}
-
-bool VCAP::checkCapabilities()
-{
-  if (xioctl(m_fd, VIDIOC_QUERYCAP, &m_caps) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_QUERYCAP) failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
-  
-  if (m_debugging)
-    {
-      cerr << "Driver: " << m_caps.driver << endl;
-      cerr << "Device: "  << m_caps.card << endl;
-      cerr << "Caps  : 0x" << std::hex << m_caps.capabilities << std::dec
-           << endl;
-    }
-
-  // see if capturing is supported
-  if (!(m_caps.capabilities & V4L2_CAP_VIDEO_CAPTURE))
-    {
-      cerr << __FUNCTION__ << ": Device does not support video capture"
-           << endl;
-      return false;
-    }
-
-  if (!(m_caps.capabilities & V4L2_CAP_STREAMING))
-    {
-      cerr << __FUNCTION__ << ": Device does not support streaming I/O"
-           << endl;
-      return false;
-    }
-
-  return true;
-}
-
-bool VCAP::setResolution(int width, int height)
-{
-  // in case we already created one
-  releaseBuffer();
-
-  m_width = width;
-  m_height = height;
-
-  m_format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  // initialize with the current format
-  if (xioctl(m_fd, VIDIOC_G_FMT, &m_format) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_G_FMT) failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
-
-  // make our changes...
-  m_format.fmt.pix.width = m_width;
-  m_format.fmt.pix.height = m_height;
-  m_format.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
-  m_format.fmt.pix.field = V4L2_FIELD_ANY;
-        
-  if (xioctl(m_fd, VIDIOC_S_FMT, &m_format) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_S_FMT) failed: "
-           << strerror(errno) << endl;
-
-      // If it's just busy, then this still might work, so don't fail here
-      if (errno != EBUSY)
-        return false;
-    }
-
-  // Now retrieve the driver's selected format and check it -
-  // specifically, the width and height might change, causing
-  // coredumps if we don't adjust them accordingly.
-
-  if (xioctl(m_fd, VIDIOC_G_FMT, &m_format) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_G_FMT) failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
-
-  // G_FMT will have adjusted these if neccessary, so verify
-  if (m_format.fmt.pix.width != m_width)
-    {
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": Warning: Selected width "
-             << std::to_string(m_width)
-             << " adjusted by driver to "
-             << std::to_string(m_format.fmt.pix.width)
-             << endl;
-
-      m_width = m_format.fmt.pix.width;
-    }
-  
-  if (m_format.fmt.pix.height != m_height)
-    {
-      if (m_debugging)
-        cerr << __FUNCTION__ << ": Warning: Selected height "
-             << std::to_string(m_height)
-             << " adjusted by driver to "
-             << std::to_string(m_format.fmt.pix.height)
-             << endl;
-
-      m_height = m_format.fmt.pix.height;
-    }
-
-  // now alloc the buffers here
-  if (!allocBuffer())
-    return false;
-
-  return true;
-}
- 
-bool VCAP::allocBuffer()
-{
-  struct v4l2_requestbuffers rb;
-  memset(&rb, 0, sizeof(rb));
-
-  // we just want one buffer, and we only support mmap().
-  rb.count = 1;
-  rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  rb.memory = V4L2_MEMORY_MMAP;
- 
-  if (xioctl(m_fd, VIDIOC_REQBUFS, &rb) < 0)
-    {
-      if (errno == EINVAL)
-        {
-          cerr << __FUNCTION__ << ": Capture device does not support mmapped "
-               << "buffers"
-               << endl;
-        }
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_REQBUFS) failed: "
-           << strerror(errno) << endl;
-      
-      return false;
-    }
- 
-  // get the buffer and mmap it
-  struct v4l2_buffer mbuf;
-  memset(&mbuf, 0, sizeof(mbuf));
-
-  mbuf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  mbuf.memory = V4L2_MEMORY_MMAP;
-  mbuf.index = 0;
-
-  if (xioctl(m_fd, VIDIOC_QUERYBUF, &mbuf) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_QUERYBUF) failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
- 
-  // map it
-  m_buffer = (unsigned char *)mmap(NULL, mbuf.length, 
-                                   PROT_READ | PROT_WRITE, MAP_SHARED, 
-                                   m_fd, mbuf.m.offset);
-
-  if (m_buffer == MAP_FAILED)
-    {
-      cerr << __FUNCTION__ << ": mmap() failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
-
-  // we'll need this when unmapping
-  m_bufferLen = mbuf.length;
-  
-  return true;
-}
-
-void VCAP::releaseBuffer()
-{
-  // first unmap any buffers
-  if (m_buffer)
-    munmap(m_buffer, m_bufferLen);
-
-  m_buffer = 0;
-  m_bufferLen = 0;
-
-  // then, tell the kernel driver to free any allocated buffer(s)...
-  struct v4l2_requestbuffers rb;
-  memset(&rb, 0, sizeof(rb));
-
-  rb.count = 0;
-  rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  rb.memory = V4L2_MEMORY_MMAP;
- 
-  if (xioctl(m_fd, VIDIOC_REQBUFS, &rb) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_REQBUFS) failed while freeing: "
-           << strerror(errno) << endl;
-    }
-
-  // reset captured flag
-  m_imageCaptured = false;
-}
-
-
-bool VCAP::YUYV2JPEG(FILE *file)
-{
-  struct jpeg_compress_struct jpgInfo;
-  struct jpeg_error_mgr jerr;
-  JSAMPROW row_pointer[1];
-  unsigned char *row_buffer = NULL;
-  unsigned char *yuyv = NULL;
-  int z;
-
-  row_buffer = (unsigned char *)calloc(m_width * 3, 1);
-  if (!row_buffer)
-    {
-      cerr << __FUNCTION__ << ": allocation of line buffer failed."
-           << endl;
-      return false;
-    }
-
-  yuyv = m_buffer;
-
-  jpgInfo.err = jpeg_std_error(&jerr);
-  jpeg_create_compress(&jpgInfo);
-  jpeg_stdio_dest(&jpgInfo, file);
-
-  jpgInfo.image_width = m_width;
-  jpgInfo.image_height = m_height;
-
-  // components R, G, B
-  jpgInfo.input_components = 3;
-  jpgInfo.in_color_space = JCS_RGB;
-
-  jpeg_set_defaults(&jpgInfo);
-  jpeg_set_quality(&jpgInfo, m_jpgQuality, TRUE);
-
-  jpeg_start_compress(&jpgInfo, TRUE);
-
-  z = 0;
-
-  while (jpgInfo.next_scanline < jpgInfo.image_height)
-    {
-      int x;
-      unsigned char *ptr = row_buffer;
-      
-      for (x = 0; x < m_width; x++)
-        {
-          int r, g, b;
-          int y, u, v;
-          
-          if (!z)
-            y = yuyv[0] << 8;
-          else
-            y = yuyv[2] << 8;
-          u = yuyv[1] - 128;
-          v = yuyv[3] - 128;
-          
-          r = (y + (359 * v)) >> 8;
-          g = (y - (88 * u) - (183 * v)) >> 8;
-          b = (y + (454 * u)) >> 8;
-          
-          *(ptr++) = CLAMP(r, 0, 255);
-          *(ptr++) = CLAMP(g, 0, 255);
-          *(ptr++) = CLAMP(b, 0, 255);
-          
-          if (z++)
-            {
-              z = 0;
-              yuyv += 4;
-            }
-        }
-      
-      row_pointer[0] = row_buffer;
-      jpeg_write_scanlines(&jpgInfo, row_pointer, 1);
-    }
-
-  jpeg_finish_compress(&jpgInfo);
-  jpeg_destroy_compress(&jpgInfo);
-
-  free(row_buffer);
-
-  return true;
-}
-
-bool VCAP::saveImage(string filename)
-{
-  // check m_buffer to make sure we have an actual buffer... If not,
-  // we throw here.
-  if (!m_buffer)
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": no buffer.  Call setResolution() first");
-    }
-
-  // if we haven't done at least one capture yet...
-  if (!m_imageCaptured)
-    {
-      throw std::runtime_error(std::string(__FUNCTION__) +
-                               ": No data, call captureImage() first");
-    }
-
-  FILE *file;
-  if ((file = fopen(filename.c_str(), "wb")) == NULL)
-    {
-      cerr << __FUNCTION__ << ": fopen() failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
-  
-  YUYV2JPEG(file);
-  fclose(file);
-
-  if (m_debugging)
-    cerr << __FUNCTION__ << ": Saved image to " << filename << endl;
-
-  return true;
-}
-
-bool VCAP::captureImage()
-{
-  // first, make sure a resolution was specified.  If not, set the
-  // default
-  if (m_width == 0 || m_height == 0)
-    {
-      if (!setResolution(VCAP_DEFAULT_WIDTH, VCAP_DEFAULT_HEIGHT))
-        throw std::runtime_error(std::string(__FUNCTION__) +
-                                 ": setResolution() failed");
-    }
-
-  // we basically just call doCaptureImage() twice - once to grab and
-  // discard the first frame (which is usually a remnent of a previous
-  // capture), and another to grab the real frame we are interesed in.
-
-  if (!doCaptureImage())
-    {
-      cerr << __FUNCTION__ << ": capture of first frame failed"
-           << endl;
-    }
-
-  return doCaptureImage();
-}
-
-
-// the real workhorse
-bool VCAP::doCaptureImage()
-{
-  struct v4l2_buffer buf = {0};
-  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  buf.memory = V4L2_MEMORY_MMAP;
-  buf.index = 0;
-
-  // queue our buffer
-  if (xioctl(m_fd, VIDIOC_QBUF, &buf) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_QBUF) failed: "
-           << strerror(errno) << endl;
-
-      return false;
-    }
-  
-  // enable streaming
-  if (xioctl(m_fd, VIDIOC_STREAMON, &buf.type) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_STREAMON) failed: "
-           << strerror(errno) << endl;
-
-      return false;
-    }
-
-  // use select to wait for a complete frame.
-  fd_set fds;
-
-  FD_ZERO(&fds);
-  FD_SET(m_fd, &fds);
-
-  struct timeval tv;
-  memset(&tv, 0, sizeof(tv));
-
-  // 5 seconds should be more than enough
-  tv.tv_sec = 5;
-
-  int rv;
-  if ((rv = select(m_fd + 1, &fds, NULL, NULL, &tv)) < 0)
-    {
-      cerr << __FUNCTION__ << ": select() failed: "
-           << strerror(errno) << endl;
-      return false;
-    }
-
-  if (!rv)
-    {
-      // timed out
-      cerr << __FUNCTION__ << ": select() timed out waiting for frame"
-           << endl;
-
-      return false;
-    }
-
-  // de-queue the buffer, we're now free to access it via the mmapped
-  // ptr (m_buffer)
-  if (xioctl(m_fd, VIDIOC_DQBUF, &buf) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_DQBUF) failed: "
-           << strerror(errno) << endl;
-
-      return false;
-    }
-
-  // turn off streaming
-  if (xioctl(m_fd, VIDIOC_STREAMOFF, &buf.type) < 0)
-    {
-      cerr << __FUNCTION__ << ": ioctl(VIDIOC_STREAMOFF) failed: "
-           << strerror(errno) << endl;
-
-      return false;
-    }
-    
-  m_imageCaptured = true;
-
-  return true;
-}
-
- void VCAP::setJPGQuality(unsigned int qual)
- {
-   m_jpgQuality = CLAMP(qual, 0, 100);
- }