#!/bin/sh
# SPDX-License-Identifier: GPL-2.0-or-later
# Copyright (C) 2019, Google Inc.
#
# Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
#
# rkisp-capture.sh - Capture processed frames from cameras based on the
# Rockchip ISP1
#
# The scripts makes use of the following tools, which are expected to be
# executable from the system-wide path or from the local directory:
#
# - media-ctl (from v4l-utils git://linuxtv.org/v4l-utils.git)
# - raw2rgbpnm (from git://git.retiisi.org.uk/~sailus/raw2rgbpnm.git)
# - yavta (from git://git.ideasonboard.org/yavta.git)
# Locate the sensor entity
find_sensor() {
local bus
local sensor_name=$1
bus=$(grep "$sensor_name " /sys/class/video4linux/v4l-subdev*/name | cut -d ' ' -f 2)
if [[ -z $bus ]]; then
echo "Sensor '$sensor_name' not found." >&2
exit 1
fi
echo "$sensor_name $bus"
}
# Locate the media device
find_media_device() {
local mdev
local name=$1
for mdev in /dev/media* ; do
media-ctl -d $mdev -p | grep -q "^driver[ \t]*$name$" && break
mdev=
done
if [[ -z $mdev ]] ; then
echo "$name media device not found." >&2
exit 1
fi
echo $mdev
}
# Get the sensor format
get_sensor_format() {
local format
local sensor=$1
format=$($mediactl --get-v4l2 "'$sensor':0" | sed 's/\[\([^ ]*\).*/\1/')
sensor_mbus_code=$(echo $format | sed 's/fmt:\([A-Z0-9_]*\).*/\1/')
sensor_size=$(echo $format | sed 's/[^\/]*\/\([0-9x]*\).*/\1/')
echo "Capturing ${sensor_size} from sensor $sensor in ${sensor_mbus_code}"
}
# Configure the pipeline
configure_pipeline() {
local format="fmt:$sensor_mbus_code/$sensor_size"
local capture_mbus_code=$1
local capture_size=$2
echo "Configuring pipeline for $sensor in $format"
$mediactl -r
$mediactl -l "'$sensor':0 -> 'rkisp1_isp':0 [1]"
$mediactl -l "'rkisp1_isp':2 -> 'rkisp1_resizer_mainpath':0 [1]"
$mediactl -V "\"$sensor\":0 [$format]"
$mediactl -V "'rkisp1_isp':0 [$format crop:(0,0)/$sensor_size]"
$mediactl -V "'rkisp1_isp':2 [fmt:$capture_mbus_code/$sensor_size crop:(0,0)/$sensor_size]"
$mediactl -V "'rkisp1_resizer_mainpath':0 [fmt:$capture_mbus_code/$sensor_size crop:(0,0)/$sensor_size]"
$mediactl -V "'rkisp1_resizer_mainpath':1 [fmt:$capture_mbus_code/$capture_size]"
}
# Capture frames
capture_frames() {
local file_op
local capture_format=$1
local capture_size=$2
local frame_count=$3
local save_file=$4
if [[ $save_file -eq 1 ]]; then
file_op="--file=/tmp/frame-#.bin"
fi
yavta -c$frame_count -n5 -I -f $capture_format -s $capture_size \
$file_op $($mediactl -e "rkisp1_mainpath")
}
# Convert captured files to ppm
convert_files() {
local format=$1
local size=$2
local frame_count=$3
echo "Converting ${frame_count} frames (${size})"
for i in `seq 0 $(($frame_count - 1))`; do
i=$(printf %06u $i)
raw2rgbpnm -f $format -s $size /tmp/frame-$i.bin /tmp/frame-$i.ppm
done
}
# Print usage message
usage() {
echo "Usage: $1 [options] sensor-name"
echo "Supported options:"
echo "-c,--count n Number of frame to capture"
echo "--no-save Do not save captured frames to disk"
echo "-r, --raw Capture RAW frames"
echo "-s, --size wxh Frame size"
}
# Parse command line arguments
capture_size=1024x768
frame_count=10
raw=false
save_file=1
while [[ $# -ne 0 ]] ; do
case $1 in
-c|--count)
frame_count=$2
shift 2
;;
--no-save)
save_file=0
shift
;;
-r|--raw)
raw=true
shift
;;
-s|--size)
capture_size=$2
shift 2
;;
-*)
echo "Unsupported option $1" >&2
usage $0
exit 1
;;
*)
break
;;
esac
done
if [[ $# -ne 1 ]] ; then
usage $0
exit 1
fi
sensor_name=$1
modprobe phy_rockchip_dphy_rx0
modprobe rockchip_isp1
sensor=$(find_sensor $sensor_name) || exit
mdev=$(find_media_device rkisp1) || exit
mediactl="media-ctl -d $mdev"
get_sensor_format "$sensor"
if [[ $raw == true ]] ; then
capture_format=$(echo $sensor_mbus_code | sed 's/_[0-9X]$//')
capture_mbus_code=$sensor_mbus_code
else
capture_format=YUYV
capture_mbus_code=YUYV8_2X8
fi
configure_pipeline $capture_mbus_code $capture_size
capture_frames $capture_format $capture_size $frame_count $save_file
[[ $save_file -eq 1 ]] && convert_files $capture_format $capture_size $frame_count
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</pre></td>
<td class='lines'><pre><code><span class="hl com">/* SPDX-License-Identifier: LGPL-2.1-or-later */</span>
<span class="hl com">/*</span>
<span class="hl com"> * Copyright (C) 2019, Google Inc.</span>
<span class="hl com"> *</span>
<span class="hl com"> * v4l2_controls.cpp - V4L2 Controls Support</span>
<span class="hl com"> */</span>
<span class="hl ppc">#include</span> <span class="hl pps">"v4l2_controls.h"</span><span class="hl ppc"></span>
<span class="hl com">/**</span>
<span class="hl com"> * \file v4l2_controls.h</span>
<span class="hl com"> * \brief Support for V4L2 Controls using the V4L2 Extended Controls APIs</span>
<span class="hl com"> *</span>
<span class="hl com"> * The V4L2 Control API allows application to inspect and modify sets of</span>
<span class="hl com"> * configurable parameters on a video device or subdevice. The nature of the</span>
<span class="hl com"> * parameters an application can modify using the control framework depends on</span>
<span class="hl com"> * what the driver implements support for, and on the characteristics of the</span>
<span class="hl com"> * underlying hardware platform. Generally controls are used to modify user</span>
<span class="hl com"> * visible settings, such as the image brightness and exposure time, or</span>
<span class="hl com"> * non-standard parameters which cannot be controlled through the V4L2 format</span>
<span class="hl com"> * negotiation API.</span>
<span class="hl com"> *</span>
<span class="hl com"> * Controls are identified by a numerical ID, defined by the V4L2 kernel headers</span>
<span class="hl com"> * and have an associated type. Each control has a value, which is the data that</span>
<span class="hl com"> * can be modified with V4L2Device::setControls() or retrieved with</span>
<span class="hl com"> * V4L2Device::getControls().</span>
<span class="hl com"> *</span>
<span class="hl com"> * The control's type along with the control's flags define the type of the</span>
<span class="hl com"> * control's value content. Controls can transport a single data value stored in</span>
<span class="hl com"> * variable inside the control, or they might as well deal with more complex</span>
<span class="hl com"> * data types, such as arrays of matrices, stored in a contiguous memory</span>
<span class="hl com"> * locations associated with the control and called 'the payload'. Such controls</span>
<span class="hl com"> * are called 'compound controls' and are currently not supported by the</span>
<span class="hl com"> * libcamera V4L2 control framework.</span>
<span class="hl com"> *</span>
<span class="hl com"> * libcamera implements support for controls using the V4L2 Extended Control</span>
<span class="hl com"> * API, which allows future handling of controls with payloads of arbitrary</span>
<span class="hl com"> * sizes.</span>
<span class="hl com"> *</span>
<span class="hl com"> * The libcamera V4L2 Controls framework operates on lists of controls, wrapped</span>
<span class="hl com"> * by the V4L2ControlList class, to match the V4L2 extended controls API. The</span>
<span class="hl com"> * interface to set and get control is implemented by the V4L2Device class, and</span>
<span class="hl com"> * this file only provides the data type definitions.</span>
<span class="hl com"> *</span>
<span class="hl com"> * \todo Add support for compound controls</span>
<span class="hl com"> */</span>
<span class="hl kwa">namespace</span> libcamera <span class="hl opt">{</span>
<span class="hl com">/**</span>
<span class="hl com"> * \class V4L2ControlInfo</span>
<span class="hl com"> * \brief Information on a V4L2 control</span>
<span class="hl com"> *</span>
<span class="hl com"> * The V4L2ControlInfo class represents all the information related to a V4L2</span>
<span class="hl com"> * control, such as its ID, its type, its user-readable name and the expected</span>
<span class="hl com"> * size of its value data.</span>
<span class="hl com"> *</span>
<span class="hl com"> * V4L2ControlInfo instances are created by inspecting the fieldS of a struct</span>
<span class="hl com"> * v4l2_query_ext_ctrl structure, after it has been filled by the device driver</span>
<span class="hl com"> * as a consequence of a VIDIOC_QUERY_EXT_CTRL ioctl call.</span>
<span class="hl com"> *</span>
<span class="hl com"> * This class does not contain the control value, but only static information on</span>
<span class="hl com"> * the control, which shall be cached by the caller at initialisation time or</span>
<span class="hl com"> * the first time the control information is accessed.</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \brief Construct a V4L2ControlInfo from a struct v4l2_query_ext_ctrl</span>
<span class="hl com"> * \param ctrl The struct v4l2_query_ext_ctrl as returned by the kernel</span>
<span class="hl com"> */</span>
<span class="hl kwc">V4L2ControlInfo</span><span class="hl opt">::</span><span class="hl kwd">V4L2ControlInfo</span><span class="hl opt">(</span><span class="hl kwb">const struct</span> v4l2_query_ext_ctrl <span class="hl opt">&</span>ctrl<span class="hl opt">)</span>
<span class="hl opt">{</span>
id_ <span class="hl opt">=</span> ctrl<span class="hl opt">.</span>id<span class="hl opt">;</span>
type_ <span class="hl opt">=</span> ctrl<span class="hl opt">.</span>type<span class="hl opt">;</span>
name_ <span class="hl opt">=</span> <span class="hl kwa">static_cast</span><span class="hl opt"><</span><span class="hl kwb">const char</span> <span class="hl opt">*>(</span>ctrl<span class="hl opt">.</span>name<span class="hl opt">);</span>
size_ <span class="hl opt">=</span> ctrl<span class="hl opt">.</span>elem_size <span class="hl opt">*</span> ctrl<span class="hl opt">.</span>elems<span class="hl opt">;</span>
min_ <span class="hl opt">=</span> ctrl<span class="hl opt">.</span>minimum<span class="hl opt">;</span>
max_ <span class="hl opt">=</span> ctrl<span class="hl opt">.</span>maximum<span class="hl opt">;</span>
<span class="hl opt">}</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlInfo::id()</span>
<span class="hl com"> * \brief Retrieve the control ID</span>
<span class="hl com"> * \return The V4L2 control ID</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlInfo::type()</span>
<span class="hl com"> * \brief Retrieve the control type as defined by V4L2_CTRL_TYPE_*</span>
<span class="hl com"> * \return The V4L2 control type</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlInfo::size()</span>
<span class="hl com"> * \brief Retrieve the control value data size (in bytes)</span>
<span class="hl com"> * \return The V4L2 control value data size</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlInfo::name()</span>
<span class="hl com"> * \brief Retrieve the control user readable name</span>
<span class="hl com"> * \return The V4L2 control user readable name</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlInfo::min()</span>
<span class="hl com"> * \brief Retrieve the control minimum value</span>
<span class="hl com"> * \return The V4L2 control minimum value</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlInfo::max()</span>
<span class="hl com"> * \brief Retrieve the control maximum value</span>
<span class="hl com"> * \return The V4L2 control maximum value</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \typedef V4L2ControlInfoMap</span>
<span class="hl com"> * \brief A map of control ID to V4L2ControlInfo</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \class V4L2Control</span>
<span class="hl com"> * \brief A V4L2 control value</span>
<span class="hl com"> *</span>
<span class="hl com"> * The V4L2Control class represent the value of a V4L2 control. The class</span>
<span class="hl com"> * stores values that have been read from or will be applied to a V4L2 device.</span>
<span class="hl com"> *</span>
<span class="hl com"> * The value stored in the class instances does not reflect what is actually</span>
<span class="hl com"> * applied to the hardware but is a pure software cache optionally initialized</span>
<span class="hl com"> * at control creation time and modified by a control read or write operation.</span>
<span class="hl com"> *</span>
<span class="hl com"> * The write and read controls the V4L2Control class instances are not meant</span>
<span class="hl com"> * to be directly used but are instead intended to be grouped in</span>
<span class="hl com"> * V4L2ControlList instances, which are then passed as parameters to</span>
<span class="hl com"> * V4L2Device::setControls() and V4L2Device::getControls() operations.</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2Control::V4L2Control</span>
<span class="hl com"> * \brief Construct a V4L2 control with \a id and \a value</span>
<span class="hl com"> * \param id The V4L2 control ID</span>
<span class="hl com"> * \param value The control value</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2Control::value()</span>
<span class="hl com"> * \brief Retrieve the value of the control</span>
<span class="hl com"> *</span>
<span class="hl com"> * This method returns the cached control value, initially set by</span>
<span class="hl com"> * V4L2ControlList::add() and then updated when the controls are read or</span>
<span class="hl com"> * written with V4L2Device::getControls() and V4L2Device::setControls().</span>
<span class="hl com"> *</span>
<span class="hl com"> * \return The V4L2 control value</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2Control::setValue()</span>
<span class="hl com"> * \brief Set the value of the control</span>
<span class="hl com"> * \param value The new V4L2 control value</span>
<span class="hl com"> *</span>
<span class="hl com"> * This method stores the control value, which will be applied to the</span>
<span class="hl com"> * device when calling V4L2Device::setControls().</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2Control::id()</span>
<span class="hl com"> * \brief Retrieve the control ID this instance refers to</span>
<span class="hl com"> * \return The V4L2Control ID</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \class V4L2ControlList</span>
<span class="hl com"> * \brief Container of V4L2Control instances</span>
<span class="hl com"> *</span>
<span class="hl com"> * The V4L2ControlList class works as a container for a list of V4L2Control</span>
<span class="hl com"> * instances. The class provides operations to add a new control to the list,</span>
<span class="hl com"> * get back a control value, and reset the list of controls it contains.</span>
<span class="hl com"> *</span>
<span class="hl com"> * In order to set and get controls, user of the libcamera V4L2 control</span>
<span class="hl com"> * framework should operate on instances of the V4L2ControlList class, and use</span>
<span class="hl com"> * them as argument for the V4L2Device::setControls() and</span>
<span class="hl com"> * V4L2Device::getControls() operations, which write and read a list of</span>
<span class="hl com"> * controls to or from a V4L2 device (a video device or a subdevice).</span>
<span class="hl com"> *</span>
<span class="hl com"> * Controls are added to a V4L2ControlList instance with the add() method, with</span>
<span class="hl com"> * or without a value.</span>
<span class="hl com"> *</span>
<span class="hl com"> * To write controls to a device, the controls of interest shall be added with</span>
<span class="hl com"> * an initial value by calling V4L2ControlList::add(unsigned int id, int64_t</span>
<span class="hl com"> * value) to prepare for a write operation. Once the values of all controls of</span>
<span class="hl com"> * interest have been added, the V4L2ControlList instance is passed to the</span>
<span class="hl com"> * V4L2Device::setControls(), which sets the controls on the device.</span>
<span class="hl com"> *</span>
<span class="hl com"> * To read controls from a device, the desired controls are added with</span>
<span class="hl com"> * V4L2ControlList::add(unsigned int id) to prepare for a read operation. The</span>
<span class="hl com"> * V4L2ControlList instance is then passed to V4L2Device::getControls(), which</span>
<span class="hl com"> * reads the controls from the device and updates the values stored in</span>
<span class="hl com"> * V4L2ControlList.</span>
<span class="hl com"> *</span>
<span class="hl com"> * V4L2ControlList instances can be reset to remove all controls they contain</span>
<span class="hl com"> * and prepare to be re-used for a new control write/read sequence.</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \typedef V4L2ControlList::iterator</span>
<span class="hl com"> * \brief Iterator on the V4L2 controls contained in the instance</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \typedef V4L2ControlList::const_iterator</span>
<span class="hl com"> * \brief Const iterator on the V4L2 controls contained in the instance</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn iterator V4L2ControlList::begin()</span>
<span class="hl com"> * \brief Retrieve an iterator to the first V4L2Control in the instance</span>
<span class="hl com"> * \return An iterator to the first V4L2 control</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn const_iterator V4L2ControlList::begin() const</span>
<span class="hl com"> * \brief Retrieve a constant iterator to the first V4L2Control in the instance</span>
<span class="hl com"> * \return A constant iterator to the first V4L2 control</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn iterator V4L2ControlList::end()</span>
<span class="hl com"> * \brief Retrieve an iterator pointing to the past-the-end V4L2Control in the</span>
<span class="hl com"> * instance</span>
<span class="hl com"> * \return An iterator to the element following the last V4L2 control in the</span>
<span class="hl com"> * instance</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn const_iterator V4L2ControlList::end() const</span>
<span class="hl com"> * \brief Retrieve a constant iterator pointing to the past-the-end V4L2Control</span>
<span class="hl com"> * in the instance</span>
<span class="hl com"> * \return A constant iterator to the element following the last V4L2 control</span>
<span class="hl com"> * in the instance</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlList::empty()</span>
<span class="hl com"> * \brief Verify if the instance does not contain any control</span>
<span class="hl com"> * \return True if the instance does not contain any control, false otherwise</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlList::size()</span>
<span class="hl com"> * \brief Retrieve the number on controls in the instance</span>
<span class="hl com"> * \return The number of V4L2Control stored in the instance</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \fn V4L2ControlList::clear()</span>
<span class="hl com"> * \brief Remove all controls in the instance</span>
<span class="hl com"> */</span>
<span class="hl com">/**</span>
<span class="hl com"> * \brief Add control with \a id and optional \a value to the instance</span>
<span class="hl com"> * \param id The V4L2 control ID (V4L2_CID_*)</span>
<span class="hl com"> * \param value The V4L2 control value</span>
<span class="hl com"> *</span>
<span class="hl com"> * This method adds a new V4L2 control to the V4L2ControlList. The newly</span>
<span class="hl com"> * inserted control shall not already be present in the control lists, otherwise</span>
<span class="hl com"> * this method, and further use of the control list lead to undefined behaviour.</span>
<span class="hl com"> */</span>
<span class="hl kwb">void</span> <span class="hl kwc">V4L2ControlList</span><span class="hl opt">::</span><span class="hl kwd">add</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> id<span class="hl opt">,</span> <span class="hl kwb">int64_t</span> value<span class="hl opt">)</span>
<span class="hl opt">{</span>
controls_<span class="hl opt">.</span><span class="hl kwd">emplace_back</span><span class="hl opt">(</span>id<span class="hl opt">,</span> value<span class="hl opt">);</span>
<span class="hl opt">}</span>
<span class="hl com">/**</span>
<span class="hl com"> * \brief Retrieve the control at \a index</span>
<span class="hl com"> * \param[in] index The control index</span>
<span class="hl com"> *</span>
<span class="hl com"> * Controls are stored in a V4L2ControlList in order of insertion and this</span>
<span class="hl com"> * method retrieves the control at \a index.</span>
<span class="hl com"> *</span>
<span class="hl com"> * \return A pointer to the V4L2Control at \a index or nullptr if the</span>
<span class="hl com"> * index is larger than the number of controls</span>
<span class="hl com"> */</span>
V4L2Control <span class="hl opt">*</span><span class="hl kwc">V4L2ControlList</span><span class="hl opt">::</span><span class="hl kwd">getByIndex</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> index<span class="hl opt">)</span>
<span class="hl opt">{</span>
<span class="hl kwa">if</span> <span class="hl opt">(</span>index <span class="hl opt">>=</span> controls_<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">())</span>
<span class="hl kwa">return</span> <span class="hl kwc">nullptr</span><span class="hl opt">;</span>
<span class="hl kwa">return</span> <span class="hl opt">&</span>controls_<span class="hl opt">[</span>index<span class="hl opt">];</span>
<span class="hl opt">}</span>
<span class="hl com">/**</span>
<span class="hl com"> * \brief Retrieve the control with \a id</span>
<span class="hl com"> * \param[in] id The V4L2 control ID (V4L2_CID_xx)</span>
<span class="hl com"> * \return A pointer to the V4L2Control with \a id or nullptr if the</span>
<span class="hl com"> * control ID is not part of this instance.</span>
<span class="hl com"> */</span>
V4L2Control <span class="hl opt">*</span><span class="hl kwc">V4L2ControlList</span><span class="hl opt">::</span><span class="hl kwc">operator</span><span class="hl opt">[](</span><span class="hl kwb">unsigned int</span> id<span class="hl opt">)</span>
<span class="hl opt">{</span>
<span class="hl kwa">for</span> <span class="hl opt">(</span>V4L2Control <span class="hl opt">&</span>ctrl <span class="hl opt">:</span> controls_<span class="hl opt">) {</span>
<span class="hl kwa">if</span> <span class="hl opt">(</span>ctrl<span class="hl opt">.</span><span class="hl kwd">id</span><span class="hl opt">() ==</span> id<span class="hl opt">)</span>
<span class="hl kwa">return</span> <span class="hl opt">&</span>ctrl<span class="hl opt">;</span>
<span class="hl opt">}</span>
<span class="hl kwa">return</span> <span class="hl kwc">nullptr</span><span class="hl opt">;</span>
<span class="hl opt">}</span>
<span class="hl opt">}</span> <span class="hl com">/* namespace libcamera */</span>