/* SPDX-License-Identifier: GPL-2.0-or-later */ /* * Copyright (C) 2019, Google Inc. * * main.cpp - cam - The libcamera swiss army knife */ #include #include #include #include #include #include #include #include "camera_session.h" #include "event_loop.h" #include "main.h" #include "options.h" #include "stream_options.h" using namespace libcamera; class CamApp { public: CamApp(); static CamApp *instance(); int init(int argc, char **argv); void cleanup(); int exec(); void quit(); private: void cameraAdded(std::shared_ptr cam); void cameraRemoved(std::shared_ptr cam); void captureDone(); int parseOptions(int argc, char *argv[]); int run(); static std::string cameraName(const Camera *camera); static CamApp *app_; OptionsParser::Options options_; std::unique_ptr cm_; std::atomic_uint loopUsers_; EventLoop loop_; }; CamApp *CamApp::app_ = nullptr; CamApp::CamApp() : loopUsers_(0) { CamApp::app_ = this; } CamApp *CamApp::instance() { return CamApp::app_; } int CamApp::init(int argc, char **argv) { int ret; ret = parseOptions(argc, argv); if (ret < 0) return ret; cm_ = std::make_unique(); ret = cm_->start(); if (ret) { std::cout << "Failed to start camera manager: " << strerror(-ret) << std::endl; return ret; } return 0; } void CamApp::cleanup() { cm_->stop(); } int CamApp::exec() { int ret; ret = run(); cleanup(); return ret; } void CamApp::quit() { loop_.exit(); } int CamApp::parseOptions(int argc, char *argv[]) { StreamKeyValueParser streamKeyValue; OptionsParser parser; parser.addOption(OptCamera, OptionString, "Specify which camera to operate on, by id or by index", "camera", ArgumentRequired, "camera", true); parser.addOption(OptHelp, OptionNone, "Display this help message", "help"); parser.addOption(OptInfo, OptionNone, "Display information about stream(s)", "info"); parser.addOption(OptList, OptionNone, "List all cameras", "list"); parser.addOption(OptListControls, OptionNone, "List cameras controls", "list-controls"); parser.addOption(OptListProperties, OptionNone, "List cameras properties", "list-properties"); parser.addOption(OptMonitor, OptionNone, "Monitor for hotplug and unplug camera events", "monitor"); /* Sub-options of OptCamera: */ parser.addOption(OptCapture, OptionInteger, "Capture until interrupted by user or until frames captured", "capture", ArgumentOptional, "count", false, OptCamera); #ifdef HAVE_KMS parser.addOption(OptDisplay, OptionString, "Display viewfinder through DRM/KMS on specified connector", "display", ArgumentOptional, "connector", false, OptCamera); #endif parser.addOption(OptFile, OptionString, "Write captured frames to disk\n" "If the file name ends with a '/', it sets the directory in which\n" "to write files, using the default file name. Otherwise it sets the\n" "full file path and name. The first '#' character in the file name\n" "is expanded to the camera index, stream name and frame sequence number.\n" "The default file name is 'frame-#.bin'.", "file", ArgumentOptional, "filename", false, OptCamera); parser.addOption(OptStream, &streamKeyValue, "Set configuration of a camera stream", "stream", true, OptCamera); parser.addOption(OptStrictFormats, OptionNone, "Do not allow requested stream format(s) to be adjusted", "strict-formats", ArgumentNone, nullptr, false, OptCamera); parser.addOption(OptMetadata, OptionNone, "Print the metadata for completed requests", "metadata", ArgumentNone, nullptr, false, OptCamera); options_ = parser.parse(argc, argv); if (!options_.valid()) return -EINVAL; if (options_.empty() || options_.isSet(OptHelp)) { parser.usage(); return options_.empty() ? -EINVAL : -EINTR; } return 0; } void CamApp::cameraAdded(std::shared_ptr cam) { std::cout << "Camera Added: " << cam->id() << std::endl; } void CamApp::cameraRemoved(std::shared_ptr cam) { std::cout << "Camera Removed: " << cam->id() << std::endl; } void CamApp::captureDone() { if (--loopUsers_ == 0) EventLoop::instance()->exit(0); } int CamApp::run() { int ret; /* 1. List all cameras. */ if (options_.isSet(OptList)) { std::cout << "Available cameras:" << std::endl; unsigned int index = 1; for (const std::shared_ptr &cam : cm_->cameras()) { std::cout << index << ": " << cameraName(cam.get()) << std::endl; index++; } } /* 2. Create the camera sessions. */ std::vector> sessions; if (options_.isSet(OptCamera)) { unsigned int index = 0; for (const OptionValue &camera : options_[OptCamera].toArray()) { std::unique_ptr session = std::make_unique(cm_.get(), camera.toString(), index, camera.children()); if (!session->isValid()) { std::cout << "Failed to create camera session" << std::endl; return -EINVAL; } std::cout << "Using camera " << session->camera()->id() << " as cam" << index << std::endl; session->captureDone.connect(this, &CamApp::captureDone); sessions.push_back(std::move(session)); index++; } } /* 3. Print camera information. */ if (options_.isSet(OptListControls) || options_.isSet(OptListProperties) || options_.isSet(OptInfo)) { for (const auto &session : sessions) { if (options_.isSet(OptListControls)) session->listControls(); if (options_.isSet(OptListProperties)) session->listProperties(); if (options_.isSet(OptInfo)) session->infoConfiguration(); } } /* 4. Start capture. */ for (const auto &session : sessions) { if (!session->options().isSet(OptCapture)) continue; ret = session->start(); if (ret) { std::cout << "Failed to start camera session" << std::endl; return ret; } loopUsers_++; } /* 5. Enable hotplug monitoring. */ if (options_.isSet(OptMonitor)) { std::cout << "Monitoring new hotplug and unplug events" << std::endl; std::cout << "Press Ctrl-C to interrupt" << std::endl; cm_->cameraAdded.connect(this, &CamApp::cameraAdded); cm_->cameraRemoved.connect(this, &CamApp::cameraRemoved); loopUsers_++; } if (loopUsers_) loop_.exec(); /* 6. Stop capture. */ for (const auto &session : sessions) { if (!session->options().isSet(OptCapture)) continue; session->stop(); } return 0; } std::string CamApp::cameraName(const Camera *camera) { const ControlList &props = camera->properties(); bool addModel = true; std::string name; /* * Construct the name from the camera location, model and ID. The model * is only used if the location isn't present or is set to External. */ if (props.contains(properties::Location)) { switch (props.get(properties::Location)) { case properties::CameraLocationFront: addModel = false; name = "Internal front camera "; break; case properties::CameraLocationBack: addModel = false; name = "Internal back camera "; break; case properties::CameraLocationExternal: name = "External camera "; break; } } if (addModel && props.contains(properties::Model)) { /* * If the camera location is not availble use the camera model * to build the camera name. */ name = "'" + props.get(properties::Model) + "' "; } name += "(" + camera->id() + ")"; return name; } void signalHandler([[maybe_unused]] int signal) { std::cout << "Exiting" << std::endl; CamApp::instance()->quit(); } int main(int argc, char **argv) { CamApp app; int ret; ret = app.init(argc, argv); if (ret) return ret == -EINTR ? 0 : EXIT_FAILURE; struct sigaction sa = {}; sa.sa_handler = &signalHandler; sigaction(SIGINT, &sa, nullptr); if (app.exec()) return EXIT_FAILURE; return 0; } f='#n150'>150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464

#!/usr/bin/env python3

# SPDX-License-Identifier: GPL-2.0-or-later
# Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com>

from typing import Any
import argparse
import binascii
import libcamera as libcam
import libcamera.utils
import sys
import traceback


class CameraContext:
    camera: libcam.Camera
    id: str
    idx: int

    opt_stream: str
    opt_strict_formats: bool
    opt_crc: bool
    opt_metadata: bool
    opt_save_frames: bool
    opt_capture: int

    stream_names: dict[libcam.Stream, str]
    streams: list[libcam.Stream]
    allocator: libcam.FrameBufferAllocator
    requests: list[libcam.Request]
    reqs_queued: int
    reqs_completed: int
    last: int = 0
    fps: float

    def __init__(self, camera, idx):
        self.camera = camera
        self.idx = idx
        self.id = 'cam' + str(idx)
        self.reqs_queued = 0
        self.reqs_completed = 0

    def do_cmd_list_props(self):
        print('Properties for', self.id)

        for cid, val in self.camera.properties.items():
            print('\t{}: {}'.format(cid, val))

    def do_cmd_list_controls(self):
        print('Controls for', self.id)

        for cid, info in self.camera.controls.items():
            print('\t{}: {}'.format(cid, info))

    def do_cmd_info(self):
        print('Stream info for', self.id)

        roles = [libcam.StreamRole.Viewfinder]

        camconfig = self.camera.generate_configuration(roles)
        if camconfig is None:
            raise Exception('Generating config failed')

        for i, stream_config in enumerate(camconfig):
            print('\t{}: {}'.format(i, stream_config))

            formats = stream_config.formats
            for fmt in formats.pixel_formats:
                print('\t * Pixelformat:', fmt, formats.range(fmt))

                for size in formats.sizes(fmt):
                    print('\t  -', size)

    def acquire(self):
        self.camera.acquire()

    def release(self):
        self.camera.release()

    def __parse_streams(self):
        streams = []

        for stream_desc in self.opt_stream:
            stream_opts: dict[str, Any]
            stream_opts = {'role': libcam.StreamRole.Viewfinder}

            for stream_opt in stream_desc.split(','):
                if stream_opt == 0:
                    continue

                arr = stream_opt.split('=')
                if len(arr) != 2:
                    print('Bad stream option', stream_opt)
                    sys.exit(-1)

                key = arr[0]
                value = arr[1]

                if key in ['width', 'height']:
                    value = int(value)
                elif key == 'role':
                    rolemap = {
                        'still': libcam.StreamRole.StillCapture,
                        'raw': libcam.StreamRole.Raw,
                        'video': libcam.StreamRole.VideoRecording,
                        'viewfinder': libcam.StreamRole.Viewfinder,
                    }

                    role = rolemap.get(value.lower(), None)

                    if role is None:
                        print('Bad stream role', value)
                        sys.exit(-1)

                    value = role
                elif key == 'pixelformat':
                    pass
                else:
                    print('Bad stream option key', key)
                    sys.exit(-1)

                stream_opts[key] = value

            streams.append(stream_opts)

        return streams

    def configure(self):
        streams = self.__parse_streams()

        roles = [opts['role'] for opts in streams]

        camconfig = self.camera.generate_configuration(roles)
        if camconfig is None:
            raise Exception('Generating config failed')

        for idx, stream_opts in enumerate(streams):
            stream_config = camconfig.at(idx)

            if 'width' in stream_opts:
                stream_config.size.width = stream_opts['width']

            if 'height' in stream_opts:
                stream_config.size.height = stream_opts['height']

            if 'pixelformat' in stream_opts:
                stream_config.pixel_format = libcam.PixelFormat(stream_opts['pixelformat'])

        stat = camconfig.validate()

        if stat == libcam.CameraConfiguration.Status.Invalid:
            print('Camera configuration invalid')
            exit(-1)
        elif stat == libcam.CameraConfiguration.Status.Adjusted:
            if self.opt_strict_formats:
                print('Adjusting camera configuration disallowed by --strict-formats argument')
                exit(-1)

            print('Camera configuration adjusted')

        r = self.camera.configure(camconfig)
        if r != 0:
            raise Exception('Configure failed')

        self.stream_names = {}
        self.streams = []

        for idx, stream_config in enumerate(camconfig):
            stream = stream_config.stream
            self.streams.append(stream)
            self.stream_names[stream] = 'stream' + str(idx)
            print('{}-{}: stream config {}'.format(self.id, self.stream_names[stream], stream.configuration))

    def alloc_buffers(self):
        allocator = libcam.FrameBufferAllocator(self.camera)

        for stream in self.streams:
            ret = allocator.allocate(stream)
            if ret < 0:
                print('Cannot allocate buffers')
                exit(-1)

            allocated = len(allocator.buffers(stream))

            print('{}-{}: Allocated {} buffers'.format(self.id, self.stream_names[stream], allocated))

        self.allocator = allocator

    def create_requests(self):
        self.requests = []

        # Identify the stream with the least number of buffers
        num_bufs = min([len(self.allocator.buffers(stream)) for stream in self.streams])

        requests = []

        for buf_num in range(num_bufs):
            request = self.camera.create_request(self.idx)

            if request is None:
                print('Can not create request')
                exit(-1)

            for stream in self.streams:
                buffers = self.allocator.buffers(stream)
                buffer = buffers[buf_num]

                ret = request.add_buffer(stream, buffer)
                if ret < 0:
                    print('Can not set buffer for request')
                    exit(-1)

            requests.append(request)

        self.requests = requests

    def start(self):
        self.camera.start()

    def stop(self):
        self.camera.stop()

    def queue_requests(self):
        for request in self.requests:
            self.camera.queue_request(request)
            self.reqs_queued += 1

        del self.requests


class CaptureState:
    cm: libcam.CameraManager
    contexts: list[CameraContext]
    renderer: Any

    def __init__(self, cm, contexts):
        self.cm = cm
        self.contexts = contexts

    # Called from renderer when there is a libcamera event
    def event_handler(self):
        try:
            reqs = self.cm.get_ready_requests()

            for req in reqs:
                ctx = next(ctx for ctx in self.contexts if ctx.idx == req.cookie)
                self.__request_handler(ctx, req)

            running = any(ctx.reqs_completed < ctx.opt_capture for ctx in self.contexts)
            return running
        except Exception:
            traceback.print_exc()
            return False

    def __request_handler(self, ctx, req):
        if req.status != libcam.Request.Status.Complete:
            raise Exception('{}: Request failed: {}'.format(ctx.id, req.status))

        buffers = req.buffers

        # Compute the frame rate. The timestamp is arbitrarily retrieved from
        # the first buffer, as all buffers should have matching timestamps.
        ts = buffers[next(iter(buffers))].metadata.timestamp
        last = ctx.last
        fps = 1000000000.0 / (ts - last) if (last != 0 and (ts - last) != 0) else 0
        ctx.last = ts
        ctx.fps = fps

        if ctx.opt_metadata:
            reqmeta = req.metadata
            for ctrl, val in reqmeta.items():
                print(f'\t{ctrl} = {val}')

        for stream, fb in buffers.items():
            stream_name = ctx.stream_names[stream]

            crcs = []
            if ctx.opt_crc:
                with libcamera.utils.MappedFrameBuffer(fb) as mfb:
                    plane_crcs = [binascii.crc32(p) for p in mfb.planes]
                    crcs.append(plane_crcs)

            meta = fb.metadata

            print('{:.6f} ({:.2f} fps) {}-{}: seq {}, bytes {}, CRCs {}'
                  .format(ts / 1000000000, fps,
                          ctx.id, stream_name,
                          meta.sequence,
                          '/'.join([str(p.bytes_used) for p in meta.planes]),
                          crcs))

            if ctx.opt_save_frames:
                with libcamera.utils.MappedFrameBuffer(fb) as mfb:
                    filename = 'frame-{}-{}-{}.data'.format(ctx.id, stream_name, ctx.reqs_completed)
                    with open(filename, 'wb') as f:
                        for p in mfb.planes:
                            f.write(p)

        self.renderer.request_handler(ctx, req)

        ctx.reqs_completed += 1

    # Called from renderer when it has finished with a request
    def request_processed(self, ctx, req):
        if ctx.reqs_queued < ctx.opt_capture:
            req.reuse()
            ctx.camera.queue_request(req)
            ctx.reqs_queued += 1

    def __capture_init(self):
        for ctx in self.contexts:
            ctx.acquire()

        for ctx in self.contexts:
            ctx.configure()

        for ctx in self.contexts:
            ctx.alloc_buffers()

        for ctx in self.contexts:
            ctx.create_requests()

    def __capture_start(self):
        for ctx in self.contexts:
            ctx.start()

        for ctx in self.contexts:
            ctx.queue_requests()

    def __capture_deinit(self):
        for ctx in self.contexts:
            ctx.stop()

        for ctx in self.contexts:
            ctx.release()

    def do_cmd_capture(self):
        self.__capture_init()

        self.renderer.setup()

        self.__capture_start()

        self.renderer.run()

        self.__capture_deinit()


class CustomAction(argparse.Action):
    def __init__(self, option_strings, dest, **kwargs):
        super().__init__(option_strings, dest, default={}, **kwargs)

    def __call__(self, parser, namespace, values, option_string=None):
        if len(namespace.camera) == 0:
            print(f'Option {option_string} requires a --camera context')
            sys.exit(-1)

        if self.type == bool:
            values = True

        current = namespace.camera[-1]

        data = getattr(namespace, self.dest)

        if self.nargs == '+':
            if current not in data:
                data[current] = []

            data[current] += values
        else:
            data[current] = values


def do_cmd_list(cm):
    print('Available cameras:')

    for idx, c in enumerate(cm.cameras):
        print(f'{idx + 1}: {c.id}')


def main():
    parser = argparse.ArgumentParser()
    # global options