/* SPDX-License-Identifier: GPL-2.0-or-later */
/*
 * Copyright (C) 2019, Google Inc.
 *
 * ipa_module_test.cpp - Test loading of the VIMC IPA module and verify its info
 */

#include <iostream>
#include <string.h>

#include "libcamera/internal/ipa_module.h"

#include "test.h"

using namespace std;
using namespace libcamera;

class IPAModuleTest : public Test
{
protected:
	int runTest(const string &path, const struct IPAModuleInfo &testInfo)
	{
		int ret = 0;

		IPAModule *ll = new IPAModule(path);

		if (!ll->isValid()) {
			cerr << "test IPA module " << path << " is invalid"
			     << endl;
			delete ll;
			return -1;
		}

		const struct IPAModuleInfo &info = ll->info();

		if (memcmp(&info, &testInfo, sizeof(info))) {
			cerr << "IPA module information mismatch: expected:" << endl
			     << "moduleAPIVersion = "     << testInfo.moduleAPIVersion << endl
			     << "pipelineVersion = "      << testInfo.pipelineVersion << endl
			     << "pipelineName = "         << testInfo.pipelineName << endl
			     << "name = "                 << testInfo.name
			     << "got: " << endl
			     << "moduleAPIVersion = "     << info.moduleAPIVersion << endl
			     << "pipelineVersion = "      << info.pipelineVersion << endl
			     << "pipelineName = "         << info.pipelineName << endl
			     << "name = "                 << info.name << endl;
		}

		delete ll;
		return ret;
	}

	int run() override
	{
		int count = 0;

		const struct IPAModuleInfo testInfo = {
			IPA_MODULE_API_VERSION,
			0,
			"PipelineHandlerVimc",
			"vimc",
		};

		count += runTest("src/ipa/vimc/ipa_vimc.so", testInfo);

		if (count < 0)
			return TestFail;

		return TestPass;
	}
};

TEST_REGISTER(IPAModuleTest)
ref='/libcamera/pinchartl/libcamera.git/log/src/v4l2/v4l2_camera_proxy.cpp?h=rpi/streams/next'>log</a><a class='active' href='/libcamera/pinchartl/libcamera.git/tree/src/v4l2/v4l2_camera_proxy.cpp?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>tree</a><a href='/libcamera/pinchartl/libcamera.git/commit/src/v4l2/v4l2_camera_proxy.cpp?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>commit</a><a href='/libcamera/pinchartl/libcamera.git/diff/src/v4l2/v4l2_camera_proxy.cpp?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>diff</a></td><td class='form'><form class='right' method='get' action='/libcamera/pinchartl/libcamera.git/log/src/v4l2/v4l2_camera_proxy.cpp'>
<input type='hidden' name='h' value='rpi/streams/next'/><input type='hidden' name='id' value='e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'/><select name='qt'>
<option value='grep'>log msg</option>
<option value='author'>author</option>
<option value='committer'>committer</option>
<option value='range'>range</option>
</select>
<input class='txt' type='search' size='10' name='q' value=''/>
<input type='submit' value='search'/>
</form>
</td></tr></table>
<div class='path'>path: <a href='/libcamera/pinchartl/libcamera.git/tree/?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>root</a>/<a href='/libcamera/pinchartl/libcamera.git/tree/src?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>src</a>/<a href='/libcamera/pinchartl/libcamera.git/tree/src/v4l2?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>v4l2</a>/<a href='/libcamera/pinchartl/libcamera.git/tree/src/v4l2/v4l2_camera_proxy.cpp?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>v4l2_camera_proxy.cpp</a></div><div class='content'>blob: 622520479be01f58cfe7336fc0b92abeeed76272 (<a href='/libcamera/pinchartl/libcamera.git/plain/src/v4l2/v4l2_camera_proxy.cpp?h=rpi/streams/next&amp;id=e5f4398c1926dfe153a4c5d6b8b3c6b0be2c0037'>plain</a>)
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<td class='lines'><pre><code><span class="hl com">/* SPDX-License-Identifier: GPL-2.0-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_camera_proxy.cpp - Proxy to V4L2 compatibility camera</span>
<span class="hl com"> */</span>

<span class="hl ppc">#include</span> <span class="hl pps">&quot;v4l2_camera_proxy.h&quot;</span><span class="hl ppc"></span>

<span class="hl ppc">#include &lt;algorithm&gt;</span>
<span class="hl ppc">#include &lt;array&gt;</span>
<span class="hl ppc">#include &lt;errno.h&gt;</span>
<span class="hl ppc">#include &lt;linux/drm_fourcc.h&gt;</span>
<span class="hl ppc">#include &lt;linux/videodev2.h&gt;</span>
<span class="hl ppc">#include &lt;string.h&gt;</span>
<span class="hl ppc">#include &lt;sys/mman.h&gt;</span>

<span class="hl ppc">#include &lt;libcamera/camera.h&gt;</span>
<span class="hl ppc">#include &lt;libcamera/object.h&gt;</span>

<span class="hl ppc">#include</span> <span class="hl pps">&quot;log.h&quot;</span><span class="hl ppc"></span>
<span class="hl ppc">#include</span> <span class="hl pps">&quot;utils.h&quot;</span><span class="hl ppc"></span>
<span class="hl ppc">#include</span> <span class="hl pps">&quot;v4l2_camera.h&quot;</span><span class="hl ppc"></span>
<span class="hl ppc">#include</span> <span class="hl pps">&quot;v4l2_compat_manager.h&quot;</span><span class="hl ppc"></span>

<span class="hl ppc">#define KERNEL_VERSION(a, b, c) (((a) &lt;&lt; 16) + ((b) &lt;&lt; 8) + (c))</span>

<span class="hl kwa">using namespace</span> libcamera<span class="hl opt">;</span>

<span class="hl kwd">LOG_DECLARE_CATEGORY</span><span class="hl opt">(</span>V4L2Compat<span class="hl opt">);</span>

<span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">V4L2CameraProxy</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> index<span class="hl opt">,</span>
				 <span class="hl kwc">std</span><span class="hl opt">::</span>shared_ptr<span class="hl opt">&lt;</span>Camera<span class="hl opt">&gt;</span> camera<span class="hl opt">)</span>
	<span class="hl opt">:</span> <span class="hl kwd">refcount_</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">),</span> <span class="hl kwd">index_</span><span class="hl opt">(</span>index<span class="hl opt">),</span> <span class="hl kwd">bufferCount_</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">),</span> <span class="hl kwd">currentBuf_</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">),</span>
	  <span class="hl kwd">vcam_</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span>make_unique<span class="hl opt">&lt;</span>V4L2Camera<span class="hl opt">&gt;(</span>camera<span class="hl opt">))</span>
<span class="hl opt">{</span>
	<span class="hl kwd">querycap</span><span class="hl opt">(</span>camera<span class="hl opt">);</span>
<span class="hl opt">}</span>

<span class="hl kwb">int</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">open</span><span class="hl opt">(</span><span class="hl kwb">bool</span> nonBlocking<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2Compat<span class="hl opt">,</span> Debug<span class="hl opt">) &lt;&lt;</span> <span class="hl str">&quot;Servicing open&quot;</span><span class="hl opt">;</span>

	<span class="hl kwb">int</span> ret <span class="hl opt">=</span> vcam_<span class="hl opt">-&gt;</span><span class="hl kwd">open</span><span class="hl opt">();</span>
	<span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt">&lt;</span> <span class="hl num">0</span><span class="hl opt">) {</span>
		errno <span class="hl opt">= -</span>ret<span class="hl opt">;</span>
		<span class="hl kwa">return</span> <span class="hl opt">-</span><span class="hl num">1</span><span class="hl opt">;</span>
	<span class="hl opt">}</span>

	nonBlocking_ <span class="hl opt">=</span> nonBlocking<span class="hl opt">;</span>

	vcam_<span class="hl opt">-&gt;</span><span class="hl kwd">getStreamConfig</span><span class="hl opt">(&amp;</span>streamConfig_<span class="hl opt">);</span>
	<span class="hl kwd">setFmtFromConfig</span><span class="hl opt">(</span>streamConfig_<span class="hl opt">);</span>
	sizeimage_ <span class="hl opt">=</span> <span class="hl kwd">calculateSizeImage</span><span class="hl opt">(</span>streamConfig_<span class="hl opt">);</span>

	refcount_<span class="hl opt">++;</span>

	<span class="hl kwa">return</span> <span class="hl num">0</span><span class="hl opt">;</span>
<span class="hl opt">}</span>

<span class="hl kwb">void</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">dup</span><span class="hl opt">()</span>
<span class="hl opt">{</span>
	refcount_<span class="hl opt">++;</span>
<span class="hl opt">}</span>

<span class="hl kwb">void</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">close</span><span class="hl opt">()</span>
<span class="hl opt">{</span>
	<span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2Compat<span class="hl opt">,</span> Debug<span class="hl opt">) &lt;&lt;</span> <span class="hl str">&quot;Servicing close&quot;</span><span class="hl opt">;</span>

	<span class="hl kwa">if</span> <span class="hl opt">(--</span>refcount_ <span class="hl opt">&gt;</span> <span class="hl num">0</span><span class="hl opt">)</span>
		<span class="hl kwa">return</span><span class="hl opt">;</span>

	vcam_<span class="hl opt">-&gt;</span><span class="hl kwd">close</span><span class="hl opt">();</span>
<span class="hl opt">}</span>

<span class="hl kwb">void</span> <span class="hl opt">*</span><span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">mmap</span><span class="hl opt">(</span><span class="hl kwb">void</span> <span class="hl opt">*</span>addr<span class="hl opt">,</span> <span class="hl kwb">size_t</span> length<span class="hl opt">,</span> <span class="hl kwb">int</span> prot<span class="hl opt">,</span> <span class="hl kwb">int</span> flags<span class="hl opt">,</span>
			    off_t offset<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2Compat<span class="hl opt">,</span> Debug<span class="hl opt">) &lt;&lt;</span> <span class="hl str">&quot;Servicing mmap&quot;</span><span class="hl opt">;</span>

	<span class="hl com">/* \todo Validate prot and flags properly. */</span>
	<span class="hl kwa">if</span> <span class="hl opt">(</span>prot <span class="hl opt">!= (</span>PROT_READ <span class="hl opt">|</span> PROT_WRITE<span class="hl opt">)) {</span>
		errno <span class="hl opt">=</span> EINVAL<span class="hl opt">;</span>
		<span class="hl kwa">return</span> MAP_FAILED<span class="hl opt">;</span>
	<span class="hl opt">}</span>

	<span class="hl kwb">unsigned int</span> index <span class="hl opt">=</span> offset <span class="hl opt">/</span> sizeimage_<span class="hl opt">;</span>
	<span class="hl kwa">if</span> <span class="hl opt">(</span>index <span class="hl opt">*</span> sizeimage_ <span class="hl opt">!=</span> offset <span class="hl opt">||</span> length <span class="hl opt">!=</span> sizeimage_<span class="hl opt">) {</span>
		errno <span class="hl opt">=</span> EINVAL<span class="hl opt">;</span>
		<span class="hl kwa">return</span> MAP_FAILED<span class="hl opt">;</span>
	<span class="hl opt">}</span>

	FileDescriptor fd <span class="hl opt">=</span> vcam_<span class="hl opt">-&gt;</span><span class="hl kwd">getBufferFd</span><span class="hl opt">(</span>index<span class="hl opt">);</span>
	<span class="hl kwa">if</span> <span class="hl opt">(!</span>fd<span class="hl opt">.</span><span class="hl kwd">isValid</span><span class="hl opt">()) {</span>
		errno <span class="hl opt">=</span> EINVAL<span class="hl opt">;</span>
		<span class="hl kwa">return</span> MAP_FAILED<span class="hl opt">;</span>
	<span class="hl opt">}</span>

	<span class="hl kwb">void</span> <span class="hl opt">*</span>map <span class="hl opt">=</span> <span class="hl kwc">V4L2CompatManager</span><span class="hl opt">::</span><span class="hl kwd">instance</span><span class="hl opt">()-&gt;</span><span class="hl kwd">fops</span><span class="hl opt">().</span><span class="hl kwd">mmap</span><span class="hl opt">(</span>addr<span class="hl opt">,</span> length<span class="hl opt">,</span> prot<span class="hl opt">,</span>
							       flags<span class="hl opt">,</span> fd<span class="hl opt">.</span><span class="hl kwd">fd</span><span class="hl opt">(),</span> <span class="hl num">0</span><span class="hl opt">);</span>
	<span class="hl kwa">if</span> <span class="hl opt">(</span>map <span class="hl opt">==</span> MAP_FAILED<span class="hl opt">)</span>
		<span class="hl kwa">return</span> map<span class="hl opt">;</span>

	buffers_<span class="hl opt">[</span>index<span class="hl opt">].</span>flags <span class="hl opt">|=</span> V4L2_BUF_FLAG_MAPPED<span class="hl opt">;</span>
	mmaps_<span class="hl opt">[</span>map<span class="hl opt">] =</span> index<span class="hl opt">;</span>

	<span class="hl kwa">return</span> map<span class="hl opt">;</span>
<span class="hl opt">}</span>

<span class="hl kwb">int</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">munmap</span><span class="hl opt">(</span><span class="hl kwb">void</span> <span class="hl opt">*</span>addr<span class="hl opt">,</span> <span class="hl kwb">size_t</span> length<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2Compat<span class="hl opt">,</span> Debug<span class="hl opt">) &lt;&lt;</span> <span class="hl str">&quot;Servicing munmap&quot;</span><span class="hl opt">;</span>

	<span class="hl kwc">auto</span> iter <span class="hl opt">=</span> mmaps_<span class="hl opt">.</span><span class="hl kwd">find</span><span class="hl opt">(</span>addr<span class="hl opt">);</span>
	<span class="hl kwa">if</span> <span class="hl opt">(</span>iter <span class="hl opt">==</span> mmaps_<span class="hl opt">.</span><span class="hl kwd">end</span><span class="hl opt">() ||</span> length <span class="hl opt">!=</span> sizeimage_<span class="hl opt">) {</span>
		errno <span class="hl opt">=</span> EINVAL<span class="hl opt">;</span>
		<span class="hl kwa">return</span> <span class="hl opt">-</span><span class="hl num">1</span><span class="hl opt">;</span>
	<span class="hl opt">}</span>

	<span class="hl kwa">if</span> <span class="hl opt">(</span><span class="hl kwc">V4L2CompatManager</span><span class="hl opt">::</span><span class="hl kwd">instance</span><span class="hl opt">()-&gt;</span><span class="hl kwd">fops</span><span class="hl opt">().</span><span class="hl kwd">munmap</span><span class="hl opt">(</span>addr<span class="hl opt">,</span> length<span class="hl opt">))</span>
		<span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2Compat<span class="hl opt">,</span> Error<span class="hl opt">) &lt;&lt;</span> <span class="hl str">&quot;Failed to unmap &quot;</span> <span class="hl opt">&lt;&lt;</span> addr
				       <span class="hl opt">&lt;&lt;</span> <span class="hl str">&quot; with length &quot;</span> <span class="hl opt">&lt;&lt;</span> length<span class="hl opt">;</span>

	buffers_<span class="hl opt">[</span>iter<span class="hl opt">-&gt;</span>second<span class="hl opt">].</span>flags <span class="hl opt">&amp;= ~</span>V4L2_BUF_FLAG_MAPPED<span class="hl opt">;</span>
	mmaps_<span class="hl opt">.</span><span class="hl kwd">erase</span><span class="hl opt">(</span>iter<span class="hl opt">);</span>

	<span class="hl kwa">return</span> <span class="hl num">0</span><span class="hl opt">;</span>
<span class="hl opt">}</span>

<span class="hl kwb">bool</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">validateBufferType</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> type<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl kwa">return</span> type <span class="hl opt">==</span> V4L2_BUF_TYPE_VIDEO_CAPTURE<span class="hl opt">;</span>
<span class="hl opt">}</span>

<span class="hl kwb">bool</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">validateMemoryType</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> memory<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl kwa">return</span> memory <span class="hl opt">==</span> V4L2_MEMORY_MMAP<span class="hl opt">;</span>
<span class="hl opt">}</span>

<span class="hl kwb">void</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">setFmtFromConfig</span><span class="hl opt">(</span>StreamConfiguration <span class="hl opt">&amp;</span>streamConfig<span class="hl opt">)</span>
<span class="hl opt">{</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>width <span class="hl opt">=</span> streamConfig<span class="hl opt">.</span>size<span class="hl opt">.</span>width<span class="hl opt">;</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>height <span class="hl opt">=</span> streamConfig<span class="hl opt">.</span>size<span class="hl opt">.</span>height<span class="hl opt">;</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>pixelformat <span class="hl opt">=</span> <span class="hl kwd">drmToV4L2</span><span class="hl opt">(</span>streamConfig<span class="hl opt">.</span>pixelFormat<span class="hl opt">);</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>field <span class="hl opt">=</span> V4L2_FIELD_NONE<span class="hl opt">;</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>bytesperline <span class="hl opt">=</span>
		<span class="hl kwd">bplMultiplier</span><span class="hl opt">(</span>curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>pixelformat<span class="hl opt">) *</span>
		curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>width<span class="hl opt">;</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>sizeimage <span class="hl opt">=</span>
		<span class="hl kwd">imageSize</span><span class="hl opt">(</span>curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>pixelformat<span class="hl opt">,</span>
			  curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>width<span class="hl opt">,</span>
			  curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>height<span class="hl opt">);</span>
	curV4L2Format_<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">.</span>colorspace <span class="hl opt">=</span> V4L2_COLORSPACE_SRGB<span class="hl opt">;</span>
<span class="hl opt">}</span>

<span class="hl kwb">unsigned int</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">calculateSizeImage</span><span class="hl opt">(</span>StreamConfiguration <span class="hl opt">&amp;</span>streamConfig<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl com">/*</span>
<span class="hl com">	 * \todo Merge this method with setFmtFromConfig (need imageSize to</span>
<span class="hl com">	 * support all libcamera formats first, or filter out MJPEG for now).</span>
<span class="hl com">	 */</span>
	<span class="hl kwa">return</span> <span class="hl kwd">imageSize</span><span class="hl opt">(</span><span class="hl kwd">drmToV4L2</span><span class="hl opt">(</span>streamConfig<span class="hl opt">.</span>pixelFormat<span class="hl opt">),</span>
			 streamConfig<span class="hl opt">.</span>size<span class="hl opt">.</span>width<span class="hl opt">,</span>
			 streamConfig<span class="hl opt">.</span>size<span class="hl opt">.</span>height<span class="hl opt">);</span>
<span class="hl opt">}</span>

<span class="hl kwb">void</span> <span class="hl kwc">V4L2CameraProxy</span><span class="hl opt">::</span><span class="hl kwd">querycap</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span>shared_ptr<span class="hl opt">&lt;</span>Camera<span class="hl opt">&gt;</span> camera<span class="hl opt">)</span>
<span class="hl opt">{</span>
	<span class="hl kwc">std</span><span class="hl opt">::</span>string driver <span class="hl opt">=</span> <span class="hl str">&quot;libcamera&quot;</span><span class="hl opt">;</span>
	<span class="hl kwc">std</span><span class="hl opt">::</span>string bus_info <span class="hl opt">=</span> driver <span class="hl opt">+</span> <span class="hl str">&quot;:&quot;</span> <span class="hl opt">+</span> <span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">to_string</span><span class="hl opt">(</span>index_<span class="hl opt">);</span>

	<span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">strlcpy</span><span class="hl opt">(</span><span class="hl kwa">reinterpret_cast</span><span class="hl opt">&lt;</span><span class="hl kwb">char</span> <span class="hl opt">*&gt;(</span>capabilities_<span class="hl opt">.</span>driver<span class="hl opt">),</span> driver<span class="hl opt">.</span><span class="hl kwd">c_str</span><span class="hl opt">(),</span>
		       <span class="hl kwa">sizeof</span><span class="hl opt">(</span>capabilities_<span class="hl opt">.</span>driver<span class="hl opt">));</span>
	<span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">strlcpy</span><span class="hl opt">(</span><span class="hl kwa">reinterpret_cast</span><span class="hl opt">&lt;</span><span class="hl kwb">char</span> <span class="hl opt">*&gt;(</span>capabilities_<span class="hl opt">.</span>card<span class="hl opt">),</span> camera<span class="hl opt">-&gt;</span><span class="hl kwd">name</span><span class="hl opt">().</span><span class="hl kwd">c_str</span><span class="hl opt">(),</span>
		       <span class="hl kwa">sizeof</span><span class="hl opt">(</span>capabilities_<span class="hl opt">.</span>card<span class="hl opt">));</span>
	<span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">strlcpy</span><span class="hl opt">(</span><span class="hl kwa">reinterpret_cast</span><span class="hl opt">&lt;</span><span class="hl kwb">char</span> <span class="hl opt">*&gt;(</span>capabilities_<span class="hl opt">.</span>bus_info<span class="hl opt">),</span> bus_info<span class="hl opt">.</span><span class="hl kwd">c_str</span><span class="hl opt">(),</span>
		       <span class="hl kwa">sizeof</span><span class="hl opt">(</span>capabilities_<span class="hl opt">.</span>bus_info<span class="hl opt">));</span>
	<span class="hl com">/* \todo Put this in a header/config somewhere. */</span>
	capabilities_<span class="hl opt">.</span>version <span class="hl opt">=</span> <span class="hl kwd">KERNEL_VERSION</span><span class="hl opt">(</span><span class="hl num">5</span><span class="hl opt">,</span> <span class="hl num">2</span><span class="hl opt">,</span> <span class="hl num">0</span><span class="hl opt">);</span>
	capabilities_<span class="hl opt">.</span>device_caps <span class="hl opt">=</span> V4L2_CAP_VIDEO_CAPTURE <span class="hl opt">|</span> V4L2_CAP_STREAMING<span class="hl opt">;</span>
	capabilities_<span class="hl opt">.</span>capabilities <span class="hl opt">=</span> capabilities_<span class="hl opt">.</span>device_caps