/* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2023, Linaro Ltd * * Simple Software Image Processing Algorithm module */ #include <cmath> #include <numeric> #include <stdint.h> #include <sys/mman.h> #include <linux/v4l2-controls.h> #include <libcamera/base/file.h> #include <libcamera/base/log.h> #include <libcamera/base/shared_fd.h> #include <libcamera/control_ids.h> #include <libcamera/controls.h> #include <libcamera/ipa/ipa_interface.h> #include <libcamera/ipa/ipa_module_info.h> #include <libcamera/ipa/soft_ipa_interface.h> #include "libcamera/internal/software_isp/debayer_params.h" #include "libcamera/internal/software_isp/swisp_stats.h" #include "libcamera/internal/yaml_parser.h" #include "libipa/camera_sensor_helper.h" #include "black_level.h" namespace libcamera { LOG_DEFINE_CATEGORY(IPASoft) namespace ipa::soft { /* * The number of bins to use for the optimal exposure calculations. */ static constexpr unsigned int kExposureBinsCount = 5; /* * The exposure is optimal when the mean sample value of the histogram is * in the middle of the range. */ static constexpr float kExposureOptimal = kExposureBinsCount / 2.0; /* * The below value implements the hysteresis for the exposure adjustment. * It is small enough to have the exposure close to the optimal, and is big * enough to prevent the exposure from wobbling around the optimal value. */ static constexpr float kExposureSatisfactory = 0.2; class IPASoftSimple : public ipa::soft::IPASoftInterface { public: IPASoftSimple() : params_(nullptr), stats_(nullptr), blackLevel_(BlackLevel()), ignoreUpdates_(0) { } ~IPASoftSimple(); int init(const IPASettings &settings, const SharedFD &fdStats, const SharedFD &fdParams, const ControlInfoMap &sensorInfoMap) override; int configure(const ControlInfoMap &sensorInfoMap) override; int start() override; void stop() override; void processStats(const ControlList &sensorControls) override; private: void updateExposure(double exposureMSV); DebayerParams *params_; SwIspStats *stats_; std::unique_ptr<CameraSensorHelper> camHelper_; ControlInfoMap sensorInfoMap_; BlackLevel blackLevel_; static constexpr unsigned int kGammaLookupSize = 1024; std::array<uint8_t, kGammaLookupSize> gammaTable_; int lastBlackLevel_ = -1; int32_t exposureMin_, exposureMax_; int32_t exposure_; double againMin_, againMax_, againMinStep_; double again_; unsigned int ignoreUpdates_; }; IPASoftSimple::~IPASoftSimple() { if (stats_) munmap(stats_, sizeof(SwIspStats)); if (params_) munmap(params_, sizeof(DebayerParams)); } int IPASoftSimple::init(const IPASettings &settings, const SharedFD &fdStats, const SharedFD &fdParams, const ControlInfoMap &sensorInfoMap) { camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); if (!camHelper_) { LOG(IPASoft, Warning) << "Failed to create camera sensor helper for " << settings.sensorModel; } /* Load the tuning data file */ File file(settings.configurationFile); if (!file.open(File::OpenModeFlag::ReadOnly)) { int ret = file.error(); LOG(IPASoft, Error) << "Failed to open configuration file " << settings.configurationFile << ": " << strerror(-ret); return ret; } std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); if (!data) return -EINVAL; /* \todo Use the IPA configuration file for real. */ unsigned int version = (*data)["version"].get<uint32_t>(0); LOG(IPASoft, Debug) << "Tuning file version " << version; params_ = nullptr; stats_ = nullptr; if (!fdStats.isValid()) { LOG(IPASoft, Error) << "Invalid Statistics handle"; return -ENODEV; } if (!fdParams.isValid()) { LOG(IPASoft, Error) << "Invalid Parameters handle"; return -ENODEV; } { void *mem = mmap(nullptr, sizeof(DebayerParams), PROT_WRITE, MAP_SHARED, fdParams.get(), 0); if (mem == MAP_FAILED) { LOG(IPASoft, Error) << "Unable to map Parameters"; return -errno; } params_ = static_cast<DebayerParams *>(mem); } { void *mem = mmap(nullptr, sizeof(SwIspStats), PROT_READ, MAP_SHARED, fdStats.get(), 0); if (mem == MAP_FAILED) { LOG(IPASoft, Error) << "Unable to map Statistics"; return -errno; } stats_ = static_cast<SwIspStats *>(mem); } /* * Check if the sensor driver supports the controls required by the * Soft IPA. * Don't save the min and max control values yet, as e.g. the limits * for V4L2_CID_EXPOSURE depend on the configured sensor resolution. */ if (sensorInfoMap.find(V4L2_CID_EXPOSURE) == sensorInfoMap.end()) { LOG(IPASoft, Error) << "Don't have exposure control"; return -EINVAL; } if (sensorInfoMap.find(V4L2_CID_ANALOGUE_GAIN) == sensorInfoMap.end()) { LOG(IPASoft, Error) << "Don't have gain control"; return -EINVAL; } return 0; } int IPASoftSimple::configure(const ControlInfoMap &sensorInfoMap) { sensorInfoMap_ = sensorInfoMap; const ControlInfo &exposureInfo = sensorInfoMap_.find(V4L2_CID_EXPOSURE)->second; const ControlInfo &gainInfo = sensorInfoMap_.find(V4L2_CID_ANALOGUE_GAIN)->second; exposureMin_ = exposureInfo.min().get<int32_t>(); exposureMax_ = exposureInfo.max().get<int32_t>(); if (!exposureMin_) { LOG(IPASoft, Warning) << "Minimum exposure is zero, that can't be linear"; exposureMin_ = 1; } int32_t againMin = gainInfo.min().get<int32_t>(); int32_t againMax = gainInfo.max().get<int32_t>(); if (camHelper_) { againMin_ = camHelper_->gain(againMin); againMax_ = camHelper_->gain(againMax); againMinStep_ = (againMax_ - againMin_) / 100.0; } else { /* * The camera sensor gain (g) is usually not equal to the value written * into the gain register (x). But the way how the AGC algorithm changes * the gain value to make the total exposure closer to the optimum * assumes that g(x) is not too far from linear function. If the minimal * gain is 0, the g(x) is likely to be far from the linear, like * g(x) = a / (b * x + c). To avoid unexpected changes to the gain by * the AGC algorithm (abrupt near one edge, and very small near the * other) we limit the range of the gain values used. */ againMax_ = againMax; if (!againMin) { LOG(IPASoft, Warning) << "Minimum gain is zero, that can't be linear"; againMin_ = std::min(100, againMin / 2 + againMax / 2); } againMinStep_ = 1.0; } LOG(IPASoft, Info) << "Exposure " << exposureMin_ << "-" << exposureMax_ << ", gain " << againMin_ << "-" << againMax_ << " (" << againMinStep_ << ")"; return 0; } int IPASoftSimple::start() { return 0; } void IPASoftSimple::stop() { } void IPASoftSimple::processStats(const ControlList &sensorControls) { SwIspStats::Histogram histogram = stats_->yHistogram; if (ignoreUpdates_ > 0) blackLevel_.update(histogram); const uint8_t blackLevel = blackLevel_.get(); /* * Black level must be subtracted to get the correct AWB ratios, they * would be off if they were computed from the whole brightness range * rather than from the sensor range. */ const uint64_t nPixels = std::accumulate( histogram.begin(), histogram.end(), 0); const uint64_t offset = blackLevel * nPixels; const uint64_t sumR = stats_->sumR_ - offset / 4; const uint64_t sumG = stats_->sumG_ - offset / 2; const uint64_t sumB = stats_->sumB_ - offset / 4; /* * Calculate red and blue gains for AWB. * Clamp max gain at 4.0, this also avoids 0 division. * Gain: 128 = 0.5, 256 = 1.0, 512 = 2.0, etc. */ const unsigned int gainR = sumR <= sumG / 4 ? 1024 : 256 * sumG / sumR; const unsigned int gainB = sumB <= sumG / 4 ? 1024 : 256 * sumG / sumB; /* Green gain and gamma values are fixed */ constexpr unsigned int gainG = 256; /* Update the gamma table if needed */ if (blackLevel != lastBlackLevel_) { constexpr float gamma = 0.5; const unsigned int blackIndex = blackLevel * kGammaLookupSize / 256; std::fill(gammaTable_.begin(), gammaTable_.begin() + blackIndex, 0); const float divisor = kGammaLookupSize - blackIndex - 1.0; for (unsigned int i = blackIndex; i < kGammaLookupSize; i++) gammaTable_[i] = UINT8_MAX * std::pow((i - blackIndex) / divisor, gamma); lastBlackLevel_ = blackLevel; } for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) { constexpr unsigned int div = DebayerParams::kRGBLookupSize * 256 / kGammaLookupSize; unsigned int idx; /* Apply gamma after gain! */ idx = std::min({ i * gainR / div, (kGammaLookupSize - 1) }); params_->red[i] = gammaTable_[idx]; idx = std::min({ i * gainG / div, (kGammaLookupSize - 1) }); params_->green[i] = gammaTable_[idx]; idx = std::min({ i * gainB / div, (kGammaLookupSize - 1) }); params_->blue[i] = gammaTable_[idx]; } setIspParams.emit(); /* \todo Switch to the libipa/algorithm.h API someday. */ /* * AE / AGC, use 2 frames delay to make sure that the exposure and * the gain set have applied to the camera sensor. * \todo This could be handled better with DelayedControls. */ if (ignoreUpdates_ > 0) { --ignoreUpdates_; return; } /* * Calculate Mean Sample Value (MSV) according to formula from: * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf */ const unsigned int blackLevelHistIdx = blackLevel / (256 / SwIspStats::kYHistogramSize); const unsigned int histogramSize = SwIspStats::kYHistogramSize - blackLevelHistIdx; const unsigned int yHistValsPerBin = histogramSize / kExposureBinsCount; const unsigned int yHistValsPerBinMod = histogramSize / (histogramSize % kExposureBinsCount + 1); int exposureBins[kExposureBinsCount] = {}; unsigned int denom = 0; unsigned int num = 0; for (unsigned int i = 0; i < histogramSize; i++) { unsigned int idx = (i - (i / yHistValsPerBinMod)) / yHistValsPerBin; exposureBins[idx] += stats_->yHistogram[blackLevelHistIdx + i]; } for (unsigned int i = 0; i < kExposureBinsCount; i++) { LOG(IPASoft, Debug) << i << ": " << exposureBins[i]; denom += exposureBins[i]; num += exposureBins[i] * (i + 1); } float exposureMSV = static_cast<float>(num) / denom; /* Sanity check */ if (!sensorControls.contains(V4L2_CID_EXPOSURE) || !sensorControls.contains(V4L2_CID_ANALOGUE_GAIN)) { LOG(IPASoft, Error) << "Control(s) missing"; return; } exposure_ = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); int32_t again = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); again_ = camHelper_ ? camHelper_->gain(again) : again; updateExposure(exposureMSV); ControlList ctrls(sensorInfoMap_); ctrls.set(V4L2_CID_EXPOSURE, exposure_); ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(camHelper_ ? camHelper_->gainCode(again_) : again_)); ignoreUpdates_ = 2; setSensorControls.emit(ctrls); LOG(IPASoft, Debug) << "exposureMSV " << exposureMSV << " exp " << exposure_ << " again " << again_ << " gain R/B " << gainR << "/" << gainB << " black level " << static_cast<unsigned int>(blackLevel); } void IPASoftSimple::updateExposure(double exposureMSV) { /* * kExpDenominator of 10 gives ~10% increment/decrement; * kExpDenominator of 5 - about ~20% */ static constexpr uint8_t kExpDenominator = 10; static constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1; static constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1; double next; if (exposureMSV < kExposureOptimal - kExposureSatisfactory) { next = exposure_ * kExpNumeratorUp / kExpDenominator; if (next - exposure_ < 1) exposure_ += 1; else exposure_ = next; if (exposure_ >= exposureMax_) { next = again_ * kExpNumeratorUp / kExpDenominator; if (next - again_ < againMinStep_) again_ += againMinStep_; else again_ = next; } } if (exposureMSV > kExposureOptimal + kExposureSatisfactory) { if (exposure_ == exposureMax_ && again_ > againMin_) { next = again_ * kExpNumeratorDown / kExpDenominator; if (again_ - next < againMinStep_) again_ -= againMinStep_; else again_ = next; } else { next = exposure_ * kExpNumeratorDown / kExpDenominator; if (exposure_ - next < 1) exposure_ -= 1; else exposure_ = next; } } exposure_ = std::clamp(exposure_, exposureMin_, exposureMax_); again_ = std::clamp(again_, againMin_, againMax_); } } /* namespace ipa::soft */ /* * External IPA module interface */ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 0, "simple", "simple", }; IPAInterface *ipaCreate() { return new ipa::soft::IPASoftSimple(); } } /* extern "C" */ } /* namespace libcamera */ d='n282' href='#n282'>282</a> <a id='n283' href='#n283'>283</a> <a id='n284' href='#n284'>284</a> <a id='n285' href='#n285'>285</a> <a id='n286' href='#n286'>286</a> <a id='n287' href='#n287'>287</a> <a id='n288' href='#n288'>288</a> <a id='n289' href='#n289'>289</a> <a id='n290' href='#n290'>290</a> <a id='n291' href='#n291'>291</a> <a id='n292' href='#n292'>292</a> <a id='n293' href='#n293'>293</a> <a id='n294' href='#n294'>294</a> <a id='n295' href='#n295'>295</a> <a id='n296' href='#n296'>296</a> <a id='n297' href='#n297'>297</a> <a id='n298' href='#n298'>298</a> <a id='n299' href='#n299'>299</a> <a id='n300' href='#n300'>300</a> <a id='n301' href='#n301'>301</a> <a id='n302' href='#n302'>302</a> <a id='n303' href='#n303'>303</a> 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href='#n536'>536</a> <a id='n537' href='#n537'>537</a> <a id='n538' href='#n538'>538</a> <a id='n539' href='#n539'>539</a> <a id='n540' href='#n540'>540</a> <a id='n541' href='#n541'>541</a> <a id='n542' href='#n542'>542</a> <a id='n543' href='#n543'>543</a> <a id='n544' href='#n544'>544</a> <a id='n545' href='#n545'>545</a> <a id='n546' href='#n546'>546</a> <a id='n547' href='#n547'>547</a> <a id='n548' href='#n548'>548</a> <a id='n549' href='#n549'>549</a> <a id='n550' href='#n550'>550</a> <a id='n551' href='#n551'>551</a> <a id='n552' href='#n552'>552</a> <a id='n553' href='#n553'>553</a> <a id='n554' href='#n554'>554</a> <a id='n555' href='#n555'>555</a> <a id='n556' href='#n556'>556</a> <a id='n557' href='#n557'>557</a> <a id='n558' href='#n558'>558</a> <a id='n559' href='#n559'>559</a> <a id='n560' href='#n560'>560</a> <a id='n561' href='#n561'>561</a> <a id='n562' href='#n562'>562</a> <a id='n563' href='#n563'>563</a> <a id='n564' href='#n564'>564</a> <a id='n565' href='#n565'>565</a> <a id='n566' href='#n566'>566</a> <a id='n567' href='#n567'>567</a> <a id='n568' href='#n568'>568</a> <a id='n569' href='#n569'>569</a> <a id='n570' href='#n570'>570</a> <a id='n571' href='#n571'>571</a> <a id='n572' href='#n572'>572</a> <a id='n573' href='#n573'>573</a> <a id='n574' href='#n574'>574</a> <a id='n575' href='#n575'>575</a> <a id='n576' href='#n576'>576</a> <a id='n577' href='#n577'>577</a> <a id='n578' href='#n578'>578</a> <a id='n579' href='#n579'>579</a> <a id='n580' href='#n580'>580</a> <a id='n581' href='#n581'>581</a> <a id='n582' href='#n582'>582</a> <a id='n583' href='#n583'>583</a> <a id='n584' href='#n584'>584</a> <a id='n585' href='#n585'>585</a> <a id='n586' href='#n586'>586</a> <a id='n587' href='#n587'>587</a> <a id='n588' href='#n588'>588</a> <a id='n589' href='#n589'>589</a> <a id='n590' href='#n590'>590</a> <a id='n591' href='#n591'>591</a> <a id='n592' href='#n592'>592</a> <a id='n593' href='#n593'>593</a> <a id='n594' href='#n594'>594</a> <a id='n595' href='#n595'>595</a> <a id='n596' href='#n596'>596</a> <a id='n597' href='#n597'>597</a> <a id='n598' href='#n598'>598</a> <a id='n599' href='#n599'>599</a> <a id='n600' href='#n600'>600</a> <a id='n601' href='#n601'>601</a> <a id='n602' href='#n602'>602</a> <a id='n603' href='#n603'>603</a> <a id='n604' href='#n604'>604</a> <a id='n605' href='#n605'>605</a> <a id='n606' href='#n606'>606</a> <a id='n607' href='#n607'>607</a> <a id='n608' href='#n608'>608</a> <a id='n609' href='#n609'>609</a> <a id='n610' href='#n610'>610</a> <a id='n611' href='#n611'>611</a> <a id='n612' href='#n612'>612</a> <a id='n613' href='#n613'>613</a> <a id='n614' href='#n614'>614</a> <a id='n615' href='#n615'>615</a> <a id='n616' href='#n616'>616</a> <a id='n617' href='#n617'>617</a> <a id='n618' href='#n618'>618</a> <a id='n619' href='#n619'>619</a> <a id='n620' href='#n620'>620</a> <a id='n621' href='#n621'>621</a> <a id='n622' href='#n622'>622</a> <a id='n623' href='#n623'>623</a> <a id='n624' href='#n624'>624</a> <a id='n625' href='#n625'>625</a> <a id='n626' href='#n626'>626</a> <a id='n627' href='#n627'>627</a> <a id='n628' href='#n628'>628</a> <a id='n629' href='#n629'>629</a> <a id='n630' href='#n630'>630</a> <a id='n631' href='#n631'>631</a> <a id='n632' href='#n632'>632</a> <a id='n633' href='#n633'>633</a> <a id='n634' href='#n634'>634</a> <a id='n635' href='#n635'>635</a> <a id='n636' href='#n636'>636</a> <a id='n637' href='#n637'>637</a> <a id='n638' href='#n638'>638</a> <a id='n639' href='#n639'>639</a> <a id='n640' href='#n640'>640</a> <a id='n641' href='#n641'>641</a> <a id='n642' href='#n642'>642</a> <a id='n643' href='#n643'>643</a> <a id='n644' href='#n644'>644</a> <a id='n645' href='#n645'>645</a> <a id='n646' href='#n646'>646</a> <a id='n647' href='#n647'>647</a> <a id='n648' href='#n648'>648</a> <a id='n649' href='#n649'>649</a> <a id='n650' href='#n650'>650</a> <a id='n651' href='#n651'>651</a> <a id='n652' href='#n652'>652</a> <a id='n653' href='#n653'>653</a> <a id='n654' href='#n654'>654</a> <a id='n655' href='#n655'>655</a> <a id='n656' href='#n656'>656</a> <a id='n657' href='#n657'>657</a> <a id='n658' href='#n658'>658</a> <a id='n659' href='#n659'>659</a> <a id='n660' href='#n660'>660</a> <a id='n661' href='#n661'>661</a> <a id='n662' href='#n662'>662</a> <a id='n663' href='#n663'>663</a> <a id='n664' href='#n664'>664</a> <a id='n665' href='#n665'>665</a> <a id='n666' href='#n666'>666</a> <a id='n667' href='#n667'>667</a> <a id='n668' href='#n668'>668</a> <a id='n669' href='#n669'>669</a> <a id='n670' href='#n670'>670</a> <a id='n671' href='#n671'>671</a> <a id='n672' href='#n672'>672</a> <a id='n673' href='#n673'>673</a> <a id='n674' href='#n674'>674</a> <a id='n675' href='#n675'>675</a> <a id='n676' href='#n676'>676</a> <a id='n677' href='#n677'>677</a> <a id='n678' href='#n678'>678</a> <a id='n679' href='#n679'>679</a> <a id='n680' href='#n680'>680</a> <a id='n681' href='#n681'>681</a> <a id='n682' href='#n682'>682</a> <a id='n683' href='#n683'>683</a> <a id='n684' href='#n684'>684</a> <a id='n685' href='#n685'>685</a> <a id='n686' href='#n686'>686</a> <a id='n687' href='#n687'>687</a> <a id='n688' href='#n688'>688</a> <a id='n689' href='#n689'>689</a> <a id='n690' href='#n690'>690</a> <a id='n691' href='#n691'>691</a> <a id='n692' href='#n692'>692</a> <a id='n693' href='#n693'>693</a> <a id='n694' href='#n694'>694</a> <a id='n695' href='#n695'>695</a> <a id='n696' href='#n696'>696</a> <a id='n697' href='#n697'>697</a> <a id='n698' href='#n698'>698</a> <a id='n699' href='#n699'>699</a> <a id='n700' href='#n700'>700</a> <a id='n701' href='#n701'>701</a> <a id='n702' href='#n702'>702</a> <a id='n703' href='#n703'>703</a> <a id='n704' href='#n704'>704</a> <a id='n705' href='#n705'>705</a> <a id='n706' href='#n706'>706</a> <a id='n707' href='#n707'>707</a> <a id='n708' href='#n708'>708</a> <a id='n709' href='#n709'>709</a> <a id='n710' href='#n710'>710</a> <a id='n711' href='#n711'>711</a> <a id='n712' href='#n712'>712</a> <a id='n713' href='#n713'>713</a> <a id='n714' href='#n714'>714</a> <a id='n715' href='#n715'>715</a> <a id='n716' href='#n716'>716</a> <a id='n717' href='#n717'>717</a> <a id='n718' href='#n718'>718</a> <a id='n719' href='#n719'>719</a> <a id='n720' href='#n720'>720</a> <a id='n721' href='#n721'>721</a> <a id='n722' href='#n722'>722</a> <a id='n723' href='#n723'>723</a> <a id='n724' href='#n724'>724</a> <a id='n725' href='#n725'>725</a> <a id='n726' href='#n726'>726</a> <a id='n727' href='#n727'>727</a> <a id='n728' href='#n728'>728</a> <a id='n729' href='#n729'>729</a> <a id='n730' href='#n730'>730</a> <a id='n731' href='#n731'>731</a> <a id='n732' href='#n732'>732</a> <a id='n733' href='#n733'>733</a> <a id='n734' href='#n734'>734</a> <a id='n735' href='#n735'>735</a> <a id='n736' href='#n736'>736</a> <a id='n737' href='#n737'>737</a> <a id='n738' href='#n738'>738</a> <a id='n739' href='#n739'>739</a> <a id='n740' href='#n740'>740</a> <a id='n741' href='#n741'>741</a> <a id='n742' href='#n742'>742</a> <a id='n743' href='#n743'>743</a> <a id='n744' href='#n744'>744</a> <a id='n745' href='#n745'>745</a> <a id='n746' href='#n746'>746</a> <a id='n747' href='#n747'>747</a> <a id='n748' href='#n748'>748</a> <a id='n749' href='#n749'>749</a> <a id='n750' href='#n750'>750</a> <a id='n751' href='#n751'>751</a> <a id='n752' href='#n752'>752</a> <a id='n753' href='#n753'>753</a> <a id='n754' href='#n754'>754</a> <a id='n755' href='#n755'>755</a> <a id='n756' href='#n756'>756</a> <a id='n757' href='#n757'>757</a> <a id='n758' href='#n758'>758</a> <a id='n759' href='#n759'>759</a> <a id='n760' href='#n760'>760</a> <a id='n761' href='#n761'>761</a> <a id='n762' href='#n762'>762</a> <a id='n763' href='#n763'>763</a> <a id='n764' href='#n764'>764</a> <a id='n765' href='#n765'>765</a> <a id='n766' href='#n766'>766</a> <a id='n767' href='#n767'>767</a> <a id='n768' href='#n768'>768</a> <a id='n769' href='#n769'>769</a> <a id='n770' href='#n770'>770</a> <a id='n771' href='#n771'>771</a> <a id='n772' href='#n772'>772</a> <a id='n773' href='#n773'>773</a> <a id='n774' href='#n774'>774</a> <a id='n775' href='#n775'>775</a> <a id='n776' href='#n776'>776</a> <a id='n777' href='#n777'>777</a> <a id='n778' href='#n778'>778</a> <a id='n779' href='#n779'>779</a> <a id='n780' href='#n780'>780</a> <a id='n781' href='#n781'>781</a> <a id='n782' href='#n782'>782</a> <a id='n783' href='#n783'>783</a> <a id='n784' href='#n784'>784</a> <a id='n785' href='#n785'>785</a> <a id='n786' href='#n786'>786</a> <a id='n787' href='#n787'>787</a> <a id='n788' href='#n788'>788</a> <a id='n789' href='#n789'>789</a> <a id='n790' href='#n790'>790</a> <a id='n791' href='#n791'>791</a> <a id='n792' href='#n792'>792</a> <a id='n793' href='#n793'>793</a> <a id='n794' href='#n794'>794</a> <a id='n795' href='#n795'>795</a> <a id='n796' href='#n796'>796</a> <a id='n797' href='#n797'>797</a> <a id='n798' href='#n798'>798</a> <a id='n799' href='#n799'>799</a> <a id='n800' href='#n800'>800</a> <a id='n801' href='#n801'>801</a> <a id='n802' href='#n802'>802</a> <a id='n803' href='#n803'>803</a> <a id='n804' href='#n804'>804</a> <a id='n805' href='#n805'>805</a> <a id='n806' href='#n806'>806</a> <a id='n807' href='#n807'>807</a> <a id='n808' href='#n808'>808</a> <a id='n809' href='#n809'>809</a> <a id='n810' href='#n810'>810</a> <a id='n811' href='#n811'>811</a> <a id='n812' href='#n812'>812</a> <a id='n813' href='#n813'>813</a> <a id='n814' href='#n814'>814</a> <a id='n815' href='#n815'>815</a> <a id='n816' href='#n816'>816</a> <a id='n817' href='#n817'>817</a> <a id='n818' href='#n818'>818</a> <a id='n819' href='#n819'>819</a> <a id='n820' href='#n820'>820</a> <a id='n821' href='#n821'>821</a> <a id='n822' href='#n822'>822</a> <a id='n823' href='#n823'>823</a> <a id='n824' href='#n824'>824</a> <a id='n825' href='#n825'>825</a> <a id='n826' href='#n826'>826</a> <a id='n827' href='#n827'>827</a> <a id='n828' href='#n828'>828</a> <a id='n829' href='#n829'>829</a> <a id='n830' href='#n830'>830</a> <a id='n831' href='#n831'>831</a> <a id='n832' href='#n832'>832</a> <a id='n833' href='#n833'>833</a> <a id='n834' href='#n834'>834</a> <a id='n835' href='#n835'>835</a> <a id='n836' href='#n836'>836</a> <a id='n837' href='#n837'>837</a> <a id='n838' href='#n838'>838</a> <a id='n839' href='#n839'>839</a> <a id='n840' href='#n840'>840</a> <a id='n841' href='#n841'>841</a> <a id='n842' href='#n842'>842</a> <a id='n843' href='#n843'>843</a> <a id='n844' href='#n844'>844</a> <a id='n845' href='#n845'>845</a> <a id='n846' href='#n846'>846</a> <a id='n847' href='#n847'>847</a> <a id='n848' href='#n848'>848</a> <a id='n849' href='#n849'>849</a> <a id='n850' href='#n850'>850</a> <a id='n851' href='#n851'>851</a> <a id='n852' href='#n852'>852</a> <a id='n853' href='#n853'>853</a> <a id='n854' href='#n854'>854</a> <a id='n855' href='#n855'>855</a> <a id='n856' href='#n856'>856</a> <a id='n857' href='#n857'>857</a> <a id='n858' href='#n858'>858</a> <a id='n859' href='#n859'>859</a> <a id='n860' href='#n860'>860</a> <a id='n861' href='#n861'>861</a> <a id='n862' href='#n862'>862</a> <a id='n863' href='#n863'>863</a> <a id='n864' href='#n864'>864</a> <a id='n865' href='#n865'>865</a> <a id='n866' href='#n866'>866</a> <a id='n867' href='#n867'>867</a> <a id='n868' href='#n868'>868</a> <a id='n869' href='#n869'>869</a> <a id='n870' href='#n870'>870</a> <a id='n871' href='#n871'>871</a> <a id='n872' href='#n872'>872</a> <a id='n873' href='#n873'>873</a> <a id='n874' href='#n874'>874</a> <a id='n875' href='#n875'>875</a> <a id='n876' href='#n876'>876</a> <a id='n877' href='#n877'>877</a> <a id='n878' href='#n878'>878</a> <a id='n879' href='#n879'>879</a> <a id='n880' href='#n880'>880</a> <a id='n881' href='#n881'>881</a> <a id='n882' href='#n882'>882</a> <a id='n883' href='#n883'>883</a> <a id='n884' href='#n884'>884</a> <a id='n885' href='#n885'>885</a> <a id='n886' href='#n886'>886</a> <a id='n887' href='#n887'>887</a> <a id='n888' href='#n888'>888</a> <a id='n889' href='#n889'>889</a> <a id='n890' href='#n890'>890</a> <a id='n891' href='#n891'>891</a> <a id='n892' href='#n892'>892</a> <a id='n893' href='#n893'>893</a> <a id='n894' href='#n894'>894</a> <a id='n895' href='#n895'>895</a> <a id='n896' href='#n896'>896</a> <a id='n897' href='#n897'>897</a> <a id='n898' href='#n898'>898</a> <a id='n899' href='#n899'>899</a> <a id='n900' href='#n900'>900</a> <a id='n901' href='#n901'>901</a> <a id='n902' href='#n902'>902</a> <a id='n903' href='#n903'>903</a> <a id='n904' href='#n904'>904</a> <a id='n905' href='#n905'>905</a> <a id='n906' href='#n906'>906</a> <a id='n907' href='#n907'>907</a> <a id='n908' href='#n908'>908</a> <a id='n909' href='#n909'>909</a> <a id='n910' href='#n910'>910</a> <a id='n911' href='#n911'>911</a> <a id='n912' href='#n912'>912</a> <a id='n913' href='#n913'>913</a> <a id='n914' href='#n914'>914</a> <a id='n915' href='#n915'>915</a> <a id='n916' href='#n916'>916</a> <a id='n917' href='#n917'>917</a> <a id='n918' href='#n918'>918</a> <a id='n919' href='#n919'>919</a> <a id='n920' href='#n920'>920</a> <a id='n921' href='#n921'>921</a> <a id='n922' href='#n922'>922</a> <a id='n923' href='#n923'>923</a> <a id='n924' href='#n924'>924</a> <a id='n925' href='#n925'>925</a> <a id='n926' href='#n926'>926</a> <a id='n927' href='#n927'>927</a> <a id='n928' href='#n928'>928</a> <a id='n929' href='#n929'>929</a> <a id='n930' href='#n930'>930</a> <a id='n931' href='#n931'>931</a> <a id='n932' href='#n932'>932</a> <a id='n933' href='#n933'>933</a> <a id='n934' href='#n934'>934</a> <a id='n935' href='#n935'>935</a> <a id='n936' href='#n936'>936</a> <a id='n937' href='#n937'>937</a> <a id='n938' href='#n938'>938</a> <a id='n939' href='#n939'>939</a> <a id='n940' href='#n940'>940</a> <a id='n941' href='#n941'>941</a> <a id='n942' href='#n942'>942</a> <a id='n943' href='#n943'>943</a> <a id='n944' href='#n944'>944</a> <a id='n945' href='#n945'>945</a> <a id='n946' href='#n946'>946</a> <a id='n947' href='#n947'>947</a> <a id='n948' href='#n948'>948</a> <a id='n949' href='#n949'>949</a> <a id='n950' href='#n950'>950</a> <a id='n951' href='#n951'>951</a> <a id='n952' href='#n952'>952</a> <a id='n953' href='#n953'>953</a> <a id='n954' href='#n954'>954</a> <a id='n955' href='#n955'>955</a> <a id='n956' href='#n956'>956</a> <a id='n957' href='#n957'>957</a> <a id='n958' href='#n958'>958</a> <a id='n959' href='#n959'>959</a> <a id='n960' href='#n960'>960</a> <a id='n961' href='#n961'>961</a> <a id='n962' href='#n962'>962</a> <a id='n963' href='#n963'>963</a> <a id='n964' href='#n964'>964</a> <a id='n965' href='#n965'>965</a> <a id='n966' href='#n966'>966</a> <a id='n967' href='#n967'>967</a> <a id='n968' href='#n968'>968</a> <a id='n969' href='#n969'>969</a> <a id='n970' href='#n970'>970</a> <a id='n971' href='#n971'>971</a> <a id='n972' href='#n972'>972</a> <a id='n973' href='#n973'>973</a> <a id='n974' href='#n974'>974</a> <a id='n975' href='#n975'>975</a> <a id='n976' href='#n976'>976</a> <a id='n977' href='#n977'>977</a> <a id='n978' href='#n978'>978</a> <a id='n979' href='#n979'>979</a> <a id='n980' href='#n980'>980</a> <a id='n981' href='#n981'>981</a> <a id='n982' href='#n982'>982</a> <a id='n983' href='#n983'>983</a> <a id='n984' href='#n984'>984</a> <a id='n985' href='#n985'>985</a> <a id='n986' href='#n986'>986</a> <a id='n987' href='#n987'>987</a> <a id='n988' href='#n988'>988</a> <a id='n989' href='#n989'>989</a> <a id='n990' href='#n990'>990</a> <a id='n991' href='#n991'>991</a> <a id='n992' href='#n992'>992</a> <a id='n993' href='#n993'>993</a> <a id='n994' href='#n994'>994</a> <a id='n995' href='#n995'>995</a> <a id='n996' href='#n996'>996</a> <a id='n997' href='#n997'>997</a> <a id='n998' href='#n998'>998</a> <a id='n999' href='#n999'>999</a> <a id='n1000' href='#n1000'>1000</a> <a id='n1001' href='#n1001'>1001</a> <a id='n1002' href='#n1002'>1002</a> <a id='n1003' href='#n1003'>1003</a> <a id='n1004' href='#n1004'>1004</a> <a id='n1005' href='#n1005'>1005</a> <a id='n1006' href='#n1006'>1006</a> <a id='n1007' href='#n1007'>1007</a> <a id='n1008' href='#n1008'>1008</a> <a id='n1009' href='#n1009'>1009</a> <a id='n1010' href='#n1010'>1010</a> <a id='n1011' href='#n1011'>1011</a> <a id='n1012' href='#n1012'>1012</a> <a id='n1013' href='#n1013'>1013</a> <a id='n1014' href='#n1014'>1014</a> <a id='n1015' href='#n1015'>1015</a> <a id='n1016' href='#n1016'>1016</a> <a id='n1017' href='#n1017'>1017</a> <a id='n1018' href='#n1018'>1018</a> <a id='n1019' href='#n1019'>1019</a> <a id='n1020' href='#n1020'>1020</a> <a id='n1021' href='#n1021'>1021</a> <a id='n1022' href='#n1022'>1022</a> <a id='n1023' href='#n1023'>1023</a> <a id='n1024' href='#n1024'>1024</a> <a id='n1025' href='#n1025'>1025</a> <a id='n1026' href='#n1026'>1026</a> <a id='n1027' href='#n1027'>1027</a> <a id='n1028' href='#n1028'>1028</a> <a id='n1029' href='#n1029'>1029</a> <a id='n1030' href='#n1030'>1030</a> <a id='n1031' href='#n1031'>1031</a> <a id='n1032' href='#n1032'>1032</a> <a id='n1033' href='#n1033'>1033</a> <a id='n1034' href='#n1034'>1034</a> <a id='n1035' href='#n1035'>1035</a> <a id='n1036' href='#n1036'>1036</a> <a id='n1037' href='#n1037'>1037</a> <a id='n1038' href='#n1038'>1038</a> <a id='n1039' href='#n1039'>1039</a> <a id='n1040' href='#n1040'>1040</a> <a id='n1041' href='#n1041'>1041</a> <a id='n1042' href='#n1042'>1042</a> <a id='n1043' href='#n1043'>1043</a> <a id='n1044' href='#n1044'>1044</a> <a id='n1045' href='#n1045'>1045</a> <a id='n1046' href='#n1046'>1046</a> <a id='n1047' href='#n1047'>1047</a> <a id='n1048' href='#n1048'>1048</a> <a id='n1049' href='#n1049'>1049</a> <a id='n1050' href='#n1050'>1050</a> <a id='n1051' href='#n1051'>1051</a> <a id='n1052' href='#n1052'>1052</a> <a id='n1053' href='#n1053'>1053</a> <a id='n1054' href='#n1054'>1054</a> <a id='n1055' href='#n1055'>1055</a> <a id='n1056' href='#n1056'>1056</a> <a id='n1057' href='#n1057'>1057</a> <a id='n1058' href='#n1058'>1058</a> <a id='n1059' href='#n1059'>1059</a> <a id='n1060' href='#n1060'>1060</a> <a id='n1061' href='#n1061'>1061</a> <a id='n1062' href='#n1062'>1062</a> <a id='n1063' href='#n1063'>1063</a> <a id='n1064' href='#n1064'>1064</a> <a id='n1065' href='#n1065'>1065</a> <a id='n1066' href='#n1066'>1066</a> <a id='n1067' href='#n1067'>1067</a> <a id='n1068' href='#n1068'>1068</a> <a id='n1069' href='#n1069'>1069</a> <a id='n1070' href='#n1070'>1070</a> <a id='n1071' href='#n1071'>1071</a> <a id='n1072' href='#n1072'>1072</a> <a id='n1073' href='#n1073'>1073</a> <a id='n1074' href='#n1074'>1074</a> <a id='n1075' href='#n1075'>1075</a> <a id='n1076' href='#n1076'>1076</a> <a id='n1077' href='#n1077'>1077</a> <a id='n1078' href='#n1078'>1078</a> <a id='n1079' href='#n1079'>1079</a> <a id='n1080' href='#n1080'>1080</a> <a id='n1081' href='#n1081'>1081</a> <a id='n1082' href='#n1082'>1082</a> <a id='n1083' href='#n1083'>1083</a> <a id='n1084' href='#n1084'>1084</a> <a id='n1085' href='#n1085'>1085</a> <a id='n1086' href='#n1086'>1086</a> <a id='n1087' href='#n1087'>1087</a> <a id='n1088' href='#n1088'>1088</a> <a id='n1089' href='#n1089'>1089</a> <a id='n1090' href='#n1090'>1090</a> <a id='n1091' href='#n1091'>1091</a> <a id='n1092' href='#n1092'>1092</a> <a id='n1093' href='#n1093'>1093</a> <a id='n1094' href='#n1094'>1094</a> <a id='n1095' href='#n1095'>1095</a> <a id='n1096' href='#n1096'>1096</a> <a id='n1097' href='#n1097'>1097</a> <a id='n1098' href='#n1098'>1098</a> <a id='n1099' href='#n1099'>1099</a> <a id='n1100' href='#n1100'>1100</a> <a id='n1101' href='#n1101'>1101</a> <a id='n1102' href='#n1102'>1102</a> <a id='n1103' href='#n1103'>1103</a> <a id='n1104' href='#n1104'>1104</a> <a id='n1105' href='#n1105'>1105</a> <a id='n1106' href='#n1106'>1106</a> <a id='n1107' href='#n1107'>1107</a> <a id='n1108' href='#n1108'>1108</a> <a id='n1109' href='#n1109'>1109</a> <a id='n1110' href='#n1110'>1110</a> <a id='n1111' href='#n1111'>1111</a> <a id='n1112' href='#n1112'>1112</a> <a id='n1113' href='#n1113'>1113</a> <a id='n1114' href='#n1114'>1114</a> <a id='n1115' href='#n1115'>1115</a> <a id='n1116' href='#n1116'>1116</a> <a id='n1117' href='#n1117'>1117</a> <a id='n1118' href='#n1118'>1118</a> <a id='n1119' href='#n1119'>1119</a> <a id='n1120' href='#n1120'>1120</a> <a id='n1121' href='#n1121'>1121</a> <a id='n1122' href='#n1122'>1122</a> <a id='n1123' href='#n1123'>1123</a> <a id='n1124' href='#n1124'>1124</a> <a id='n1125' href='#n1125'>1125</a> <a id='n1126' href='#n1126'>1126</a> <a id='n1127' href='#n1127'>1127</a> <a id='n1128' href='#n1128'>1128</a> <a id='n1129' href='#n1129'>1129</a> <a id='n1130' href='#n1130'>1130</a> <a id='n1131' href='#n1131'>1131</a> <a id='n1132' href='#n1132'>1132</a> <a id='n1133' href='#n1133'>1133</a> <a id='n1134' href='#n1134'>1134</a> <a id='n1135' href='#n1135'>1135</a> <a id='n1136' href='#n1136'>1136</a> <a id='n1137' href='#n1137'>1137</a> <a id='n1138' href='#n1138'>1138</a> <a id='n1139' href='#n1139'>1139</a> <a id='n1140' href='#n1140'>1140</a> <a id='n1141' href='#n1141'>1141</a> <a id='n1142' href='#n1142'>1142</a> <a id='n1143' href='#n1143'>1143</a> <a id='n1144' href='#n1144'>1144</a> <a id='n1145' href='#n1145'>1145</a> <a id='n1146' href='#n1146'>1146</a> <a id='n1147' href='#n1147'>1147</a> <a id='n1148' href='#n1148'>1148</a> <a id='n1149' href='#n1149'>1149</a> <a id='n1150' href='#n1150'>1150</a> <a id='n1151' href='#n1151'>1151</a> <a id='n1152' href='#n1152'>1152</a> <a id='n1153' href='#n1153'>1153</a> <a id='n1154' href='#n1154'>1154</a> <a id='n1155' href='#n1155'>1155</a> <a id='n1156' href='#n1156'>1156</a> <a id='n1157' href='#n1157'>1157</a> <a id='n1158' href='#n1158'>1158</a> <a id='n1159' href='#n1159'>1159</a> <a id='n1160' href='#n1160'>1160</a> <a id='n1161' href='#n1161'>1161</a> <a id='n1162' href='#n1162'>1162</a> <a id='n1163' href='#n1163'>1163</a> <a id='n1164' href='#n1164'>1164</a> <a id='n1165' href='#n1165'>1165</a> <a id='n1166' href='#n1166'>1166</a> <a id='n1167' href='#n1167'>1167</a> <a id='n1168' href='#n1168'>1168</a> <a id='n1169' href='#n1169'>1169</a> <a id='n1170' href='#n1170'>1170</a> <a id='n1171' href='#n1171'>1171</a> <a id='n1172' href='#n1172'>1172</a> <a id='n1173' href='#n1173'>1173</a> <a id='n1174' href='#n1174'>1174</a> <a id='n1175' href='#n1175'>1175</a> <a id='n1176' href='#n1176'>1176</a> <a id='n1177' href='#n1177'>1177</a> <a id='n1178' href='#n1178'>1178</a> <a id='n1179' href='#n1179'>1179</a> <a id='n1180' href='#n1180'>1180</a> <a id='n1181' href='#n1181'>1181</a> <a id='n1182' href='#n1182'>1182</a> <a id='n1183' href='#n1183'>1183</a> <a id='n1184' href='#n1184'>1184</a> <a id='n1185' href='#n1185'>1185</a> <a id='n1186' href='#n1186'>1186</a> <a id='n1187' href='#n1187'>1187</a> <a id='n1188' href='#n1188'>1188</a> <a id='n1189' href='#n1189'>1189</a> <a id='n1190' href='#n1190'>1190</a> <a id='n1191' href='#n1191'>1191</a> <a id='n1192' href='#n1192'>1192</a> <a id='n1193' href='#n1193'>1193</a> <a id='n1194' href='#n1194'>1194</a> <a id='n1195' href='#n1195'>1195</a> <a id='n1196' href='#n1196'>1196</a> <a id='n1197' href='#n1197'>1197</a> <a id='n1198' href='#n1198'>1198</a> <a id='n1199' href='#n1199'>1199</a> <a id='n1200' href='#n1200'>1200</a> <a id='n1201' href='#n1201'>1201</a> <a id='n1202' href='#n1202'>1202</a> <a id='n1203' href='#n1203'>1203</a> <a id='n1204' href='#n1204'>1204</a> <a id='n1205' href='#n1205'>1205</a> <a id='n1206' href='#n1206'>1206</a> <a id='n1207' href='#n1207'>1207</a> <a id='n1208' href='#n1208'>1208</a> <a id='n1209' href='#n1209'>1209</a> <a id='n1210' href='#n1210'>1210</a> <a id='n1211' href='#n1211'>1211</a> <a id='n1212' href='#n1212'>1212</a> <a id='n1213' href='#n1213'>1213</a> <a id='n1214' href='#n1214'>1214</a> <a id='n1215' href='#n1215'>1215</a> <a id='n1216' href='#n1216'>1216</a> <a id='n1217' href='#n1217'>1217</a> <a id='n1218' href='#n1218'>1218</a> <a id='n1219' href='#n1219'>1219</a> <a id='n1220' href='#n1220'>1220</a> <a id='n1221' href='#n1221'>1221</a> <a id='n1222' href='#n1222'>1222</a> <a id='n1223' href='#n1223'>1223</a> <a id='n1224' href='#n1224'>1224</a> <a id='n1225' href='#n1225'>1225</a> <a id='n1226' href='#n1226'>1226</a> <a id='n1227' href='#n1227'>1227</a> <a id='n1228' href='#n1228'>1228</a> <a id='n1229' href='#n1229'>1229</a> <a id='n1230' href='#n1230'>1230</a> <a id='n1231' href='#n1231'>1231</a> <a id='n1232' href='#n1232'>1232</a> <a id='n1233' href='#n1233'>1233</a> <a id='n1234' href='#n1234'>1234</a> <a id='n1235' href='#n1235'>1235</a> <a id='n1236' href='#n1236'>1236</a> <a id='n1237' href='#n1237'>1237</a> <a id='n1238' href='#n1238'>1238</a> <a id='n1239' href='#n1239'>1239</a> <a id='n1240' href='#n1240'>1240</a> <a id='n1241' href='#n1241'>1241</a> <a id='n1242' href='#n1242'>1242</a> <a id='n1243' href='#n1243'>1243</a> <a id='n1244' href='#n1244'>1244</a> <a id='n1245' href='#n1245'>1245</a> <a id='n1246' href='#n1246'>1246</a> <a id='n1247' href='#n1247'>1247</a> <a id='n1248' href='#n1248'>1248</a> <a id='n1249' href='#n1249'>1249</a> <a id='n1250' href='#n1250'>1250</a> <a id='n1251' href='#n1251'>1251</a> <a id='n1252' href='#n1252'>1252</a> <a id='n1253' href='#n1253'>1253</a> <a id='n1254' href='#n1254'>1254</a> <a id='n1255' href='#n1255'>1255</a> <a id='n1256' href='#n1256'>1256</a> <a id='n1257' href='#n1257'>1257</a> <a id='n1258' href='#n1258'>1258</a> <a id='n1259' href='#n1259'>1259</a> <a id='n1260' href='#n1260'>1260</a> <a id='n1261' href='#n1261'>1261</a> <a id='n1262' href='#n1262'>1262</a> <a id='n1263' href='#n1263'>1263</a> <a id='n1264' href='#n1264'>1264</a> <a id='n1265' href='#n1265'>1265</a> <a id='n1266' href='#n1266'>1266</a> <a id='n1267' href='#n1267'>1267</a> <a id='n1268' href='#n1268'>1268</a> <a id='n1269' href='#n1269'>1269</a> <a id='n1270' href='#n1270'>1270</a> <a id='n1271' href='#n1271'>1271</a> <a id='n1272' href='#n1272'>1272</a> <a id='n1273' href='#n1273'>1273</a> <a id='n1274' href='#n1274'>1274</a> <a id='n1275' href='#n1275'>1275</a> <a id='n1276' href='#n1276'>1276</a> <a id='n1277' href='#n1277'>1277</a> <a id='n1278' href='#n1278'>1278</a> <a id='n1279' href='#n1279'>1279</a> <a id='n1280' href='#n1280'>1280</a> <a id='n1281' href='#n1281'>1281</a> <a id='n1282' href='#n1282'>1282</a> <a id='n1283' href='#n1283'>1283</a> <a id='n1284' href='#n1284'>1284</a> <a id='n1285' href='#n1285'>1285</a> <a id='n1286' href='#n1286'>1286</a> <a id='n1287' href='#n1287'>1287</a> <a id='n1288' href='#n1288'>1288</a> <a id='n1289' href='#n1289'>1289</a> <a id='n1290' href='#n1290'>1290</a> <a id='n1291' href='#n1291'>1291</a> <a id='n1292' href='#n1292'>1292</a> <a id='n1293' href='#n1293'>1293</a> <a id='n1294' href='#n1294'>1294</a> <a id='n1295' href='#n1295'>1295</a> <a id='n1296' href='#n1296'>1296</a> <a id='n1297' href='#n1297'>1297</a> <a id='n1298' href='#n1298'>1298</a> <a id='n1299' href='#n1299'>1299</a> <a id='n1300' href='#n1300'>1300</a> <a id='n1301' href='#n1301'>1301</a> <a id='n1302' href='#n1302'>1302</a> <a id='n1303' href='#n1303'>1303</a> <a id='n1304' href='#n1304'>1304</a> <a id='n1305' href='#n1305'>1305</a> <a id='n1306' href='#n1306'>1306</a> <a id='n1307' href='#n1307'>1307</a> <a id='n1308' href='#n1308'>1308</a> <a id='n1309' href='#n1309'>1309</a> <a id='n1310' href='#n1310'>1310</a> <a id='n1311' href='#n1311'>1311</a> <a id='n1312' href='#n1312'>1312</a> <a id='n1313' href='#n1313'>1313</a> <a id='n1314' href='#n1314'>1314</a> <a id='n1315' href='#n1315'>1315</a> <a id='n1316' href='#n1316'>1316</a> <a id='n1317' href='#n1317'>1317</a> <a id='n1318' href='#n1318'>1318</a> <a id='n1319' href='#n1319'>1319</a> <a id='n1320' href='#n1320'>1320</a> <a id='n1321' href='#n1321'>1321</a> <a id='n1322' href='#n1322'>1322</a> <a id='n1323' href='#n1323'>1323</a> <a id='n1324' href='#n1324'>1324</a> <a id='n1325' href='#n1325'>1325</a> <a id='n1326' href='#n1326'>1326</a> <a id='n1327' href='#n1327'>1327</a> <a id='n1328' href='#n1328'>1328</a> <a id='n1329' href='#n1329'>1329</a> <a id='n1330' href='#n1330'>1330</a> <a id='n1331' href='#n1331'>1331</a> <a id='n1332' href='#n1332'>1332</a> <a id='n1333' href='#n1333'>1333</a> <a id='n1334' href='#n1334'>1334</a> <a id='n1335' href='#n1335'>1335</a> <a id='n1336' href='#n1336'>1336</a> <a id='n1337' href='#n1337'>1337</a> <a id='n1338' href='#n1338'>1338</a> <a id='n1339' href='#n1339'>1339</a> <a id='n1340' href='#n1340'>1340</a> <a id='n1341' href='#n1341'>1341</a> <a id='n1342' href='#n1342'>1342</a> <a id='n1343' href='#n1343'>1343</a> <a id='n1344' href='#n1344'>1344</a> <a id='n1345' href='#n1345'>1345</a> <a id='n1346' href='#n1346'>1346</a> <a id='n1347' href='#n1347'>1347</a> <a id='n1348' href='#n1348'>1348</a> <a id='n1349' href='#n1349'>1349</a> <a id='n1350' href='#n1350'>1350</a> <a id='n1351' href='#n1351'>1351</a> <a id='n1352' href='#n1352'>1352</a> <a id='n1353' href='#n1353'>1353</a> <a id='n1354' href='#n1354'>1354</a> <a id='n1355' href='#n1355'>1355</a> <a id='n1356' href='#n1356'>1356</a> <a id='n1357' href='#n1357'>1357</a> <a id='n1358' href='#n1358'>1358</a> <a id='n1359' href='#n1359'>1359</a> <a id='n1360' href='#n1360'>1360</a> <a id='n1361' href='#n1361'>1361</a> <a id='n1362' href='#n1362'>1362</a> <a id='n1363' href='#n1363'>1363</a> <a id='n1364' href='#n1364'>1364</a> <a id='n1365' href='#n1365'>1365</a> <a id='n1366' href='#n1366'>1366</a> <a id='n1367' href='#n1367'>1367</a> <a id='n1368' href='#n1368'>1368</a> <a id='n1369' href='#n1369'>1369</a> <a id='n1370' href='#n1370'>1370</a> <a id='n1371' href='#n1371'>1371</a> <a id='n1372' href='#n1372'>1372</a> <a id='n1373' href='#n1373'>1373</a> <a id='n1374' href='#n1374'>1374</a> <a id='n1375' href='#n1375'>1375</a> <a id='n1376' href='#n1376'>1376</a> <a id='n1377' href='#n1377'>1377</a> <a id='n1378' href='#n1378'>1378</a> <a id='n1379' href='#n1379'>1379</a> <a id='n1380' href='#n1380'>1380</a> <a id='n1381' href='#n1381'>1381</a> <a id='n1382' href='#n1382'>1382</a> <a id='n1383' href='#n1383'>1383</a> <a id='n1384' href='#n1384'>1384</a> <a id='n1385' href='#n1385'>1385</a> <a id='n1386' href='#n1386'>1386</a> <a id='n1387' href='#n1387'>1387</a> <a id='n1388' href='#n1388'>1388</a> <a id='n1389' href='#n1389'>1389</a> <a id='n1390' href='#n1390'>1390</a> <a id='n1391' href='#n1391'>1391</a> <a id='n1392' href='#n1392'>1392</a> <a id='n1393' href='#n1393'>1393</a> <a id='n1394' href='#n1394'>1394</a> <a id='n1395' href='#n1395'>1395</a> <a id='n1396' href='#n1396'>1396</a> <a id='n1397' href='#n1397'>1397</a> <a id='n1398' href='#n1398'>1398</a> <a id='n1399' href='#n1399'>1399</a> <a id='n1400' href='#n1400'>1400</a> <a id='n1401' href='#n1401'>1401</a> <a id='n1402' href='#n1402'>1402</a> <a id='n1403' href='#n1403'>1403</a> <a id='n1404' href='#n1404'>1404</a> <a id='n1405' href='#n1405'>1405</a> <a id='n1406' href='#n1406'>1406</a> <a id='n1407' href='#n1407'>1407</a> <a id='n1408' href='#n1408'>1408</a> <a id='n1409' href='#n1409'>1409</a> <a id='n1410' href='#n1410'>1410</a> <a id='n1411' href='#n1411'>1411</a> <a id='n1412' href='#n1412'>1412</a> <a id='n1413' href='#n1413'>1413</a> <a id='n1414' href='#n1414'>1414</a> <a id='n1415' href='#n1415'>1415</a> <a id='n1416' href='#n1416'>1416</a> <a id='n1417' href='#n1417'>1417</a> <a id='n1418' href='#n1418'>1418</a> <a id='n1419' href='#n1419'>1419</a> <a id='n1420' href='#n1420'>1420</a> <a id='n1421' href='#n1421'>1421</a> <a id='n1422' href='#n1422'>1422</a> <a id='n1423' href='#n1423'>1423</a> <a id='n1424' href='#n1424'>1424</a> <a id='n1425' href='#n1425'>1425</a> <a id='n1426' href='#n1426'>1426</a> <a id='n1427' href='#n1427'>1427</a> <a id='n1428' href='#n1428'>1428</a> <a id='n1429' href='#n1429'>1429</a> <a id='n1430' href='#n1430'>1430</a> <a id='n1431' href='#n1431'>1431</a> <a id='n1432' href='#n1432'>1432</a> <a id='n1433' href='#n1433'>1433</a> <a id='n1434' href='#n1434'>1434</a> <a id='n1435' href='#n1435'>1435</a> <a id='n1436' href='#n1436'>1436</a> <a id='n1437' href='#n1437'>1437</a> <a id='n1438' href='#n1438'>1438</a> <a id='n1439' href='#n1439'>1439</a> <a id='n1440' href='#n1440'>1440</a> <a id='n1441' href='#n1441'>1441</a> <a id='n1442' href='#n1442'>1442</a> <a id='n1443' href='#n1443'>1443</a> <a id='n1444' href='#n1444'>1444</a> <a id='n1445' href='#n1445'>1445</a> <a id='n1446' href='#n1446'>1446</a> <a id='n1447' href='#n1447'>1447</a> <a id='n1448' href='#n1448'>1448</a> <a id='n1449' href='#n1449'>1449</a> <a id='n1450' href='#n1450'>1450</a> <a id='n1451' href='#n1451'>1451</a> <a id='n1452' href='#n1452'>1452</a> <a id='n1453' href='#n1453'>1453</a> <a id='n1454' href='#n1454'>1454</a> <a id='n1455' href='#n1455'>1455</a> <a id='n1456' href='#n1456'>1456</a> <a id='n1457' href='#n1457'>1457</a> <a id='n1458' href='#n1458'>1458</a> <a id='n1459' href='#n1459'>1459</a> <a id='n1460' href='#n1460'>1460</a> <a id='n1461' href='#n1461'>1461</a> <a id='n1462' href='#n1462'>1462</a> <a id='n1463' href='#n1463'>1463</a> <a id='n1464' href='#n1464'>1464</a> <a id='n1465' href='#n1465'>1465</a> <a id='n1466' href='#n1466'>1466</a> <a id='n1467' href='#n1467'>1467</a> <a id='n1468' href='#n1468'>1468</a> <a id='n1469' href='#n1469'>1469</a> <a id='n1470' href='#n1470'>1470</a> <a id='n1471' href='#n1471'>1471</a> <a id='n1472' href='#n1472'>1472</a> <a id='n1473' href='#n1473'>1473</a> <a id='n1474' href='#n1474'>1474</a> <a id='n1475' href='#n1475'>1475</a> <a id='n1476' href='#n1476'>1476</a> <a id='n1477' href='#n1477'>1477</a> <a id='n1478' href='#n1478'>1478</a> <a id='n1479' href='#n1479'>1479</a> <a id='n1480' href='#n1480'>1480</a> <a id='n1481' href='#n1481'>1481</a> <a id='n1482' href='#n1482'>1482</a> <a id='n1483' href='#n1483'>1483</a> <a id='n1484' href='#n1484'>1484</a> <a id='n1485' href='#n1485'>1485</a> <a id='n1486' href='#n1486'>1486</a> <a id='n1487' href='#n1487'>1487</a> <a id='n1488' href='#n1488'>1488</a> <a id='n1489' href='#n1489'>1489</a> <a id='n1490' href='#n1490'>1490</a> <a id='n1491' href='#n1491'>1491</a> <a id='n1492' href='#n1492'>1492</a> <a id='n1493' href='#n1493'>1493</a> <a id='n1494' href='#n1494'>1494</a> <a id='n1495' href='#n1495'>1495</a> <a id='n1496' href='#n1496'>1496</a> <a id='n1497' href='#n1497'>1497</a> <a id='n1498' href='#n1498'>1498</a> <a id='n1499' href='#n1499'>1499</a> <a id='n1500' href='#n1500'>1500</a> <a id='n1501' href='#n1501'>1501</a> <a id='n1502' href='#n1502'>1502</a> <a id='n1503' href='#n1503'>1503</a> <a id='n1504' href='#n1504'>1504</a> <a id='n1505' href='#n1505'>1505</a> <a id='n1506' href='#n1506'>1506</a> <a id='n1507' href='#n1507'>1507</a> <a id='n1508' href='#n1508'>1508</a> <a id='n1509' href='#n1509'>1509</a> <a id='n1510' href='#n1510'>1510</a> <a id='n1511' href='#n1511'>1511</a> <a id='n1512' href='#n1512'>1512</a> <a id='n1513' href='#n1513'>1513</a> <a id='n1514' href='#n1514'>1514</a> <a id='n1515' href='#n1515'>1515</a> <a id='n1516' href='#n1516'>1516</a> <a id='n1517' href='#n1517'>1517</a> <a id='n1518' href='#n1518'>1518</a> <a id='n1519' href='#n1519'>1519</a> <a id='n1520' href='#n1520'>1520</a> <a id='n1521' href='#n1521'>1521</a> <a id='n1522' href='#n1522'>1522</a> <a id='n1523' href='#n1523'>1523</a> <a id='n1524' href='#n1524'>1524</a> <a id='n1525' href='#n1525'>1525</a> <a id='n1526' href='#n1526'>1526</a> <a id='n1527' href='#n1527'>1527</a> <a id='n1528' href='#n1528'>1528</a> <a id='n1529' href='#n1529'>1529</a> <a id='n1530' href='#n1530'>1530</a> <a id='n1531' href='#n1531'>1531</a> <a id='n1532' href='#n1532'>1532</a> <a id='n1533' href='#n1533'>1533</a> <a id='n1534' href='#n1534'>1534</a> <a id='n1535' href='#n1535'>1535</a> <a id='n1536' href='#n1536'>1536</a> <a id='n1537' href='#n1537'>1537</a> <a id='n1538' href='#n1538'>1538</a> <a id='n1539' href='#n1539'>1539</a> <a id='n1540' href='#n1540'>1540</a> <a id='n1541' href='#n1541'>1541</a> <a id='n1542' href='#n1542'>1542</a> <a id='n1543' href='#n1543'>1543</a> <a id='n1544' href='#n1544'>1544</a> <a id='n1545' href='#n1545'>1545</a> <a id='n1546' href='#n1546'>1546</a> <a id='n1547' href='#n1547'>1547</a> <a id='n1548' href='#n1548'>1548</a> <a id='n1549' href='#n1549'>1549</a> <a id='n1550' href='#n1550'>1550</a> <a id='n1551' href='#n1551'>1551</a> <a id='n1552' href='#n1552'>1552</a> <a id='n1553' href='#n1553'>1553</a> <a id='n1554' href='#n1554'>1554</a> <a id='n1555' href='#n1555'>1555</a> <a id='n1556' href='#n1556'>1556</a> <a id='n1557' href='#n1557'>1557</a> <a id='n1558' href='#n1558'>1558</a> <a id='n1559' href='#n1559'>1559</a> <a id='n1560' href='#n1560'>1560</a> <a id='n1561' href='#n1561'>1561</a> <a id='n1562' href='#n1562'>1562</a> <a id='n1563' href='#n1563'>1563</a> <a id='n1564' href='#n1564'>1564</a> <a id='n1565' href='#n1565'>1565</a> <a id='n1566' href='#n1566'>1566</a> <a id='n1567' href='#n1567'>1567</a> <a id='n1568' href='#n1568'>1568</a> <a id='n1569' href='#n1569'>1569</a> <a id='n1570' href='#n1570'>1570</a> <a id='n1571' href='#n1571'>1571</a> <a id='n1572' href='#n1572'>1572</a> <a id='n1573' href='#n1573'>1573</a> <a id='n1574' href='#n1574'>1574</a> <a id='n1575' href='#n1575'>1575</a> <a id='n1576' href='#n1576'>1576</a> <a id='n1577' href='#n1577'>1577</a> <a id='n1578' href='#n1578'>1578</a> <a id='n1579' href='#n1579'>1579</a> <a id='n1580' href='#n1580'>1580</a> <a id='n1581' href='#n1581'>1581</a> <a id='n1582' href='#n1582'>1582</a> <a id='n1583' href='#n1583'>1583</a> <a id='n1584' href='#n1584'>1584</a> <a id='n1585' href='#n1585'>1585</a> <a id='n1586' href='#n1586'>1586</a> <a id='n1587' href='#n1587'>1587</a> <a id='n1588' href='#n1588'>1588</a> <a id='n1589' href='#n1589'>1589</a> <a id='n1590' href='#n1590'>1590</a> <a id='n1591' href='#n1591'>1591</a> <a id='n1592' href='#n1592'>1592</a> <a id='n1593' href='#n1593'>1593</a> <a id='n1594' href='#n1594'>1594</a> <a id='n1595' href='#n1595'>1595</a> <a id='n1596' href='#n1596'>1596</a> <a id='n1597' href='#n1597'>1597</a> <a id='n1598' href='#n1598'>1598</a> <a id='n1599' href='#n1599'>1599</a> <a id='n1600' href='#n1600'>1600</a> <a id='n1601' href='#n1601'>1601</a> <a id='n1602' href='#n1602'>1602</a> <a id='n1603' href='#n1603'>1603</a> <a id='n1604' href='#n1604'>1604</a> <a id='n1605' href='#n1605'>1605</a> <a id='n1606' href='#n1606'>1606</a> <a id='n1607' href='#n1607'>1607</a> <a id='n1608' href='#n1608'>1608</a> <a id='n1609' href='#n1609'>1609</a> <a id='n1610' href='#n1610'>1610</a> <a id='n1611' href='#n1611'>1611</a> <a id='n1612' href='#n1612'>1612</a> <a id='n1613' href='#n1613'>1613</a> <a id='n1614' href='#n1614'>1614</a> <a id='n1615' href='#n1615'>1615</a> <a id='n1616' href='#n1616'>1616</a> <a id='n1617' href='#n1617'>1617</a> <a id='n1618' href='#n1618'>1618</a> <a id='n1619' href='#n1619'>1619</a> <a id='n1620' href='#n1620'>1620</a> <a id='n1621' href='#n1621'>1621</a> <a id='n1622' href='#n1622'>1622</a> <a id='n1623' href='#n1623'>1623</a> <a id='n1624' href='#n1624'>1624</a> <a id='n1625' href='#n1625'>1625</a> <a id='n1626' href='#n1626'>1626</a> <a id='n1627' href='#n1627'>1627</a> <a id='n1628' href='#n1628'>1628</a> <a id='n1629' href='#n1629'>1629</a> <a id='n1630' href='#n1630'>1630</a> <a id='n1631' href='#n1631'>1631</a> <a id='n1632' href='#n1632'>1632</a> <a id='n1633' href='#n1633'>1633</a> <a id='n1634' href='#n1634'>1634</a> <a id='n1635' href='#n1635'>1635</a> <a id='n1636' href='#n1636'>1636</a> <a id='n1637' href='#n1637'>1637</a> <a id='n1638' href='#n1638'>1638</a> <a id='n1639' href='#n1639'>1639</a> <a id='n1640' href='#n1640'>1640</a> <a id='n1641' href='#n1641'>1641</a> <a id='n1642' href='#n1642'>1642</a> <a id='n1643' href='#n1643'>1643</a> <a id='n1644' href='#n1644'>1644</a> <a id='n1645' href='#n1645'>1645</a> <a id='n1646' href='#n1646'>1646</a> <a id='n1647' href='#n1647'>1647</a> <a id='n1648' href='#n1648'>1648</a> <a id='n1649' href='#n1649'>1649</a> <a id='n1650' href='#n1650'>1650</a> <a id='n1651' href='#n1651'>1651</a> <a id='n1652' href='#n1652'>1652</a> <a id='n1653' href='#n1653'>1653</a> <a id='n1654' href='#n1654'>1654</a> <a id='n1655' href='#n1655'>1655</a> <a id='n1656' href='#n1656'>1656</a> <a id='n1657' href='#n1657'>1657</a> <a id='n1658' href='#n1658'>1658</a> <a id='n1659' href='#n1659'>1659</a> <a id='n1660' href='#n1660'>1660</a> <a id='n1661' href='#n1661'>1661</a> <a id='n1662' href='#n1662'>1662</a> <a id='n1663' href='#n1663'>1663</a> <a id='n1664' href='#n1664'>1664</a> <a id='n1665' href='#n1665'>1665</a> <a id='n1666' href='#n1666'>1666</a> <a id='n1667' href='#n1667'>1667</a> <a id='n1668' href='#n1668'>1668</a> <a id='n1669' href='#n1669'>1669</a> <a id='n1670' href='#n1670'>1670</a> <a id='n1671' href='#n1671'>1671</a> <a id='n1672' href='#n1672'>1672</a> <a id='n1673' href='#n1673'>1673</a> <a id='n1674' href='#n1674'>1674</a> <a id='n1675' href='#n1675'>1675</a> <a id='n1676' href='#n1676'>1676</a> <a id='n1677' href='#n1677'>1677</a> <a id='n1678' href='#n1678'>1678</a> <a id='n1679' href='#n1679'>1679</a> <a id='n1680' href='#n1680'>1680</a> <a id='n1681' href='#n1681'>1681</a> <a id='n1682' href='#n1682'>1682</a> <a id='n1683' href='#n1683'>1683</a> <a id='n1684' href='#n1684'>1684</a> <a id='n1685' href='#n1685'>1685</a> <a id='n1686' href='#n1686'>1686</a> <a id='n1687' href='#n1687'>1687</a> <a id='n1688' href='#n1688'>1688</a> <a id='n1689' href='#n1689'>1689</a> <a id='n1690' href='#n1690'>1690</a> <a id='n1691' href='#n1691'>1691</a> <a id='n1692' href='#n1692'>1692</a> <a id='n1693' href='#n1693'>1693</a> <a id='n1694' href='#n1694'>1694</a> <a id='n1695' href='#n1695'>1695</a> <a id='n1696' href='#n1696'>1696</a> <a id='n1697' href='#n1697'>1697</a> <a id='n1698' href='#n1698'>1698</a> <a id='n1699' href='#n1699'>1699</a> <a id='n1700' href='#n1700'>1700</a> <a id='n1701' href='#n1701'>1701</a> <a id='n1702' href='#n1702'>1702</a> <a id='n1703' href='#n1703'>1703</a> <a id='n1704' href='#n1704'>1704</a> <a id='n1705' href='#n1705'>1705</a> <a id='n1706' href='#n1706'>1706</a> <a id='n1707' href='#n1707'>1707</a> <a id='n1708' href='#n1708'>1708</a> <a id='n1709' href='#n1709'>1709</a> <a id='n1710' href='#n1710'>1710</a> <a id='n1711' href='#n1711'>1711</a> <a id='n1712' href='#n1712'>1712</a> <a id='n1713' href='#n1713'>1713</a> <a id='n1714' href='#n1714'>1714</a> <a id='n1715' href='#n1715'>1715</a> <a id='n1716' href='#n1716'>1716</a> <a id='n1717' href='#n1717'>1717</a> <a id='n1718' href='#n1718'>1718</a> <a id='n1719' href='#n1719'>1719</a> <a id='n1720' href='#n1720'>1720</a> <a id='n1721' href='#n1721'>1721</a> <a id='n1722' href='#n1722'>1722</a> <a id='n1723' href='#n1723'>1723</a> <a id='n1724' href='#n1724'>1724</a> <a id='n1725' href='#n1725'>1725</a> <a id='n1726' href='#n1726'>1726</a> <a id='n1727' href='#n1727'>1727</a> <a id='n1728' href='#n1728'>1728</a> <a id='n1729' href='#n1729'>1729</a> <a id='n1730' href='#n1730'>1730</a> <a id='n1731' href='#n1731'>1731</a> <a id='n1732' href='#n1732'>1732</a> <a id='n1733' href='#n1733'>1733</a> <a id='n1734' href='#n1734'>1734</a> <a id='n1735' href='#n1735'>1735</a> <a id='n1736' href='#n1736'>1736</a> <a id='n1737' href='#n1737'>1737</a> <a id='n1738' href='#n1738'>1738</a> <a id='n1739' href='#n1739'>1739</a> <a id='n1740' href='#n1740'>1740</a> <a id='n1741' href='#n1741'>1741</a> <a id='n1742' href='#n1742'>1742</a> <a id='n1743' href='#n1743'>1743</a> <a id='n1744' href='#n1744'>1744</a> <a id='n1745' href='#n1745'>1745</a> <a id='n1746' href='#n1746'>1746</a> <a id='n1747' href='#n1747'>1747</a> <a id='n1748' href='#n1748'>1748</a> <a id='n1749' href='#n1749'>1749</a> <a id='n1750' href='#n1750'>1750</a> <a id='n1751' href='#n1751'>1751</a> <a id='n1752' href='#n1752'>1752</a> <a id='n1753' href='#n1753'>1753</a> <a id='n1754' href='#n1754'>1754</a> <a id='n1755' href='#n1755'>1755</a> <a id='n1756' href='#n1756'>1756</a> <a id='n1757' href='#n1757'>1757</a> <a id='n1758' href='#n1758'>1758</a> <a id='n1759' href='#n1759'>1759</a> <a id='n1760' href='#n1760'>1760</a> <a id='n1761' href='#n1761'>1761</a> <a id='n1762' href='#n1762'>1762</a> <a id='n1763' href='#n1763'>1763</a> <a id='n1764' href='#n1764'>1764</a> <a id='n1765' href='#n1765'>1765</a> <a id='n1766' href='#n1766'>1766</a> <a id='n1767' href='#n1767'>1767</a> <a id='n1768' href='#n1768'>1768</a> <a id='n1769' href='#n1769'>1769</a> <a id='n1770' href='#n1770'>1770</a> <a id='n1771' href='#n1771'>1771</a> <a id='n1772' href='#n1772'>1772</a> <a id='n1773' href='#n1773'>1773</a> <a id='n1774' href='#n1774'>1774</a> <a id='n1775' href='#n1775'>1775</a> <a id='n1776' href='#n1776'>1776</a> <a id='n1777' href='#n1777'>1777</a> <a id='n1778' href='#n1778'>1778</a> <a id='n1779' href='#n1779'>1779</a> <a id='n1780' href='#n1780'>1780</a> <a id='n1781' href='#n1781'>1781</a> <a id='n1782' href='#n1782'>1782</a> <a id='n1783' href='#n1783'>1783</a> <a id='n1784' href='#n1784'>1784</a> <a id='n1785' href='#n1785'>1785</a> <a id='n1786' href='#n1786'>1786</a> <a id='n1787' href='#n1787'>1787</a> <a id='n1788' href='#n1788'>1788</a> <a id='n1789' href='#n1789'>1789</a> <a id='n1790' href='#n1790'>1790</a> <a id='n1791' href='#n1791'>1791</a> <a id='n1792' href='#n1792'>1792</a> <a id='n1793' href='#n1793'>1793</a> <a id='n1794' href='#n1794'>1794</a> <a id='n1795' href='#n1795'>1795</a> <a id='n1796' href='#n1796'>1796</a> <a id='n1797' href='#n1797'>1797</a> <a id='n1798' href='#n1798'>1798</a> <a id='n1799' href='#n1799'>1799</a> <a id='n1800' href='#n1800'>1800</a> <a id='n1801' href='#n1801'>1801</a> <a id='n1802' href='#n1802'>1802</a> <a id='n1803' href='#n1803'>1803</a> <a id='n1804' href='#n1804'>1804</a> <a id='n1805' href='#n1805'>1805</a> <a id='n1806' href='#n1806'>1806</a> <a id='n1807' href='#n1807'>1807</a> <a id='n1808' href='#n1808'>1808</a> <a id='n1809' href='#n1809'>1809</a> <a id='n1810' href='#n1810'>1810</a> <a id='n1811' href='#n1811'>1811</a> <a id='n1812' href='#n1812'>1812</a> <a id='n1813' href='#n1813'>1813</a> <a id='n1814' href='#n1814'>1814</a> <a id='n1815' href='#n1815'>1815</a> <a id='n1816' href='#n1816'>1816</a> <a id='n1817' href='#n1817'>1817</a> <a id='n1818' href='#n1818'>1818</a> <a id='n1819' href='#n1819'>1819</a> <a id='n1820' href='#n1820'>1820</a> <a id='n1821' href='#n1821'>1821</a> <a id='n1822' href='#n1822'>1822</a> <a id='n1823' href='#n1823'>1823</a> <a id='n1824' href='#n1824'>1824</a> <a id='n1825' href='#n1825'>1825</a> <a id='n1826' href='#n1826'>1826</a> <a id='n1827' href='#n1827'>1827</a> <a id='n1828' href='#n1828'>1828</a> <a id='n1829' href='#n1829'>1829</a> <a id='n1830' href='#n1830'>1830</a> <a id='n1831' href='#n1831'>1831</a> <a id='n1832' href='#n1832'>1832</a> <a id='n1833' href='#n1833'>1833</a> <a id='n1834' href='#n1834'>1834</a> <a id='n1835' href='#n1835'>1835</a> <a id='n1836' href='#n1836'>1836</a> <a id='n1837' href='#n1837'>1837</a> <a id='n1838' href='#n1838'>1838</a> <a id='n1839' href='#n1839'>1839</a> <a id='n1840' href='#n1840'>1840</a> <a id='n1841' href='#n1841'>1841</a> <a id='n1842' href='#n1842'>1842</a> <a id='n1843' href='#n1843'>1843</a> <a id='n1844' href='#n1844'>1844</a> <a id='n1845' href='#n1845'>1845</a> <a id='n1846' href='#n1846'>1846</a> <a id='n1847' href='#n1847'>1847</a> <a id='n1848' href='#n1848'>1848</a> <a id='n1849' href='#n1849'>1849</a> <a id='n1850' href='#n1850'>1850</a> <a id='n1851' href='#n1851'>1851</a> <a id='n1852' href='#n1852'>1852</a> <a id='n1853' href='#n1853'>1853</a> <a id='n1854' href='#n1854'>1854</a> <a id='n1855' href='#n1855'>1855</a> <a id='n1856' href='#n1856'>1856</a> <a id='n1857' href='#n1857'>1857</a> <a id='n1858' href='#n1858'>1858</a> <a id='n1859' href='#n1859'>1859</a> <a id='n1860' href='#n1860'>1860</a> <a id='n1861' href='#n1861'>1861</a> <a id='n1862' href='#n1862'>1862</a> <a id='n1863' href='#n1863'>1863</a> <a id='n1864' href='#n1864'>1864</a> <a id='n1865' href='#n1865'>1865</a> <a id='n1866' href='#n1866'>1866</a> <a id='n1867' href='#n1867'>1867</a> <a id='n1868' href='#n1868'>1868</a> <a id='n1869' href='#n1869'>1869</a> <a id='n1870' href='#n1870'>1870</a> <a id='n1871' href='#n1871'>1871</a> <a id='n1872' href='#n1872'>1872</a> <a id='n1873' href='#n1873'>1873</a> <a id='n1874' href='#n1874'>1874</a> <a id='n1875' href='#n1875'>1875</a> <a id='n1876' href='#n1876'>1876</a> <a id='n1877' href='#n1877'>1877</a> <a id='n1878' href='#n1878'>1878</a> <a id='n1879' href='#n1879'>1879</a> <a id='n1880' href='#n1880'>1880</a> <a id='n1881' href='#n1881'>1881</a> <a id='n1882' href='#n1882'>1882</a> <a id='n1883' href='#n1883'>1883</a> <a id='n1884' href='#n1884'>1884</a> <a id='n1885' href='#n1885'>1885</a> <a id='n1886' href='#n1886'>1886</a> <a id='n1887' href='#n1887'>1887</a> <a id='n1888' href='#n1888'>1888</a> <a id='n1889' href='#n1889'>1889</a> <a id='n1890' href='#n1890'>1890</a> <a id='n1891' href='#n1891'>1891</a> <a id='n1892' href='#n1892'>1892</a> <a id='n1893' href='#n1893'>1893</a> <a id='n1894' href='#n1894'>1894</a> <a id='n1895' href='#n1895'>1895</a> <a id='n1896' href='#n1896'>1896</a> <a id='n1897' href='#n1897'>1897</a> <a id='n1898' href='#n1898'>1898</a> <a id='n1899' href='#n1899'>1899</a> <a id='n1900' href='#n1900'>1900</a> <a id='n1901' href='#n1901'>1901</a> <a id='n1902' href='#n1902'>1902</a> <a id='n1903' href='#n1903'>1903</a> <a id='n1904' href='#n1904'>1904</a> <a id='n1905' href='#n1905'>1905</a> <a id='n1906' href='#n1906'>1906</a> <a id='n1907' href='#n1907'>1907</a> <a id='n1908' href='#n1908'>1908</a> <a id='n1909' href='#n1909'>1909</a> <a id='n1910' href='#n1910'>1910</a> <a id='n1911' href='#n1911'>1911</a> <a id='n1912' href='#n1912'>1912</a> <a id='n1913' href='#n1913'>1913</a> <a id='n1914' href='#n1914'>1914</a> <a id='n1915' href='#n1915'>1915</a> <a id='n1916' href='#n1916'>1916</a> <a id='n1917' href='#n1917'>1917</a> <a id='n1918' href='#n1918'>1918</a> <a id='n1919' href='#n1919'>1919</a> <a id='n1920' href='#n1920'>1920</a> <a id='n1921' href='#n1921'>1921</a> <a id='n1922' href='#n1922'>1922</a> <a id='n1923' href='#n1923'>1923</a> <a id='n1924' href='#n1924'>1924</a> <a id='n1925' href='#n1925'>1925</a> <a id='n1926' href='#n1926'>1926</a> <a id='n1927' href='#n1927'>1927</a> <a id='n1928' href='#n1928'>1928</a> <a id='n1929' href='#n1929'>1929</a> <a id='n1930' href='#n1930'>1930</a> <a id='n1931' href='#n1931'>1931</a> <a id='n1932' href='#n1932'>1932</a> <a id='n1933' href='#n1933'>1933</a> <a id='n1934' href='#n1934'>1934</a> <a id='n1935' href='#n1935'>1935</a> <a id='n1936' href='#n1936'>1936</a> <a id='n1937' href='#n1937'>1937</a> <a id='n1938' href='#n1938'>1938</a> <a id='n1939' href='#n1939'>1939</a> <a id='n1940' href='#n1940'>1940</a> <a id='n1941' href='#n1941'>1941</a> <a id='n1942' href='#n1942'>1942</a> <a id='n1943' href='#n1943'>1943</a> <a id='n1944' href='#n1944'>1944</a> <a id='n1945' href='#n1945'>1945</a> <a id='n1946' href='#n1946'>1946</a> <a id='n1947' href='#n1947'>1947</a> <a id='n1948' href='#n1948'>1948</a> <a id='n1949' href='#n1949'>1949</a> <a id='n1950' href='#n1950'>1950</a> <a id='n1951' href='#n1951'>1951</a> <a id='n1952' href='#n1952'>1952</a> <a id='n1953' href='#n1953'>1953</a> <a id='n1954' href='#n1954'>1954</a> <a id='n1955' href='#n1955'>1955</a> <a id='n1956' href='#n1956'>1956</a> <a id='n1957' href='#n1957'>1957</a> <a id='n1958' href='#n1958'>1958</a> <a id='n1959' href='#n1959'>1959</a> <a id='n1960' href='#n1960'>1960</a> <a id='n1961' href='#n1961'>1961</a> <a id='n1962' href='#n1962'>1962</a> <a id='n1963' href='#n1963'>1963</a> <a id='n1964' href='#n1964'>1964</a> <a id='n1965' href='#n1965'>1965</a> <a id='n1966' href='#n1966'>1966</a> <a id='n1967' href='#n1967'>1967</a> <a id='n1968' href='#n1968'>1968</a> <a id='n1969' href='#n1969'>1969</a> <a id='n1970' href='#n1970'>1970</a> <a id='n1971' href='#n1971'>1971</a> <a id='n1972' 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href='#n2134'>2134</a> </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_videodevice.cpp - V4L2 Video Device</span> <span class="hl com"> */</span> <span class="hl ppc">#include</span> <span class="hl pps">"libcamera/internal/v4l2_videodevice.h"</span><span class="hl ppc"></span> <span class="hl ppc">#include <algorithm></span> <span class="hl ppc">#include <array></span> <span class="hl ppc">#include <fcntl.h></span> <span class="hl ppc">#include <iomanip></span> <span class="hl ppc">#include <sstream></span> <span class="hl ppc">#include <string.h></span> <span class="hl ppc">#include <sys/ioctl.h></span> <span class="hl ppc">#include <sys/syscall.h></span> <span class="hl ppc">#include <sys/time.h></span> <span class="hl ppc">#include <unistd.h></span> <span class="hl ppc">#include <vector></span> <span class="hl ppc">#include <linux/version.h></span> <span class="hl ppc">#include <libcamera/base/event_notifier.h></span> <span class="hl ppc">#include <libcamera/base/log.h></span> <span class="hl ppc">#include <libcamera/base/shared_fd.h></span> <span class="hl ppc">#include <libcamera/base/unique_fd.h></span> <span class="hl ppc">#include <libcamera/base/utils.h></span> <span class="hl ppc">#include</span> <span class="hl pps">"libcamera/internal/formats.h"</span><span class="hl ppc"></span> <span class="hl ppc">#include</span> <span class="hl pps">"libcamera/internal/framebuffer.h"</span><span class="hl ppc"></span> <span class="hl ppc">#include</span> <span class="hl pps">"libcamera/internal/media_device.h"</span><span class="hl ppc"></span> <span class="hl ppc">#include</span> <span class="hl pps">"libcamera/internal/media_object.h"</span><span class="hl ppc"></span> <span class="hl com">/**</span> <span class="hl com"> * \file v4l2_videodevice.h</span> <span class="hl com"> * \brief V4L2 Video Device</span> <span class="hl com"> */</span> <span class="hl kwa">namespace</span> libcamera <span class="hl opt">{</span> <span class="hl kwd">LOG_DECLARE_CATEGORY</span><span class="hl opt">(</span>V4L2<span class="hl opt">)</span> <span class="hl com">/**</span> <span class="hl com"> * \struct V4L2Capability</span> <span class="hl com"> * \brief struct v4l2_capability object wrapper and helpers</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2Capability structure manages the information returned by the</span> <span class="hl com"> * VIDIOC_QUERYCAP ioctl.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::driver()</span> <span class="hl com"> * \brief Retrieve the driver module name</span> <span class="hl com"> * \return The string containing the name of the driver module</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::card()</span> <span class="hl com"> * \brief Retrieve the video device card name</span> <span class="hl com"> * \return The string containing the video device name</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::bus_info()</span> <span class="hl com"> * \brief Retrieve the location of the video device in the system</span> <span class="hl com"> * \return The string containing the video device location</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::device_caps()</span> <span class="hl com"> * \brief Retrieve the capabilities of the video device</span> <span class="hl com"> * \return The video device specific capabilities if V4L2_CAP_DEVICE_CAPS is</span> <span class="hl com"> * set or driver capabilities otherwise</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isMultiplanar()</span> <span class="hl com"> * \brief Identify if the video device implements the V4L2 multiplanar APIs</span> <span class="hl com"> * \return True if the video device supports multiplanar APIs</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isCapture()</span> <span class="hl com"> * \brief Identify if the video device captures data</span> <span class="hl com"> * \return True if the video device can capture data</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isOutput()</span> <span class="hl com"> * \brief Identify if the video device outputs data</span> <span class="hl com"> * \return True if the video device can output data</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isVideo()</span> <span class="hl com"> * \brief Identify if the video device captures or outputs images</span> <span class="hl com"> * \return True if the video device can capture or output images</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isM2M()</span> <span class="hl com"> * \brief Identify if the device is a Memory-to-Memory device</span> <span class="hl com"> * \return True if the device can capture and output images using the M2M API</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isMeta()</span> <span class="hl com"> * \brief Identify if the video device captures or outputs image meta-data</span> <span class="hl com"> * \return True if the video device can capture or output image meta-data</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isVideoCapture()</span> <span class="hl com"> * \brief Identify if the video device captures images</span> <span class="hl com"> * \return True if the video device can capture images</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isVideoOutput()</span> <span class="hl com"> * \brief Identify if the video device outputs images</span> <span class="hl com"> * \return True if the video device can output images</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isMetaCapture()</span> <span class="hl com"> * \brief Identify if the video device captures image meta-data</span> <span class="hl com"> * \return True if the video device can capture image meta-data</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::isMetaOutput()</span> <span class="hl com"> * \brief Identify if the video device outputs image meta-data</span> <span class="hl com"> * \return True if the video device can output image meta-data</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::hasStreaming()</span> <span class="hl com"> * \brief Determine if the video device can perform Streaming I/O</span> <span class="hl com"> * \return True if the video device provides Streaming I/O IOCTLs</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2Capability::hasMediaController()</span> <span class="hl com"> * \brief Determine if the video device uses Media Controller to configure I/O</span> <span class="hl com"> * \return True if the video device is controlled by a Media Controller device</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \class V4L2BufferCache</span> <span class="hl com"> * \brief Hot cache of associations between V4L2 buffer indexes and FrameBuffer</span> <span class="hl com"> *</span> <span class="hl com"> * When importing buffers, V4L2 performs lazy mapping of dmabuf instances at</span> <span class="hl com"> * VIDIOC_QBUF (or VIDIOC_PREPARE_BUF) time and keeps the mapping associated</span> <span class="hl com"> * with the V4L2 buffer, as identified by its index. If the same V4L2 buffer is</span> <span class="hl com"> * then reused and queued with different dmabufs, the old dmabufs will be</span> <span class="hl com"> * unmapped and the new ones mapped. To keep this process efficient, it is</span> <span class="hl com"> * crucial to consistently use the same V4L2 buffer for given dmabufs through</span> <span class="hl com"> * the whole duration of a capture cycle.</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2BufferCache class keeps a map of previous dmabufs to V4L2 buffer</span> <span class="hl com"> * index associations to help selecting V4L2 buffers. It tracks, for every</span> <span class="hl com"> * entry, if the V4L2 buffer is in use, and offers lookup of the best free V4L2</span> <span class="hl com"> * buffer for a set of dmabufs.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Create an empty cache with \a numEntries entries</span> <span class="hl com"> * \param[in] numEntries Number of entries to reserve in the cache</span> <span class="hl com"> *</span> <span class="hl com"> * Create a cache with \a numEntries entries all marked as unused. The entries</span> <span class="hl com"> * will be populated as the cache is used. This is typically used to implement</span> <span class="hl com"> * buffer import, with buffers added to the cache as they are queued.</span> <span class="hl com"> */</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwd">V4L2BufferCache</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> numEntries<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">lastUsedCounter_</span><span class="hl opt">(</span><span class="hl num">1</span><span class="hl opt">),</span> <span class="hl kwd">missCounter_</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">)</span> <span class="hl opt">{</span> cache_<span class="hl opt">.</span><span class="hl kwd">resize</span><span class="hl opt">(</span>numEntries<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Create a pre-populated cache</span> <span class="hl com"> * \param[in] buffers Array of buffers to pre-populated with</span> <span class="hl com"> *</span> <span class="hl com"> * Create a cache pre-populated with \a buffers. This is typically used to</span> <span class="hl com"> * implement buffer export, with all buffers added to the cache when they are</span> <span class="hl com"> * allocated.</span> <span class="hl com"> */</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwd">V4L2BufferCache</span><span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">>> &</span>buffers<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">lastUsedCounter_</span><span class="hl opt">(</span><span class="hl num">1</span><span class="hl opt">),</span> <span class="hl kwd">missCounter_</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">> &</span>buffer <span class="hl opt">:</span> buffers<span class="hl opt">)</span> cache_<span class="hl opt">.</span><span class="hl kwd">emplace_back</span><span class="hl opt">(</span><span class="hl kwa">true</span><span class="hl opt">,</span> lastUsedCounter_<span class="hl opt">.</span><span class="hl kwd">fetch_add</span><span class="hl opt">(</span><span class="hl num">1</span><span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>memory_order_acq_rel<span class="hl opt">),</span> <span class="hl opt">*</span>buffer<span class="hl opt">.</span><span class="hl kwd">get</span><span class="hl opt">());</span> <span class="hl opt">}</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::~</span><span class="hl kwd">V4L2BufferCache</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>missCounter_ <span class="hl opt">></span> cache_<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">())</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">) <<</span> <span class="hl str">"Cache misses: "</span> <span class="hl opt"><<</span> missCounter_<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Check if all the entries in the cache are unused</span> <span class="hl com"> */</span> <span class="hl kwb">bool</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwd">isEmpty</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl kwb">const</span> <span class="hl opt">&</span>entry <span class="hl opt">:</span> cache_<span class="hl opt">) {</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>entry<span class="hl opt">.</span>free_<span class="hl opt">)</span> <span class="hl kwa">return false</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">return true</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Find the best V4L2 buffer for a FrameBuffer</span> <span class="hl com"> * \param[in] buffer The FrameBuffer</span> <span class="hl com"> *</span> <span class="hl com"> * Find the best V4L2 buffer index to be used for the FrameBuffer \a buffer</span> <span class="hl com"> * based on previous mappings of frame buffers to V4L2 buffers. If a free V4L2</span> <span class="hl com"> * buffer previously used with the same dmabufs as \a buffer is found in the</span> <span class="hl com"> * cache, return its index. Otherwise return the index of the first free V4L2</span> <span class="hl com"> * buffer and record its association with the dmabufs of \a buffer.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The index of the best V4L2 buffer, or -ENOENT if no free V4L2 buffer</span> <span class="hl com"> * is available</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwd">get</span><span class="hl opt">(</span><span class="hl kwb">const</span> FrameBuffer <span class="hl opt">&</span>buffer<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">bool</span> hit <span class="hl opt">=</span> <span class="hl kwa">false</span><span class="hl opt">;</span> <span class="hl kwb">int</span> use <span class="hl opt">= -</span><span class="hl num">1</span><span class="hl opt">;</span> <span class="hl kwb">uint64_t</span> oldest <span class="hl opt">=</span> UINT64_MAX<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> index <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> index <span class="hl opt"><</span> cache_<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">();</span> index<span class="hl opt">++) {</span> <span class="hl kwb">const</span> Entry <span class="hl opt">&</span>entry <span class="hl opt">=</span> cache_<span class="hl opt">[</span>index<span class="hl opt">];</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>entry<span class="hl opt">.</span>free_<span class="hl opt">)</span> <span class="hl kwa">continue</span><span class="hl opt">;</span> <span class="hl com">/* Try to find a cache hit by comparing the planes. */</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>entry <span class="hl opt">==</span> buffer<span class="hl opt">) {</span> hit <span class="hl opt">=</span> <span class="hl kwa">true</span><span class="hl opt">;</span> use <span class="hl opt">=</span> index<span class="hl opt">;</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>entry<span class="hl opt">.</span>lastUsed_ <span class="hl opt"><</span> oldest<span class="hl opt">) {</span> use <span class="hl opt">=</span> index<span class="hl opt">;</span> oldest <span class="hl opt">=</span> entry<span class="hl opt">.</span>lastUsed_<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>hit<span class="hl opt">)</span> missCounter_<span class="hl opt">++;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>use <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">)</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>ENOENT<span class="hl opt">;</span> cache_<span class="hl opt">[</span>use<span class="hl opt">] =</span> <span class="hl kwd">Entry</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">,</span> lastUsedCounter_<span class="hl opt">.</span><span class="hl kwd">fetch_add</span><span class="hl opt">(</span><span class="hl num">1</span><span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>memory_order_acq_rel<span class="hl opt">),</span> buffer<span class="hl opt">);</span> <span class="hl kwa">return</span> use<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Mark buffer \a index as free in the cache</span> <span class="hl com"> * \param[in] index The V4L2 buffer index</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwd">put</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 kwd">ASSERT</span><span class="hl opt">(</span>index <span class="hl opt"><</span> cache_<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">());</span> cache_<span class="hl opt">[</span>index<span class="hl opt">].</span>free_ <span class="hl opt">=</span> <span class="hl kwa">true</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwc">Entry</span><span class="hl opt">::</span><span class="hl kwd">Entry</span><span class="hl opt">()</span> <span class="hl opt">:</span> <span class="hl kwd">free_</span><span class="hl opt">(</span><span class="hl kwa">true</span><span class="hl opt">),</span> <span class="hl kwd">lastUsed_</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl opt">}</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwc">Entry</span><span class="hl opt">::</span><span class="hl kwd">Entry</span><span class="hl opt">(</span><span class="hl kwb">bool</span> free<span class="hl opt">,</span> <span class="hl kwb">uint64_t</span> lastUsed<span class="hl opt">,</span> <span class="hl kwb">const</span> FrameBuffer <span class="hl opt">&</span>buffer<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">free_</span><span class="hl opt">(</span>free<span class="hl opt">),</span> <span class="hl kwd">lastUsed_</span><span class="hl opt">(</span>lastUsed<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">FrameBuffer</span><span class="hl opt">::</span>Plane <span class="hl opt">&</span>plane <span class="hl opt">:</span> buffer<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">())</span> planes_<span class="hl opt">.</span><span class="hl kwd">emplace_back</span><span class="hl opt">(</span>plane<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwb">bool</span> <span class="hl kwc">V4L2BufferCache</span><span class="hl opt">::</span><span class="hl kwc">Entry</span><span class="hl opt">::</span><span class="hl kwc">operator</span><span class="hl opt">==(</span><span class="hl kwb">const</span> FrameBuffer <span class="hl opt">&</span>buffer<span class="hl opt">)</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">FrameBuffer</span><span class="hl opt">::</span>Plane<span class="hl opt">> &</span>planes <span class="hl opt">=</span> buffer<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>planes_<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">() !=</span> planes<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">())</span> <span class="hl kwa">return false</span><span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> i <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> i <span class="hl opt"><</span> planes<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">();</span> i<span class="hl opt">++)</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>planes_<span class="hl opt">[</span>i<span class="hl opt">].</span>fd <span class="hl opt">!=</span> planes<span class="hl opt">[</span>i<span class="hl opt">].</span>fd<span class="hl opt">.</span><span class="hl kwd">get</span><span class="hl opt">() ||</span> planes_<span class="hl opt">[</span>i<span class="hl opt">].</span>length <span class="hl opt">!=</span> planes<span class="hl opt">[</span>i<span class="hl opt">].</span>length<span class="hl opt">)</span> <span class="hl kwa">return false</span><span class="hl opt">;</span> <span class="hl kwa">return true</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \class V4L2DeviceFormat</span> <span class="hl com"> * \brief The V4L2 video device image format and sizes</span> <span class="hl com"> *</span> <span class="hl com"> * This class describes the image format and resolution to be programmed on a</span> <span class="hl com"> * V4L2 video device. The image format is defined by a fourcc code (as specified</span> <span class="hl com"> * by the V4L2 API with the V4L2_PIX_FMT_* macros), a resolution (width and</span> <span class="hl com"> * height) and one to three planes with configurable line stride and a total</span> <span class="hl com"> * per-plane size in bytes.</span> <span class="hl com"> *</span> <span class="hl com"> * Image formats, as defined by the V4L2 APIs, are categorised as packed,</span> <span class="hl com"> * semi-planar and planar, and describe the layout of the image pixel components</span> <span class="hl com"> * stored in memory.</span> <span class="hl com"> *</span> <span class="hl com"> * Packed image formats store pixel components one after the other, in a</span> <span class="hl com"> * contiguous memory area. Examples of packed image formats are YUYV</span> <span class="hl com"> * permutations, RGB with different pixel sub-sampling ratios such as RGB565 or</span> <span class="hl com"> * RGB666 or Raw-Bayer formats such as SRGGB8 or SGRBG12.</span> <span class="hl com"> *</span> <span class="hl com"> * Semi-planar and planar image formats store the pixel components in separate</span> <span class="hl com"> * and possibly non-contiguous memory areas, named planes, whose sizes depend on</span> <span class="hl com"> * the pixel components sub-sampling ratios, which are defined by the format.</span> <span class="hl com"> * Semi-planar formats use two planes to store pixel components and notable</span> <span class="hl com"> * examples of such formats are the NV12 and NV16 formats, while planar formats</span> <span class="hl com"> * use three planes to store pixel components and notable examples are YUV422</span> <span class="hl com"> * and YUV420.</span> <span class="hl com"> *</span> <span class="hl com"> * Image formats supported by the V4L2 API are defined and described in Section</span> <span class="hl com"> * number 2 of the "Part I - Video for Linux API" chapter of the "Linux Media</span> <span class="hl com"> * Infrastructure userspace API", part of the Linux kernel documentation.</span> <span class="hl com"> *</span> <span class="hl com"> * In the context of this document, packed image formats are referred to as</span> <span class="hl com"> * "packed formats" and semi-planar and planar image formats are referred to as</span> <span class="hl com"> * "planar formats".</span> <span class="hl com"> *</span> <span class="hl com"> * V4L2 also defines two different sets of APIs to work with devices that store</span> <span class="hl com"> * planes in contiguous or separate memory areas. They are named "Single-plane</span> <span class="hl com"> * APIs" and "Multi-plane APIs" respectively and are documented in Section 2.1</span> <span class="hl com"> * and Section 2.2 of the above mentioned "Part I - Video for Linux API"</span> <span class="hl com"> * documentation.</span> <span class="hl com"> *</span> <span class="hl com"> * The single-plane API allows, among other parameters, the configuration of the</span> <span class="hl com"> * image resolution, the pixel format and the stride length. In that case the</span> <span class="hl com"> * stride applies to all planes (possibly sub-sampled). The multi-plane API</span> <span class="hl com"> * allows configuring the resolution, the pixel format and a per-plane stride</span> <span class="hl com"> * length and total size.</span> <span class="hl com"> *</span> <span class="hl com"> * Packed image formats, which occupy a single memory area, are easily described</span> <span class="hl com"> * through the single-plane API. When used on a video device that implements the</span> <span class="hl com"> * multi-plane API, only the size and stride information contained in the first</span> <span class="hl com"> * plane are taken into account.</span> <span class="hl com"> *</span> <span class="hl com"> * Planar image formats, which occupy distinct memory areas, are easily</span> <span class="hl com"> * described through the multi-plane APIs. When used on a video device that</span> <span class="hl com"> * implements the single-plane API, all planes are stored one after the other</span> <span class="hl com"> * in a contiguous memory area, and it is not possible to configure per-plane</span> <span class="hl com"> * stride length and size, but only a global stride length which is applied to</span> <span class="hl com"> * all planes.</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2DeviceFormat class describes both packed and planar image formats,</span> <span class="hl com"> * regardless of the API type (single or multi plane) implemented by the video</span> <span class="hl com"> * device the format has to be applied to. The total size and bytes per line</span> <span class="hl com"> * of images represented with packed formats are configured using the first</span> <span class="hl com"> * entry of the V4L2DeviceFormat::planes array, while the per-plane size and</span> <span class="hl com"> * per-plane stride length of images represented with planar image formats are</span> <span class="hl com"> * configured using the opportune number of entries of the</span> <span class="hl com"> * V4L2DeviceFormat::planes array, as prescribed by the image format</span> <span class="hl com"> * definition (semi-planar formats use 2 entries, while planar formats use the</span> <span class="hl com"> * whole 3 entries). The number of valid entries of the</span> <span class="hl com"> * V4L2DeviceFormat::planes array is defined by the</span> <span class="hl com"> * V4L2DeviceFormat::planesCount value.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \struct V4L2DeviceFormat::Plane</span> <span class="hl com"> * \brief Per-plane memory size information</span> <span class="hl com"> * \var V4L2DeviceFormat::Plane::size</span> <span class="hl com"> * \brief The plane total memory size (in bytes)</span> <span class="hl com"> * \var V4L2DeviceFormat::Plane::bpl</span> <span class="hl com"> * \brief The plane line stride (in bytes)</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2DeviceFormat::size</span> <span class="hl com"> * \brief The image size in pixels</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2DeviceFormat::fourcc</span> <span class="hl com"> * \brief The fourcc code describing the pixel encoding scheme</span> <span class="hl com"> *</span> <span class="hl com"> * The fourcc code, as defined by the V4L2 API with the V4L2_PIX_FMT_* macros,</span> <span class="hl com"> * that identifies the image format pixel encoding scheme.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2DeviceFormat::colorSpace</span> <span class="hl com"> * \brief The color space of the pixels</span> <span class="hl com"> *</span> <span class="hl com"> * The color space of the image. When setting the format this may be</span> <span class="hl com"> * unset, in which case the driver gets to use its default color space.</span> <span class="hl com"> * After being set, this value should contain the color space that</span> <span class="hl com"> * was actually used. If this value is unset, then the color space chosen</span> <span class="hl com"> * by the driver could not be represented by the ColorSpace class (and</span> <span class="hl com"> * should probably be added).</span> <span class="hl com"> *</span> <span class="hl com"> * It is up to the pipeline handler or application to check if the</span> <span class="hl com"> * resulting color space is acceptable.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2DeviceFormat::planes</span> <span class="hl com"> * \brief The per-plane memory size information</span> <span class="hl com"> *</span> <span class="hl com"> * Images are stored in memory in one or more data planes. Each data plane has a</span> <span class="hl com"> * specific line stride and memory size, which could differ from the image</span> <span class="hl com"> * visible sizes to accommodate padding at the end of lines and end of planes.</span> <span class="hl com"> * Only the first \ref planesCount entries are considered valid.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2DeviceFormat::planesCount</span> <span class="hl com"> * \brief The number of valid data planes</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Assemble and return a string describing the format</span> <span class="hl com"> * \return A string describing the V4L2DeviceFormat</span> <span class="hl com"> */</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl kwc">V4L2DeviceFormat</span><span class="hl opt">::</span><span class="hl kwd">toString</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwc">std</span><span class="hl opt">::</span>stringstream ss<span class="hl opt">;</span> ss <span class="hl opt"><< *</span><span class="hl kwa">this</span><span class="hl opt">;</span> <span class="hl kwa">return</span> ss<span class="hl opt">.</span><span class="hl kwd">str</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Insert a text representation of a V4L2DeviceFormat into an output</span> <span class="hl com"> * stream</span> <span class="hl com"> * \param[in] out The output stream</span> <span class="hl com"> * \param[in] f The V4L2DeviceFormat</span> <span class="hl com"> * \return The output stream \a out</span> <span class="hl com"> */</span> <span class="hl kwc">std</span><span class="hl opt">::</span>ostream <span class="hl opt">&</span><span class="hl kwc">operator</span><span class="hl opt"><<(</span><span class="hl kwc">std</span><span class="hl opt">::</span>ostream <span class="hl opt">&</span>out<span class="hl opt">,</span> <span class="hl kwb">const</span> V4L2DeviceFormat <span class="hl opt">&</span>f<span class="hl opt">)</span> <span class="hl opt">{</span> out <span class="hl opt"><<</span> f<span class="hl opt">.</span>size <span class="hl opt"><<</span> <span class="hl str">"-"</span> <span class="hl opt"><<</span> f<span class="hl opt">.</span>fourcc<span class="hl opt">;</span> <span class="hl kwa">return</span> out<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \class V4L2VideoDevice</span> <span class="hl com"> * \brief V4L2VideoDevice object and API</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2VideoDevice class models an instance of a V4L2 video device.</span> <span class="hl com"> * It is constructed with the path to a V4L2 video device node. The device node</span> <span class="hl com"> * is only opened upon a call to open() which must be checked for success.</span> <span class="hl com"> *</span> <span class="hl com"> * The video device capabilities are validated when the device is opened and the</span> <span class="hl com"> * device is rejected if it is not a suitable V4L2 capture or output video</span> <span class="hl com"> * device, or if the video device does not support streaming I/O.</span> <span class="hl com"> *</span> <span class="hl com"> * No API call other than open(), isOpen() and close() shall be called on an</span> <span class="hl com"> * unopened device instance.</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2VideoDevice class supports the V4L2 MMAP and DMABUF memory types:</span> <span class="hl com"> *</span> <span class="hl com"> * - The allocateBuffers() function wraps buffer allocation with the V4L2 MMAP</span> <span class="hl com"> * memory type. It requests buffers from the driver, allocating the</span> <span class="hl com"> * corresponding memory, and exports them as a set of FrameBuffer objects.</span> <span class="hl com"> * Upon successful return the driver's internal buffer management is</span> <span class="hl com"> * initialized in MMAP mode, and the video device is ready to accept</span> <span class="hl com"> * queueBuffer() calls.</span> <span class="hl com"> *</span> <span class="hl com"> * This is the most traditional V4L2 buffer management, and is mostly useful</span> <span class="hl com"> * to support internal buffer pools in pipeline handlers, either for CPU</span> <span class="hl com"> * consumption (such as statistics or parameters pools), or for internal</span> <span class="hl com"> * image buffers shared between devices.</span> <span class="hl com"> *</span> <span class="hl com"> * - The exportBuffers() function operates similarly to allocateBuffers(), but</span> <span class="hl com"> * leaves the driver's internal buffer management uninitialized. It uses the</span> <span class="hl com"> * V4L2 buffer orphaning support to allocate buffers with the MMAP method,</span> <span class="hl com"> * export them as a set of FrameBuffer objects, and reset the driver's</span> <span class="hl com"> * internal buffer management. The video device shall be initialized with</span> <span class="hl com"> * importBuffers() or allocateBuffers() before it can accept queueBuffer()</span> <span class="hl com"> * calls. The exported buffers are directly usable with any V4L2 video device</span> <span class="hl com"> * in DMABUF mode, or with other dmabuf importers.</span> <span class="hl com"> *</span> <span class="hl com"> * This method is mostly useful to implement buffer allocation helpers or to</span> <span class="hl com"> * allocate ancillary buffers, when a V4L2 video device is used in DMABUF</span> <span class="hl com"> * mode but no other source of buffers is available. An example use case</span> <span class="hl com"> * would be allocation of scratch buffers to be used in case of buffer</span> <span class="hl com"> * underruns on a video device that is otherwise supplied with external</span> <span class="hl com"> * buffers.</span> <span class="hl com"> *</span> <span class="hl com"> * - The importBuffers() function initializes the driver's buffer management to</span> <span class="hl com"> * import buffers in DMABUF mode. It requests buffers from the driver, but</span> <span class="hl com"> * doesn't allocate memory. Upon successful return, the video device is ready</span> <span class="hl com"> * to accept queueBuffer() calls. The buffers to be imported are provided to</span> <span class="hl com"> * queueBuffer(), and may be supplied externally, or come from a previous</span> <span class="hl com"> * exportBuffers() call.</span> <span class="hl com"> *</span> <span class="hl com"> * This is the usual buffers initialization method for video devices whose</span> <span class="hl com"> * buffers are exposed outside of libcamera. It is also typically used on one</span> <span class="hl com"> * of the two video device that participate in buffer sharing inside</span> <span class="hl com"> * pipelines, the other video device typically using allocateBuffers().</span> <span class="hl com"> *</span> <span class="hl com"> * - The releaseBuffers() function resets the driver's internal buffer</span> <span class="hl com"> * management that was initialized by a previous call to allocateBuffers() or</span> <span class="hl com"> * importBuffers(). Any memory allocated by allocateBuffers() is freed.</span> <span class="hl com"> * Buffer exported by exportBuffers() are not affected by this function.</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2VideoDevice class tracks queued buffers and handles buffer events. It</span> <span class="hl com"> * automatically dequeues completed buffers and emits the \ref bufferReady</span> <span class="hl com"> * signal.</span> <span class="hl com"> *</span> <span class="hl com"> * Upon destruction any device left open will be closed, and any resources</span> <span class="hl com"> * released.</span> <span class="hl com"> *</span> <span class="hl com"> * \context This class is \threadbound.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \typedef V4L2VideoDevice::Formats</span> <span class="hl com"> * \brief A map of supported V4L2 pixel formats to frame sizes</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Construct a V4L2VideoDevice</span> <span class="hl com"> * \param[in] deviceNode The file-system path to the video device node</span> <span class="hl com"> */</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">V4L2VideoDevice</span><span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl opt">&</span>deviceNode<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">V4L2Device</span><span class="hl opt">(</span>deviceNode<span class="hl opt">),</span> <span class="hl kwd">formatInfo_</span><span class="hl opt">(</span><span class="hl kwc">nullptr</span><span class="hl opt">),</span> <span class="hl kwd">cache_</span><span class="hl opt">(</span><span class="hl kwc">nullptr</span><span class="hl opt">),</span> <span class="hl kwd">fdBufferNotifier_</span><span class="hl opt">(</span><span class="hl kwc">nullptr</span><span class="hl opt">),</span> <span class="hl kwd">state_</span><span class="hl opt">(</span><span class="hl kwc">State</span><span class="hl opt">::</span>Stopped<span class="hl opt">),</span> <span class="hl kwd">watchdogDuration_</span><span class="hl opt">(</span><span class="hl num">0.0</span><span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl com">/*</span> <span class="hl com"> * We default to an MMAP based CAPTURE video device, however this will</span> <span class="hl com"> * be updated based upon the device capabilities.</span> <span class="hl com"> */</span> bufferType_ <span class="hl opt">=</span> V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE<span class="hl opt">;</span> memoryType_ <span class="hl opt">=</span> V4L2_MEMORY_MMAP<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Construct a V4L2VideoDevice from a MediaEntity</span> <span class="hl com"> * \param[in] entity The MediaEntity to build the video device from</span> <span class="hl com"> *</span> <span class="hl com"> * Construct a V4L2VideoDevice from a MediaEntity's device node path.</span> <span class="hl com"> */</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">V4L2VideoDevice</span><span class="hl opt">(</span><span class="hl kwb">const</span> MediaEntity <span class="hl opt">*</span>entity<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">V4L2VideoDevice</span><span class="hl opt">(</span>entity<span class="hl opt">-></span><span class="hl kwd">deviceNode</span><span class="hl opt">())</span> <span class="hl opt">{</span> watchdog_<span class="hl opt">.</span>timeout<span class="hl opt">.</span><span class="hl kwd">connect</span><span class="hl opt">(</span><span class="hl kwa">this</span><span class="hl opt">, &</span><span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span>watchdogExpired<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::~</span><span class="hl kwd">V4L2VideoDevice</span><span class="hl opt">()</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 com">/**</span> <span class="hl com"> * \brief Open the V4L2 video device node and query its capabilities</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">open</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwc">V4L2Device</span><span class="hl opt">::</span><span class="hl kwd">open</span><span class="hl opt">(</span>O_RDWR <span class="hl opt">|</span> O_NONBLOCK<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_QUERYCAP<span class="hl opt">, &</span>caps_<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to query device capabilities: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>caps_<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">0</span><span class="hl opt">,</span> <span class="hl num">0</span><span class="hl opt">)) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"V4L2 API v"</span> <span class="hl opt"><< (</span>caps_<span class="hl opt">.</span>version <span class="hl opt">>></span> <span class="hl num">16</span><span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"."</span> <span class="hl opt"><< ((</span>caps_<span class="hl opt">.</span>version <span class="hl opt">>></span> <span class="hl num">8</span><span class="hl opt">) &</span> <span class="hl num">0xff</span><span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"."</span> <span class="hl opt"><< (</span>caps_<span class="hl opt">.</span>version <span class="hl opt">&</span> <span class="hl num">0xff</span><span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">" too old, v5.0.0 or later is required"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>caps_<span class="hl opt">.</span><span class="hl kwd">hasStreaming</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Device does not support streaming I/O"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Set buffer type and wait for read notifications on CAPTURE video</span> <span class="hl com"> * devices (POLLIN), and write notifications for OUTPUT video devices</span> <span class="hl com"> * (POLLOUT).</span> <span class="hl com"> */</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Type notifierType<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isVideoCapture</span><span class="hl opt">()) {</span> notifierType <span class="hl opt">=</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Read<span class="hl opt">;</span> bufferType_ <span class="hl opt">=</span> caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">()</span> <span class="hl opt">?</span> V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE <span class="hl opt">:</span> V4L2_BUF_TYPE_VIDEO_CAPTURE<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isVideoOutput</span><span class="hl opt">()) {</span> notifierType <span class="hl opt">=</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Write<span class="hl opt">;</span> bufferType_ <span class="hl opt">=</span> caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">()</span> <span class="hl opt">?</span> V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE <span class="hl opt">:</span> V4L2_BUF_TYPE_VIDEO_OUTPUT<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMetaCapture</span><span class="hl opt">()) {</span> notifierType <span class="hl opt">=</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Read<span class="hl opt">;</span> bufferType_ <span class="hl opt">=</span> V4L2_BUF_TYPE_META_CAPTURE<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMetaOutput</span><span class="hl opt">()) {</span> notifierType <span class="hl opt">=</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Write<span class="hl opt">;</span> bufferType_ <span class="hl opt">=</span> V4L2_BUF_TYPE_META_OUTPUT<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Device is not a supported type"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> fdBufferNotifier_ <span class="hl opt">=</span> <span class="hl kwa">new</span> <span class="hl kwd">EventNotifier</span><span class="hl opt">(</span><span class="hl kwd">fd</span><span class="hl opt">(),</span> notifierType<span class="hl opt">);</span> fdBufferNotifier_<span class="hl opt">-></span>activated<span class="hl opt">.</span><span class="hl kwd">connect</span><span class="hl opt">(</span><span class="hl kwa">this</span><span class="hl opt">, &</span><span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span>bufferAvailable<span class="hl opt">);</span> fdBufferNotifier_<span class="hl opt">-></span><span class="hl kwd">setEnabled</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Opened device "</span> <span class="hl opt"><<</span> caps_<span class="hl opt">.</span><span class="hl kwd">bus_info</span><span class="hl opt">() <<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> caps_<span class="hl opt">.</span><span class="hl kwd">driver</span><span class="hl opt">() <<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> caps_<span class="hl opt">.</span><span class="hl kwd">card</span><span class="hl opt">();</span> ret <span class="hl opt">=</span> <span class="hl kwd">initFormats</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">return</span> ret<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 com">/**</span> <span class="hl com"> * \brief Open a V4L2 video device from an opened file handle and query its</span> <span class="hl com"> * capabilities</span> <span class="hl com"> * \param[in] handle The file descriptor to set</span> <span class="hl com"> * \param[in] type The device type to operate on</span> <span class="hl com"> *</span> <span class="hl com"> * This function opens a video device from the existing file descriptor \a</span> <span class="hl com"> * handle. Like open(), this function queries the capabilities of the device,</span> <span class="hl com"> * but handles it according to the given device \a type instead of determining</span> <span class="hl com"> * its type from the capabilities. This can be used to force a given device type</span> <span class="hl com"> * for memory-to-memory devices.</span> <span class="hl com"> *</span> <span class="hl com"> * The file descriptor \a handle is duplicated, no reference to the original</span> <span class="hl com"> * handle is kept.</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">open</span><span class="hl opt">(</span>SharedFD handle<span class="hl opt">,</span> <span class="hl kwb">enum</span> v4l2_buf_type type<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> UniqueFD newFd <span class="hl opt">=</span> handle<span class="hl opt">.</span><span class="hl kwd">dup</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>newFd<span class="hl opt">.</span><span class="hl kwd">isValid</span><span class="hl opt">()) {</span> ret <span class="hl opt">= -</span>errno<span class="hl opt">;</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Failed to duplicate file handle: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> ret <span class="hl opt">=</span> <span class="hl kwc">V4L2Device</span><span class="hl opt">::</span><span class="hl kwd">setFd</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">move</span><span class="hl opt">(</span>newFd<span class="hl opt">));</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Failed to set file handle: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_QUERYCAP<span class="hl opt">, &</span>caps_<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to query device capabilities: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>caps_<span class="hl opt">.</span><span class="hl kwd">hasStreaming</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Device does not support streaming I/O"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Set buffer type and wait for read notifications on CAPTURE video</span> <span class="hl com"> * devices (POLLIN), and write notifications for OUTPUT video devices</span> <span class="hl com"> * (POLLOUT).</span> <span class="hl com"> */</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Type notifierType<span class="hl opt">;</span> <span class="hl kwa">switch</span> <span class="hl opt">(</span>type<span class="hl opt">) {</span> <span class="hl kwa">case</span> V4L2_BUF_TYPE_VIDEO_OUTPUT<span class="hl opt">:</span> notifierType <span class="hl opt">=</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Write<span class="hl opt">;</span> bufferType_ <span class="hl opt">=</span> caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">()</span> <span class="hl opt">?</span> V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE <span class="hl opt">:</span> V4L2_BUF_TYPE_VIDEO_OUTPUT<span class="hl opt">;</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl kwa">case</span> V4L2_BUF_TYPE_VIDEO_CAPTURE<span class="hl opt">:</span> notifierType <span class="hl opt">=</span> <span class="hl kwc">EventNotifier</span><span class="hl opt">::</span>Read<span class="hl opt">;</span> bufferType_ <span class="hl opt">=</span> caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">()</span> <span class="hl opt">?</span> V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE <span class="hl opt">:</span> V4L2_BUF_TYPE_VIDEO_CAPTURE<span class="hl opt">;</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl kwa">default</span><span class="hl opt">:</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Unsupported buffer type"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> fdBufferNotifier_ <span class="hl opt">=</span> <span class="hl kwa">new</span> <span class="hl kwd">EventNotifier</span><span class="hl opt">(</span><span class="hl kwd">fd</span><span class="hl opt">(),</span> notifierType<span class="hl opt">);</span> fdBufferNotifier_<span class="hl opt">-></span>activated<span class="hl opt">.</span><span class="hl kwd">connect</span><span class="hl opt">(</span><span class="hl kwa">this</span><span class="hl opt">, &</span><span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span>bufferAvailable<span class="hl opt">);</span> fdBufferNotifier_<span class="hl opt">-></span><span class="hl kwd">setEnabled</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Opened device "</span> <span class="hl opt"><<</span> caps_<span class="hl opt">.</span><span class="hl kwd">bus_info</span><span class="hl opt">() <<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> caps_<span class="hl opt">.</span><span class="hl kwd">driver</span><span class="hl opt">() <<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> caps_<span class="hl opt">.</span><span class="hl kwd">card</span><span class="hl opt">();</span> ret <span class="hl opt">=</span> <span class="hl kwd">initFormats</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">return</span> ret<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">initFormats</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>V4L2PixelFormat<span class="hl opt">> &</span>deviceFormats <span class="hl opt">=</span> <span class="hl kwd">enumPixelformats</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>deviceFormats<span class="hl opt">.</span><span class="hl kwd">empty</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Failed to initialize device formats"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> pixelFormats_ <span class="hl opt">= {</span> deviceFormats<span class="hl opt">.</span><span class="hl kwd">begin</span><span class="hl opt">(),</span> deviceFormats<span class="hl opt">.</span><span class="hl kwd">end</span><span class="hl opt">() };</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">getFormat</span><span class="hl opt">(&</span>format_<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Failed to get format"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> formatInfo_ <span class="hl opt">= &</span><span class="hl kwc">PixelFormatInfo</span><span class="hl opt">::</span><span class="hl kwd">info</span><span class="hl opt">(</span>format_<span class="hl opt">.</span>fourcc<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 com">/**</span> <span class="hl com"> * \brief Close the video device, releasing any resources acquired by open()</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">V4L2VideoDevice</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 kwa">if</span> <span class="hl opt">(!</span><span class="hl kwd">isOpen</span><span class="hl opt">())</span> <span class="hl kwa">return</span><span class="hl opt">;</span> <span class="hl kwd">releaseBuffers</span><span class="hl opt">();</span> <span class="hl kwa">delete</span> fdBufferNotifier_<span class="hl opt">;</span> formatInfo_ <span class="hl opt">=</span> <span class="hl kwc">nullptr</span><span class="hl opt">;</span> <span class="hl kwc">V4L2Device</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 com">/**</span> <span class="hl com"> * \fn V4L2VideoDevice::driverName()</span> <span class="hl com"> * \brief Retrieve the name of the V4L2 device driver</span> <span class="hl com"> * \return The string containing the driver name</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2VideoDevice::deviceName()</span> <span class="hl com"> * \brief Retrieve the name of the V4L2 video device</span> <span class="hl com"> * \return The string containing the device name</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2VideoDevice::busName()</span> <span class="hl com"> * \brief Retrieve the location of the device in the system</span> <span class="hl com"> * \return The string containing the device location</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2VideoDevice::caps()</span> <span class="hl com"> * \brief Retrieve the device V4L2 capabilities</span> <span class="hl com"> * \return The device V4L2 capabilities</span> <span class="hl com"> */</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">logPrefix</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> <span class="hl kwd">deviceNode</span><span class="hl opt">() +</span> <span class="hl str">"["</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><span class="hl kwd">fd</span><span class="hl opt">()) +</span> <span class="hl opt">(</span><span class="hl kwd">V4L2_TYPE_IS_OUTPUT</span><span class="hl opt">(</span>bufferType_<span class="hl opt">) ?</span> <span class="hl str">":out]"</span> <span class="hl opt">:</span> <span class="hl str">":cap]"</span><span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Retrieve the image format set on the V4L2 video device</span> <span class="hl com"> * \param[out] format The image format applied on the video device</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">getFormat</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMeta</span><span class="hl opt">())</span> <span class="hl kwa">return</span> <span class="hl kwd">getFormatMeta</span><span class="hl opt">(</span>format<span class="hl opt">);</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">())</span> <span class="hl kwa">return</span> <span class="hl kwd">getFormatMultiplane</span><span class="hl opt">(</span>format<span class="hl opt">);</span> <span class="hl kwa">else</span> <span class="hl kwa">return</span> <span class="hl kwd">getFormatSingleplane</span><span class="hl opt">(</span>format<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Try an image format on the V4L2 video device</span> <span class="hl com"> * \param[inout] format The image format to test applicability to the video device</span> <span class="hl com"> *</span> <span class="hl com"> * Try the supplied \a format on the video device without applying it, returning</span> <span class="hl com"> * the format that would be applied. This is equivalent to setFormat(), except</span> <span class="hl com"> * that the device configuration is not changed.</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">tryFormat</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMeta</span><span class="hl opt">())</span> <span class="hl kwa">return</span> <span class="hl kwd">trySetFormatMeta</span><span class="hl opt">(</span>format<span class="hl opt">,</span> <span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">())</span> <span class="hl kwa">return</span> <span class="hl kwd">trySetFormatMultiplane</span><span class="hl opt">(</span>format<span class="hl opt">,</span> <span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl kwa">else</span> <span class="hl kwa">return</span> <span class="hl kwd">trySetFormatSingleplane</span><span class="hl opt">(</span>format<span class="hl opt">,</span> <span class="hl kwa">false</span><span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Configure an image format on the V4L2 video device</span> <span class="hl com"> * \param[inout] format The image format to apply to the video device</span> <span class="hl com"> *</span> <span class="hl com"> * Apply the supplied \a format to the video device, and return the actually</span> <span class="hl com"> * applied format parameters, as \ref V4L2VideoDevice::getFormat would do.</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">setFormat</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret <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>caps_<span class="hl opt">.</span><span class="hl kwd">isMeta</span><span class="hl opt">())</span> ret <span class="hl opt">=</span> <span class="hl kwd">trySetFormatMeta</span><span class="hl opt">(</span>format<span class="hl opt">,</span> <span class="hl kwa">true</span><span class="hl opt">);</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>caps_<span class="hl opt">.</span><span class="hl kwd">isMultiplanar</span><span class="hl opt">())</span> ret <span class="hl opt">=</span> <span class="hl kwd">trySetFormatMultiplane</span><span class="hl opt">(</span>format<span class="hl opt">,</span> <span class="hl kwa">true</span><span class="hl opt">);</span> <span class="hl kwa">else</span> ret <span class="hl opt">=</span> <span class="hl kwd">trySetFormatSingleplane</span><span class="hl opt">(</span>format<span class="hl opt">,</span> <span class="hl kwa">true</span><span class="hl opt">);</span> <span class="hl com">/* Cache the set format on success. */</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> format_ <span class="hl opt">= *</span>format<span class="hl opt">;</span> formatInfo_ <span class="hl opt">= &</span><span class="hl kwc">PixelFormatInfo</span><span class="hl opt">::</span><span class="hl kwd">info</span><span class="hl opt">(</span>format_<span class="hl opt">.</span>fourcc<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">getFormatMeta</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_format v4l2Format <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_meta_format <span class="hl opt">*</span>pix <span class="hl opt">= &</span>v4l2Format<span class="hl opt">.</span>fmt<span class="hl opt">.</span>meta<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> v4l2Format<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_G_FMT<span class="hl opt">, &</span>v4l2Format<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Unable to get format: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> format<span class="hl opt">-></span>fourcc <span class="hl opt">=</span> <span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>dataformat<span class="hl opt">);</span> format<span class="hl opt">-></span>planesCount <span class="hl opt">=</span> <span class="hl num">1</span><span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bpl <span class="hl opt">=</span> pix<span class="hl opt">-></span>buffersize<span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>size <span class="hl opt">=</span> pix<span class="hl opt">-></span>buffersize<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">trySetFormatMeta</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">,</span> <span class="hl kwb">bool</span> set<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_format v4l2Format <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_meta_format <span class="hl opt">*</span>pix <span class="hl opt">= &</span>v4l2Format<span class="hl opt">.</span>fmt<span class="hl opt">.</span>meta<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> v4l2Format<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> pix<span class="hl opt">-></span>dataformat <span class="hl opt">=</span> format<span class="hl opt">-></span>fourcc<span class="hl opt">;</span> pix<span class="hl opt">-></span>buffersize <span class="hl opt">=</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>size<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>set <span class="hl opt">?</span> VIDIOC_S_FMT <span class="hl opt">:</span> VIDIOC_TRY_FMT<span class="hl opt">, &</span>v4l2Format<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to "</span> <span class="hl opt"><< (</span>set <span class="hl opt">?</span> <span class="hl str">"set"</span> <span class="hl opt">:</span> <span class="hl str">"try"</span><span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">" format: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Return to caller the format actually applied on the video device,</span> <span class="hl com"> * which might differ from the requested one.</span> <span class="hl com"> */</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> format<span class="hl opt">-></span>fourcc <span class="hl opt">=</span> <span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>dataformat<span class="hl opt">);</span> format<span class="hl opt">-></span>planesCount <span class="hl opt">=</span> <span class="hl num">1</span><span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bpl <span class="hl opt">=</span> pix<span class="hl opt">-></span>buffersize<span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>size <span class="hl opt">=</span> pix<span class="hl opt">-></span>buffersize<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">getFormatMultiplane</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_format v4l2Format <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_pix_format_mplane <span class="hl opt">*</span>pix <span class="hl opt">= &</span>v4l2Format<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix_mp<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> v4l2Format<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_G_FMT<span class="hl opt">, &</span>v4l2Format<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Unable to get format: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width <span class="hl opt">=</span> pix<span class="hl opt">-></span>width<span class="hl opt">;</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height <span class="hl opt">=</span> pix<span class="hl opt">-></span>height<span class="hl opt">;</span> format<span class="hl opt">-></span>fourcc <span class="hl opt">=</span> <span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>pixelformat<span class="hl opt">);</span> format<span class="hl opt">-></span>planesCount <span class="hl opt">=</span> pix<span class="hl opt">-></span>num_planes<span class="hl opt">;</span> format<span class="hl opt">-></span>colorSpace <span class="hl opt">=</span> <span class="hl kwd">toColorSpace</span><span class="hl opt">(*</span>pix<span class="hl opt">);</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> i <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> i <span class="hl opt"><</span> format<span class="hl opt">-></span>planesCount<span class="hl opt">; ++</span>i<span class="hl opt">) {</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>bpl <span class="hl opt">=</span> pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">[</span>i<span class="hl opt">].</span>bytesperline<span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>size <span class="hl opt">=</span> pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">[</span>i<span class="hl opt">].</span>sizeimage<span class="hl opt">;</span> <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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">trySetFormatMultiplane</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">,</span> <span class="hl kwb">bool</span> set<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_format v4l2Format <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_pix_format_mplane <span class="hl opt">*</span>pix <span class="hl opt">= &</span>v4l2Format<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix_mp<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> v4l2Format<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> pix<span class="hl opt">-></span>width <span class="hl opt">=</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width<span class="hl opt">;</span> pix<span class="hl opt">-></span>height <span class="hl opt">=</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height<span class="hl opt">;</span> pix<span class="hl opt">-></span>pixelformat <span class="hl opt">=</span> format<span class="hl opt">-></span>fourcc<span class="hl opt">;</span> pix<span class="hl opt">-></span>num_planes <span class="hl opt">=</span> format<span class="hl opt">-></span>planesCount<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> <span class="hl kwd">fromColorSpace</span><span class="hl opt">(</span>format<span class="hl opt">-></span>colorSpace<span class="hl opt">, *</span>pix<span class="hl opt">);</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>num_planes <span class="hl opt"><=</span> <span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">size</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">));</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> i <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> i <span class="hl opt"><</span> pix<span class="hl opt">-></span>num_planes<span class="hl opt">; ++</span>i<span class="hl opt">) {</span> pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">[</span>i<span class="hl opt">].</span>bytesperline <span class="hl opt">=</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>bpl<span class="hl opt">;</span> pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">[</span>i<span class="hl opt">].</span>sizeimage <span class="hl opt">=</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>size<span class="hl opt">;</span> <span class="hl opt">}</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>set <span class="hl opt">?</span> VIDIOC_S_FMT <span class="hl opt">:</span> VIDIOC_TRY_FMT<span class="hl opt">, &</span>v4l2Format<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to "</span> <span class="hl opt"><< (</span>set <span class="hl opt">?</span> <span class="hl str">"set"</span> <span class="hl opt">:</span> <span class="hl str">"try"</span><span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">" format: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Return to caller the format actually applied on the video device,</span> <span class="hl com"> * which might differ from the requested one.</span> <span class="hl com"> */</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width <span class="hl opt">=</span> pix<span class="hl opt">-></span>width<span class="hl opt">;</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height <span class="hl opt">=</span> pix<span class="hl opt">-></span>height<span class="hl opt">;</span> format<span class="hl opt">-></span>fourcc <span class="hl opt">=</span> <span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>pixelformat<span class="hl opt">);</span> format<span class="hl opt">-></span>planesCount <span class="hl opt">=</span> pix<span class="hl opt">-></span>num_planes<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> i <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> i <span class="hl opt"><</span> format<span class="hl opt">-></span>planesCount<span class="hl opt">; ++</span>i<span class="hl opt">) {</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>bpl <span class="hl opt">=</span> pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">[</span>i<span class="hl opt">].</span>bytesperline<span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>size <span class="hl opt">=</span> pix<span class="hl opt">-></span>plane_fmt<span class="hl opt">[</span>i<span class="hl opt">].</span>sizeimage<span class="hl opt">;</span> <span class="hl opt">}</span> format<span class="hl opt">-></span>colorSpace <span class="hl opt">=</span> <span class="hl kwd">toColorSpace</span><span class="hl opt">(*</span>pix<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">getFormatSingleplane</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_format v4l2Format <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_pix_format <span class="hl opt">*</span>pix <span class="hl opt">= &</span>v4l2Format<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> v4l2Format<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_G_FMT<span class="hl opt">, &</span>v4l2Format<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Unable to get format: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width <span class="hl opt">=</span> pix<span class="hl opt">-></span>width<span class="hl opt">;</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height <span class="hl opt">=</span> pix<span class="hl opt">-></span>height<span class="hl opt">;</span> format<span class="hl opt">-></span>fourcc <span class="hl opt">=</span> <span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>pixelformat<span class="hl opt">);</span> format<span class="hl opt">-></span>planesCount <span class="hl opt">=</span> <span class="hl num">1</span><span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bpl <span class="hl opt">=</span> pix<span class="hl opt">-></span>bytesperline<span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>size <span class="hl opt">=</span> pix<span class="hl opt">-></span>sizeimage<span class="hl opt">;</span> format<span class="hl opt">-></span>colorSpace <span class="hl opt">=</span> <span class="hl kwd">toColorSpace</span><span class="hl opt">(*</span>pix<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">trySetFormatSingleplane</span><span class="hl opt">(</span>V4L2DeviceFormat <span class="hl opt">*</span>format<span class="hl opt">,</span> <span class="hl kwb">bool</span> set<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_format v4l2Format <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_pix_format <span class="hl opt">*</span>pix <span class="hl opt">= &</span>v4l2Format<span class="hl opt">.</span>fmt<span class="hl opt">.</span>pix<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> v4l2Format<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> pix<span class="hl opt">-></span>width <span class="hl opt">=</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width<span class="hl opt">;</span> pix<span class="hl opt">-></span>height <span class="hl opt">=</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height<span class="hl opt">;</span> pix<span class="hl opt">-></span>pixelformat <span class="hl opt">=</span> format<span class="hl opt">-></span>fourcc<span class="hl opt">;</span> pix<span class="hl opt">-></span>bytesperline <span class="hl opt">=</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bpl<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> <span class="hl kwd">fromColorSpace</span><span class="hl opt">(</span>format<span class="hl opt">-></span>colorSpace<span class="hl opt">, *</span>pix<span class="hl opt">);</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>set <span class="hl opt">?</span> VIDIOC_S_FMT <span class="hl opt">:</span> VIDIOC_TRY_FMT<span class="hl opt">, &</span>v4l2Format<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to "</span> <span class="hl opt"><< (</span>set <span class="hl opt">?</span> <span class="hl str">"set"</span> <span class="hl opt">:</span> <span class="hl str">"try"</span><span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">" format: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Return to caller the format actually applied on the device,</span> <span class="hl com"> * which might differ from the requested one.</span> <span class="hl com"> */</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>width <span class="hl opt">=</span> pix<span class="hl opt">-></span>width<span class="hl opt">;</span> format<span class="hl opt">-></span>size<span class="hl opt">.</span>height <span class="hl opt">=</span> pix<span class="hl opt">-></span>height<span class="hl opt">;</span> format<span class="hl opt">-></span>fourcc <span class="hl opt">=</span> <span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pix<span class="hl opt">-></span>pixelformat<span class="hl opt">);</span> format<span class="hl opt">-></span>planesCount <span class="hl opt">=</span> <span class="hl num">1</span><span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bpl <span class="hl opt">=</span> pix<span class="hl opt">-></span>bytesperline<span class="hl opt">;</span> format<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>size <span class="hl opt">=</span> pix<span class="hl opt">-></span>sizeimage<span class="hl opt">;</span> format<span class="hl opt">-></span>colorSpace <span class="hl opt">=</span> <span class="hl kwd">toColorSpace</span><span class="hl opt">(*</span>pix<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 com">/**</span> <span class="hl com"> * \brief Enumerate all pixel formats and frame sizes</span> <span class="hl com"> * \param[in] code Restrict formats to this media bus code.</span> <span class="hl com"> *</span> <span class="hl com"> * Enumerate all pixel formats and frame sizes supported by the video device.</span> <span class="hl com"> * If the \a code argument is not zero, only formats compatible with that media</span> <span class="hl com"> * bus code will be enumerated.</span> <span class="hl com"> *</span> <span class="hl com"> * \return A list of the supported video device formats</span> <span class="hl com"> */</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span>Formats <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">formats</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> code<span class="hl opt">)</span> <span class="hl opt">{</span> Formats formats<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span>V4L2PixelFormat pixelFormat <span class="hl opt">:</span> <span class="hl kwd">enumPixelformats</span><span class="hl opt">(</span>code<span class="hl opt">)) {</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>SizeRange<span class="hl opt">></span> sizes <span class="hl opt">=</span> <span class="hl kwd">enumSizes</span><span class="hl opt">(</span>pixelFormat<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>sizes<span class="hl opt">.</span><span class="hl kwd">empty</span><span class="hl opt">())</span> <span class="hl kwa">return</span> <span class="hl opt">{};</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>formats<span class="hl opt">.</span><span class="hl kwd">find</span><span class="hl opt">(</span>pixelFormat<span class="hl opt">) !=</span> formats<span class="hl opt">.</span><span class="hl kwd">end</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Could not add sizes for pixel format "</span> <span class="hl opt"><<</span> pixelFormat<span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">{};</span> <span class="hl opt">}</span> formats<span class="hl opt">.</span><span class="hl kwd">emplace</span><span class="hl opt">(</span>pixelFormat<span class="hl opt">,</span> sizes<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwa">return</span> formats<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>V4L2PixelFormat<span class="hl opt">></span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">enumPixelformats</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> code<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>V4L2PixelFormat<span class="hl opt">></span> formats<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>code <span class="hl opt">&& !</span>caps_<span class="hl opt">.</span><span class="hl kwd">hasMediaController</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Media bus code filtering not supported by the device"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">{};</span> <span class="hl opt">}</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> index <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">; ;</span> index<span class="hl opt">++) {</span> <span class="hl kwb">struct</span> v4l2_fmtdesc pixelformatEnum <span class="hl opt">= {};</span> pixelformatEnum<span class="hl opt">.</span>index <span class="hl opt">=</span> index<span class="hl opt">;</span> pixelformatEnum<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> pixelformatEnum<span class="hl opt">.</span>mbus_code <span class="hl opt">=</span> code<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_ENUM_FMT<span class="hl opt">, &</span>pixelformatEnum<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">break</span><span class="hl opt">;</span> formats<span class="hl opt">.</span><span class="hl kwd">push_back</span><span class="hl opt">(</span><span class="hl kwd">V4L2PixelFormat</span><span class="hl opt">(</span>pixelformatEnum<span class="hl opt">.</span>pixelformat<span class="hl opt">));</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt">&&</span> ret <span class="hl opt">!= -</span>EINVAL<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to enumerate pixel formats: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><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 opt">}</span> <span class="hl kwa">return</span> formats<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>SizeRange<span class="hl opt">></span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">enumSizes</span><span class="hl opt">(</span>V4L2PixelFormat pixelFormat<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>SizeRange<span class="hl opt">></span> sizes<span class="hl opt">;</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> index <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;;</span> index<span class="hl opt">++) {</span> <span class="hl kwb">struct</span> v4l2_frmsizeenum frameSize <span class="hl opt">= {};</span> frameSize<span class="hl opt">.</span>index <span class="hl opt">=</span> index<span class="hl opt">;</span> frameSize<span class="hl opt">.</span>pixel_format <span class="hl opt">=</span> pixelFormat<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_ENUM_FRAMESIZES<span class="hl opt">, &</span>frameSize<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>index <span class="hl opt">!=</span> <span class="hl num">0</span> <span class="hl opt">&&</span> frameSize<span class="hl opt">.</span>type <span class="hl opt">!=</span> V4L2_FRMSIZE_TYPE_DISCRETE<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Non-zero index for non discrete type"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">{};</span> <span class="hl opt">}</span> <span class="hl kwa">switch</span> <span class="hl opt">(</span>frameSize<span class="hl opt">.</span>type<span class="hl opt">) {</span> <span class="hl kwa">case</span> V4L2_FRMSIZE_TYPE_DISCRETE<span class="hl opt">:</span> sizes<span class="hl opt">.</span><span class="hl kwd">emplace_back</span><span class="hl opt">(</span>Size<span class="hl opt">{</span> frameSize<span class="hl opt">.</span>discrete<span class="hl opt">.</span>width<span class="hl opt">,</span> frameSize<span class="hl opt">.</span>discrete<span class="hl opt">.</span>height <span class="hl opt">});</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl kwa">case</span> V4L2_FRMSIZE_TYPE_CONTINUOUS<span class="hl opt">:</span> sizes<span class="hl opt">.</span><span class="hl kwd">emplace_back</span><span class="hl opt">(</span>Size<span class="hl opt">{</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>min_width<span class="hl opt">,</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>min_height <span class="hl opt">},</span> Size<span class="hl opt">{</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>max_width<span class="hl opt">,</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>max_height <span class="hl opt">});</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl kwa">case</span> V4L2_FRMSIZE_TYPE_STEPWISE<span class="hl opt">:</span> sizes<span class="hl opt">.</span><span class="hl kwd">emplace_back</span><span class="hl opt">(</span>Size<span class="hl opt">{</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>min_width<span class="hl opt">,</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>min_height <span class="hl opt">},</span> Size<span class="hl opt">{</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>max_width<span class="hl opt">,</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>max_height <span class="hl opt">},</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>step_width<span class="hl opt">,</span> frameSize<span class="hl opt">.</span>stepwise<span class="hl opt">.</span>step_height<span class="hl opt">);</span> <span class="hl kwa">break</span><span class="hl opt">;</span> <span class="hl kwa">default</span><span class="hl opt">:</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unknown VIDIOC_ENUM_FRAMESIZES type "</span> <span class="hl opt"><<</span> frameSize<span class="hl opt">.</span>type<span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">{};</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt">&&</span> ret <span class="hl opt">!= -</span>EINVAL<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to enumerate frame sizes: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><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 opt">}</span> <span class="hl kwa">return</span> sizes<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Set a selection rectangle \a rect for \a target</span> <span class="hl com"> * \param[in] target The selection target defined by the V4L2_SEL_TGT_* flags</span> <span class="hl com"> * \param[inout] rect The selection rectangle to be applied</span> <span class="hl com"> *</span> <span class="hl com"> * \todo Define a V4L2SelectionTarget enum for the selection target</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">setSelection</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> target<span class="hl opt">,</span> Rectangle <span class="hl opt">*</span>rect<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_selection sel <span class="hl opt">= {};</span> sel<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> sel<span class="hl opt">.</span>target <span class="hl opt">=</span> target<span class="hl opt">;</span> sel<span class="hl opt">.</span>flags <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>left <span class="hl opt">=</span> rect<span class="hl opt">-></span>x<span class="hl opt">;</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>top <span class="hl opt">=</span> rect<span class="hl opt">-></span>y<span class="hl opt">;</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>width <span class="hl opt">=</span> rect<span class="hl opt">-></span>width<span class="hl opt">;</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>height <span class="hl opt">=</span> rect<span class="hl opt">-></span>height<span class="hl opt">;</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_S_SELECTION<span class="hl opt">, &</span>sel<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Unable to set rectangle "</span> <span class="hl opt"><<</span> target <span class="hl opt"><<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> rect<span class="hl opt">-></span>x <span class="hl opt">=</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>left<span class="hl opt">;</span> rect<span class="hl opt">-></span>y <span class="hl opt">=</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>top<span class="hl opt">;</span> rect<span class="hl opt">-></span>width <span class="hl opt">=</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>width<span class="hl opt">;</span> rect<span class="hl opt">-></span>height <span class="hl opt">=</span> sel<span class="hl opt">.</span>r<span class="hl opt">.</span>height<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">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">requestBuffers</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> count<span class="hl opt">,</span> <span class="hl kwb">enum</span> v4l2_memory memoryType<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_requestbuffers rb <span class="hl opt">= {};</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> rb<span class="hl opt">.</span>count <span class="hl opt">=</span> count<span class="hl opt">;</span> rb<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> rb<span class="hl opt">.</span>memory <span class="hl opt">=</span> memoryType<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_REQBUFS<span class="hl opt">, &</span>rb<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to request "</span> <span class="hl opt"><<</span> count <span class="hl opt"><<</span> <span class="hl str">" buffers: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>rb<span class="hl opt">.</span>count <span class="hl opt"><</span> count<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Not enough buffers provided by V4L2VideoDevice"</span><span class="hl opt">;</span> <span class="hl kwd">requestBuffers</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">,</span> memoryType<span class="hl opt">);</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>ENOMEM<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">) <<</span> rb<span class="hl opt">.</span>count <span class="hl opt"><<</span> <span class="hl str">" buffers requested."</span><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 com">/**</span> <span class="hl com"> * \brief Allocate and export buffers from the video device</span> <span class="hl com"> * \param[in] count Number of buffers to allocate</span> <span class="hl com"> * \param[out] buffers Vector to store allocated buffers</span> <span class="hl com"> *</span> <span class="hl com"> * This function wraps buffer allocation with the V4L2 MMAP memory type. It</span> <span class="hl com"> * requests \a count buffers from the driver, allocating the corresponding</span> <span class="hl com"> * memory, and exports them as a set of FrameBuffer objects in \a buffers. Upon</span> <span class="hl com"> * successful return the driver's internal buffer management is initialized in</span> <span class="hl com"> * MMAP mode, and the video device is ready to accept queueBuffer() calls.</span> <span class="hl com"> *</span> <span class="hl com"> * The number of planes and their offsets and sizes are determined by the</span> <span class="hl com"> * currently active format on the device as set by setFormat(). They do not map</span> <span class="hl com"> * to the V4L2 buffer planes, but to colour planes of the pixel format. For</span> <span class="hl com"> * instance, if the active format is formats::NV12, the allocated FrameBuffer</span> <span class="hl com"> * instances will have two planes, for the luma and chroma components,</span> <span class="hl com"> * regardless of whether the device uses V4L2_PIX_FMT_NV12 or</span> <span class="hl com"> * V4L2_PIX_FMT_NV12M.</span> <span class="hl com"> *</span> <span class="hl com"> * Buffers allocated with this function shall later be free with</span> <span class="hl com"> * releaseBuffers(). If buffers have already been allocated with</span> <span class="hl com"> * allocateBuffers() or imported with importBuffers(), this function returns</span> <span class="hl com"> * -EBUSY.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The number of allocated buffers on success or a negative error code</span> <span class="hl com"> * otherwise</span> <span class="hl com"> * \retval -EBUSY buffers have already been allocated or imported</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">allocateBuffers</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> count<span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">>> *</span>buffers<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">createBuffers</span><span class="hl opt">(</span>count<span class="hl opt">,</span> buffers<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> cache_ <span class="hl opt">=</span> <span class="hl kwa">new</span> <span class="hl kwd">V4L2BufferCache</span><span class="hl opt">(*</span>buffers<span class="hl opt">);</span> memoryType_ <span class="hl opt">=</span> V4L2_MEMORY_MMAP<span class="hl opt">;</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Export buffers from the video device</span> <span class="hl com"> * \param[in] count Number of buffers to allocate</span> <span class="hl com"> * \param[out] buffers Vector to store allocated buffers</span> <span class="hl com"> *</span> <span class="hl com"> * This function allocates \a count buffer from the video device and exports</span> <span class="hl com"> * them as dmabuf objects, stored in \a buffers. Unlike allocateBuffers(), this</span> <span class="hl com"> * function leaves the driver's internal buffer management uninitialized. The</span> <span class="hl com"> * video device shall be initialized with importBuffers() or allocateBuffers()</span> <span class="hl com"> * before it can accept queueBuffer() calls. The exported buffers are directly</span> <span class="hl com"> * usable with any V4L2 video device in DMABUF mode, or with other dmabuf</span> <span class="hl com"> * importers.</span> <span class="hl com"> *</span> <span class="hl com"> * The number of planes and their offsets and sizes are determined by the</span> <span class="hl com"> * currently active format on the device as set by setFormat(). They do not map</span> <span class="hl com"> * to the V4L2 buffer planes, but to colour planes of the pixel format. For</span> <span class="hl com"> * instance, if the active format is formats::NV12, the allocated FrameBuffer</span> <span class="hl com"> * instances will have two planes, for the luma and chroma components,</span> <span class="hl com"> * regardless of whether the device uses V4L2_PIX_FMT_NV12 or</span> <span class="hl com"> * V4L2_PIX_FMT_NV12M.</span> <span class="hl com"> *</span> <span class="hl com"> * Multiple independent sets of buffers can be allocated with multiple calls to</span> <span class="hl com"> * this function. Device-specific limitations may apply regarding the minimum</span> <span class="hl com"> * and maximum number of buffers per set, or to total amount of allocated</span> <span class="hl com"> * memory. The exported dmabuf lifetime is tied to the returned \a buffers. To</span> <span class="hl com"> * free a buffer, the caller shall delete the corresponding FrameBuffer</span> <span class="hl com"> * instance. No bookkeeping and automatic free is performed by the</span> <span class="hl com"> * V4L2VideoDevice class.</span> <span class="hl com"> *</span> <span class="hl com"> * If buffers have already been allocated with allocateBuffers() or imported</span> <span class="hl com"> * with importBuffers(), this function returns -EBUSY.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The number of allocated buffers on success or a negative error code</span> <span class="hl com"> * otherwise</span> <span class="hl com"> * \retval -EBUSY buffers have already been allocated or imported</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">exportBuffers</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> count<span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">>> *</span>buffers<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">createBuffers</span><span class="hl opt">(</span>count<span class="hl opt">,</span> buffers<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl kwd">requestBuffers</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">,</span> V4L2_MEMORY_MMAP<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">createBuffers</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> count<span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">>> *</span>buffers<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>cache_<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Buffers already allocated"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">requestBuffers</span><span class="hl opt">(</span>count<span class="hl opt">,</span> V4L2_MEMORY_MMAP<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned</span> i <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> i <span class="hl opt"><</span> count<span class="hl opt">; ++</span>i<span class="hl opt">) {</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">></span> buffer <span class="hl opt">=</span> <span class="hl kwd">createBuffer</span><span class="hl opt">(</span>i<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>buffer<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Unable to create buffer"</span><span class="hl opt">;</span> <span class="hl kwd">requestBuffers</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">,</span> V4L2_MEMORY_MMAP<span class="hl opt">);</span> buffers<span class="hl opt">-></span><span class="hl kwd">clear</span><span class="hl opt">();</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> buffers<span class="hl opt">-></span><span class="hl kwd">push_back</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">move</span><span class="hl opt">(</span>buffer<span class="hl opt">));</span> <span class="hl opt">}</span> <span class="hl kwa">return</span> count<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>FrameBuffer<span class="hl opt">></span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">createBuffer</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 kwb">struct</span> v4l2_plane v4l2Planes<span class="hl opt">[</span>VIDEO_MAX_PLANES<span class="hl opt">] = {};</span> <span class="hl kwb">struct</span> v4l2_buffer buf <span class="hl opt">= {};</span> buf<span class="hl opt">.</span>index <span class="hl opt">=</span> index<span class="hl opt">;</span> buf<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> buf<span class="hl opt">.</span>length <span class="hl opt">=</span> <span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">size</span><span class="hl opt">(</span>v4l2Planes<span class="hl opt">);</span> buf<span class="hl opt">.</span>m<span class="hl opt">.</span>planes <span class="hl opt">=</span> v4l2Planes<span class="hl opt">;</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_QUERYBUF<span class="hl opt">, &</span>buf<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Unable to query buffer "</span> <span class="hl opt"><<</span> index <span class="hl opt"><<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<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 kwb">const bool</span> multiPlanar <span class="hl opt">=</span> <span class="hl kwd">V4L2_TYPE_IS_MULTIPLANAR</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>type<span class="hl opt">);</span> <span class="hl kwb">const unsigned int</span> numPlanes <span class="hl opt">=</span> multiPlanar <span class="hl opt">?</span> buf<span class="hl opt">.</span>length <span class="hl opt">:</span> <span class="hl num">1</span><span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>numPlanes <span class="hl opt">==</span> <span class="hl num">0</span> <span class="hl opt">||</span> numPlanes <span class="hl opt">></span> VIDEO_MAX_PLANES<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Invalid number of planes"</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 kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">FrameBuffer</span><span class="hl opt">::</span>Plane<span class="hl opt">></span> planes<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> nplane <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> nplane <span class="hl opt"><</span> numPlanes<span class="hl opt">;</span> nplane<span class="hl opt">++) {</span> UniqueFD fd <span class="hl opt">=</span> <span class="hl kwd">exportDmabufFd</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>index<span class="hl opt">,</span> nplane<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> <span class="hl kwa">return</span> <span class="hl kwc">nullptr</span><span class="hl opt">;</span> <span class="hl kwc">FrameBuffer</span><span class="hl opt">::</span>Plane plane<span class="hl opt">;</span> plane<span class="hl opt">.</span>fd <span class="hl opt">=</span> <span class="hl kwd">SharedFD</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">move</span><span class="hl opt">(</span>fd<span class="hl opt">));</span> <span class="hl com">/*</span> <span class="hl com"> * V4L2 API doesn't provide dmabuf offset information of plane.</span> <span class="hl com"> * Set 0 as a placeholder offset.</span> <span class="hl com"> * \todo Set the right offset once V4L2 API provides a way.</span> <span class="hl com"> */</span> plane<span class="hl opt">.</span>offset <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> plane<span class="hl opt">.</span>length <span class="hl opt">=</span> multiPlanar <span class="hl opt">?</span> buf<span class="hl opt">.</span>m<span class="hl opt">.</span>planes<span class="hl opt">[</span>nplane<span class="hl opt">].</span>length <span class="hl opt">:</span> buf<span class="hl opt">.</span>length<span class="hl opt">;</span> planes<span class="hl opt">.</span><span class="hl kwd">push_back</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">move</span><span class="hl opt">(</span>plane<span class="hl opt">));</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * If we have a multi-planar format with a V4L2 single-planar buffer,</span> <span class="hl com"> * split the single V4L2 plane into multiple FrameBuffer planes by</span> <span class="hl com"> * computing the offsets manually.</span> <span class="hl com"> *</span> <span class="hl com"> * The format info is not guaranteed to be valid, as there are no</span> <span class="hl com"> * PixelFormatInfo for metadata formats, so check it first.</span> <span class="hl com"> */</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>formatInfo_<span class="hl opt">-></span><span class="hl kwd">isValid</span><span class="hl opt">() &&</span> formatInfo_<span class="hl opt">-></span><span class="hl kwd">numPlanes</span><span class="hl opt">() !=</span> numPlanes<span class="hl opt">) {</span> <span class="hl com">/*</span> <span class="hl com"> * There's no valid situation where the number of colour planes</span> <span class="hl com"> * differs from the number of V4L2 planes and the V4L2 buffer</span> <span class="hl com"> * has more than one plane.</span> <span class="hl com"> */</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>numPlanes <span class="hl opt">==</span> <span class="hl num">1u</span><span class="hl opt">);</span> planes<span class="hl opt">.</span><span class="hl kwd">resize</span><span class="hl opt">(</span>formatInfo_<span class="hl opt">-></span><span class="hl kwd">numPlanes</span><span class="hl opt">());</span> <span class="hl kwb">const</span> SharedFD <span class="hl opt">&</span>fd <span class="hl opt">=</span> planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>fd<span class="hl opt">;</span> <span class="hl kwb">size_t</span> offset <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">[</span>i<span class="hl opt">,</span> plane<span class="hl opt">] :</span> <span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">enumerate</span><span class="hl opt">(</span>planes<span class="hl opt">)) {</span> <span class="hl com">/*</span> <span class="hl com"> * The stride is reported by V4L2 for the first plane</span> <span class="hl com"> * only. Compute the stride of the other planes by</span> <span class="hl com"> * taking the horizontal subsampling factor into</span> <span class="hl com"> * account, which is equal to the bytesPerGroup ratio of</span> <span class="hl com"> * the planes.</span> <span class="hl com"> */</span> <span class="hl kwb">unsigned int</span> stride <span class="hl opt">=</span> format_<span class="hl opt">.</span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bpl <span class="hl opt">*</span> formatInfo_<span class="hl opt">-></span>planes<span class="hl opt">[</span>i<span class="hl opt">].</span>bytesPerGroup <span class="hl opt">/</span> formatInfo_<span class="hl opt">-></span>planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bytesPerGroup<span class="hl opt">;</span> plane<span class="hl opt">.</span>fd <span class="hl opt">=</span> fd<span class="hl opt">;</span> plane<span class="hl opt">.</span>offset <span class="hl opt">=</span> offset<span class="hl opt">;</span> plane<span class="hl opt">.</span>length <span class="hl opt">=</span> formatInfo_<span class="hl opt">-></span><span class="hl kwd">planeSize</span><span class="hl opt">(</span>format_<span class="hl opt">.</span>size<span class="hl opt">.</span>height<span class="hl opt">,</span> i<span class="hl opt">,</span> stride<span class="hl opt">);</span> offset <span class="hl opt">+=</span> plane<span class="hl opt">.</span>length<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">return</span> <span class="hl kwc">std</span><span class="hl opt">::</span>make_unique<span class="hl opt"><</span>FrameBuffer<span class="hl opt">>(</span>planes<span class="hl opt">);</span> <span class="hl opt">}</span> UniqueFD <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">exportDmabufFd</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> index<span class="hl opt">,</span> <span class="hl kwb">unsigned int</span> plane<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_exportbuffer expbuf <span class="hl opt">= {};</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> expbuf<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> expbuf<span class="hl opt">.</span>index <span class="hl opt">=</span> index<span class="hl opt">;</span> expbuf<span class="hl opt">.</span>plane <span class="hl opt">=</span> plane<span class="hl opt">;</span> expbuf<span class="hl opt">.</span>flags <span class="hl opt">=</span> O_RDWR<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_EXPBUF<span class="hl opt">, &</span>expbuf<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to export buffer: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><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 opt">}</span> <span class="hl kwa">return</span> <span class="hl kwd">UniqueFD</span><span class="hl opt">(</span>expbuf<span class="hl opt">.</span>fd<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Prepare the device to import \a count buffers</span> <span class="hl com"> * \param[in] count Number of buffers to prepare to import</span> <span class="hl com"> *</span> <span class="hl com"> * This function initializes the driver's buffer management to import buffers</span> <span class="hl com"> * in DMABUF mode. It requests buffers from the driver, but doesn't allocate</span> <span class="hl com"> * memory.</span> <span class="hl com"> *</span> <span class="hl com"> * Upon successful return, the video device is ready to accept queueBuffer()</span> <span class="hl com"> * calls. The buffers to be imported are provided to queueBuffer(), and may be</span> <span class="hl com"> * supplied externally, or come from a previous exportBuffers() call.</span> <span class="hl com"> *</span> <span class="hl com"> * Device initialization performed by this function shall later be cleaned up</span> <span class="hl com"> * with releaseBuffers(). If buffers have already been allocated with</span> <span class="hl com"> * allocateBuffers() or imported with importBuffers(), this function returns</span> <span class="hl com"> * -EBUSY.</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> * \retval -EBUSY buffers have already been allocated or imported</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">importBuffers</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> count<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>cache_<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Buffers already allocated"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> memoryType_ <span class="hl opt">=</span> V4L2_MEMORY_DMABUF<span class="hl opt">;</span> <span class="hl kwb">int</span> ret <span class="hl opt">=</span> <span class="hl kwd">requestBuffers</span><span class="hl opt">(</span>count<span class="hl opt">,</span> V4L2_MEMORY_DMABUF<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> cache_ <span class="hl opt">=</span> <span class="hl kwa">new</span> <span class="hl kwd">V4L2BufferCache</span><span class="hl opt">(</span>count<span class="hl opt">);</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">) <<</span> <span class="hl str">"Prepared to import "</span> <span class="hl opt"><<</span> count <span class="hl opt"><<</span> <span class="hl str">" buffers"</span><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 com">/**</span> <span class="hl com"> * \brief Release resources allocated by allocateBuffers() or importBuffers()</span> <span class="hl com"> *</span> <span class="hl com"> * This function resets the driver's internal buffer management that was</span> <span class="hl com"> * initialized by a previous call to allocateBuffers() or importBuffers(). Any</span> <span class="hl com"> * memory allocated by allocateBuffers() is freed. Buffer exported by</span> <span class="hl com"> * exportBuffers(), if any, are not affected.</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">releaseBuffers</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">) <<</span> <span class="hl str">"Releasing buffers"</span><span class="hl opt">;</span> <span class="hl kwa">delete</span> cache_<span class="hl opt">;</span> cache_ <span class="hl opt">=</span> <span class="hl kwc">nullptr</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl kwd">requestBuffers</span><span class="hl opt">(</span><span class="hl num">0</span><span class="hl opt">,</span> memoryType_<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Queue a buffer to the video device</span> <span class="hl com"> * \param[in] buffer The buffer to be queued</span> <span class="hl com"> *</span> <span class="hl com"> * For capture video devices the \a buffer will be filled with data by the</span> <span class="hl com"> * device. For output video devices the \a buffer shall contain valid data and</span> <span class="hl com"> * will be processed by the device. Once the device has finished processing the</span> <span class="hl com"> * buffer, it will be available for dequeue.</span> <span class="hl com"> *</span> <span class="hl com"> * The best available V4L2 buffer is picked for \a buffer using the V4L2 buffer</span> <span class="hl com"> * cache.</span> <span class="hl com"> *</span> <span class="hl com"> * Note that queueBuffer() will fail if the device is in the process of being</span> <span class="hl com"> * stopped from a streaming state through streamOff().</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">queueBuffer</span><span class="hl opt">(</span>FrameBuffer <span class="hl opt">*</span>buffer<span class="hl opt">)</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_plane v4l2Planes<span class="hl opt">[</span>VIDEO_MAX_PLANES<span class="hl opt">] = {};</span> <span class="hl kwb">struct</span> v4l2_buffer buf <span class="hl opt">= {};</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>state_ <span class="hl opt">==</span> <span class="hl kwc">State</span><span class="hl opt">::</span>Stopping<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Device is in a stopping state."</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>ESHUTDOWN<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Pipeline handlers should not requeue buffers after releasing the</span> <span class="hl com"> * buffers on the device. Any occurence of this error should be fixed</span> <span class="hl com"> * in the pipeline handler directly.</span> <span class="hl com"> */</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>cache_<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Fatal<span class="hl opt">) <<</span> <span class="hl str">"No BufferCache available to queue."</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>ENOENT<span class="hl opt">;</span> <span class="hl opt">}</span> ret <span class="hl opt">=</span> cache_<span class="hl opt">-></span><span class="hl kwd">get</span><span class="hl opt">(*</span>buffer<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">)</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> buf<span class="hl opt">.</span>index <span class="hl opt">=</span> ret<span class="hl opt">;</span> buf<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> buf<span class="hl opt">.</span>memory <span class="hl opt">=</span> memoryType_<span class="hl opt">;</span> buf<span class="hl opt">.</span>field <span class="hl opt">=</span> V4L2_FIELD_NONE<span class="hl opt">;</span> <span class="hl kwb">bool</span> multiPlanar <span class="hl opt">=</span> <span class="hl kwd">V4L2_TYPE_IS_MULTIPLANAR</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>type<span class="hl opt">);</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span><span class="hl kwc">FrameBuffer</span><span class="hl opt">::</span>Plane<span class="hl opt">> &</span>planes <span class="hl opt">=</span> buffer<span class="hl opt">-></span><span class="hl kwd">planes</span><span class="hl opt">();</span> <span class="hl kwb">const unsigned int</span> numV4l2Planes <span class="hl opt">=</span> format_<span class="hl opt">.</span>planesCount<span class="hl opt">;</span> <span class="hl com">/*</span> <span class="hl com"> * Ensure that the frame buffer has enough planes, and that they're</span> <span class="hl com"> * contiguous if the V4L2 format requires them to be.</span> <span class="hl com"> */</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>planes<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">() <</span> numV4l2Planes<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Frame buffer has too few planes"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>planes<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">() !=</span> numV4l2Planes <span class="hl opt">&& !</span>buffer<span class="hl opt">-></span><span class="hl kwd">_d</span><span class="hl opt">()-></span><span class="hl kwd">isContiguous</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Device format requires contiguous buffer"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>buf<span class="hl opt">.</span>memory <span class="hl opt">==</span> V4L2_MEMORY_DMABUF<span class="hl opt">) {</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>multiPlanar<span class="hl opt">) {</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> p <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> p <span class="hl opt"><</span> numV4l2Planes<span class="hl opt">; ++</span>p<span class="hl opt">)</span> v4l2Planes<span class="hl opt">[</span>p<span class="hl opt">].</span>m<span class="hl opt">.</span>fd <span class="hl opt">=</span> planes<span class="hl opt">[</span>p<span class="hl opt">].</span>fd<span class="hl opt">.</span><span class="hl kwd">get</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> buf<span class="hl opt">.</span>m<span class="hl opt">.</span>fd <span class="hl opt">=</span> planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>fd<span class="hl opt">.</span><span class="hl kwd">get</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>multiPlanar<span class="hl opt">) {</span> buf<span class="hl opt">.</span>length <span class="hl opt">=</span> numV4l2Planes<span class="hl opt">;</span> buf<span class="hl opt">.</span>m<span class="hl opt">.</span>planes <span class="hl opt">=</span> v4l2Planes<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span><span class="hl kwd">V4L2_TYPE_IS_OUTPUT</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>type<span class="hl opt">)) {</span> <span class="hl kwb">const</span> FrameMetadata <span class="hl opt">&</span>metadata <span class="hl opt">=</span> buffer<span class="hl opt">-></span><span class="hl kwd">metadata</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>numV4l2Planes <span class="hl opt">!=</span> planes<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">()) {</span> <span class="hl com">/*</span> <span class="hl com"> * If we have a multi-planar buffer with a V4L2</span> <span class="hl com"> * single-planar format, coalesce all planes. The length</span> <span class="hl com"> * and number of bytes used may only differ in the last</span> <span class="hl com"> * plane as any other situation can't be represented.</span> <span class="hl com"> */</span> <span class="hl kwb">unsigned int</span> bytesused <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> <span class="hl kwb">unsigned int</span> length <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">[</span>i<span class="hl opt">,</span> plane<span class="hl opt">] :</span> <span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">enumerate</span><span class="hl opt">(</span>planes<span class="hl opt">)) {</span> bytesused <span class="hl opt">+=</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span>i<span class="hl opt">].</span>bytesused<span class="hl opt">;</span> length <span class="hl opt">+=</span> plane<span class="hl opt">.</span>length<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>i <span class="hl opt">!=</span> planes<span class="hl opt">.</span><span class="hl kwd">size</span><span class="hl opt">() -</span> <span class="hl num">1</span> <span class="hl opt">&&</span> bytesused <span class="hl opt">!=</span> length<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Holes in multi-planar buffer not supported"</span><span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl opt">-</span>EINVAL<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>multiPlanar<span class="hl opt">) {</span> v4l2Planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bytesused <span class="hl opt">=</span> bytesused<span class="hl opt">;</span> v4l2Planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>length <span class="hl opt">=</span> length<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> buf<span class="hl opt">.</span>bytesused <span class="hl opt">=</span> bytesused<span class="hl opt">;</span> buf<span class="hl opt">.</span>length <span class="hl opt">=</span> length<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>multiPlanar<span class="hl opt">) {</span> <span class="hl com">/*</span> <span class="hl com"> * If we use the multi-planar API, fill in the planes.</span> <span class="hl com"> * The number of planes in the frame buffer and in the</span> <span class="hl com"> * V4L2 buffer is guaranteed to be equal at this point.</span> <span class="hl com"> */</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">[</span>i<span class="hl opt">,</span> plane<span class="hl opt">] :</span> <span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">enumerate</span><span class="hl opt">(</span>planes<span class="hl opt">)) {</span> v4l2Planes<span class="hl opt">[</span>i<span class="hl opt">].</span>bytesused <span class="hl opt">=</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span>i<span class="hl opt">].</span>bytesused<span class="hl opt">;</span> v4l2Planes<span class="hl opt">[</span>i<span class="hl opt">].</span>length <span class="hl opt">=</span> plane<span class="hl opt">.</span>length<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> <span class="hl com">/*</span> <span class="hl com"> * Single-planar API with a single plane in the buffer</span> <span class="hl com"> * is trivial to handle.</span> <span class="hl com"> */</span> buf<span class="hl opt">.</span>bytesused <span class="hl opt">=</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span><span class="hl num">0</span><span class="hl opt">].</span>bytesused<span class="hl opt">;</span> buf<span class="hl opt">.</span>length <span class="hl opt">=</span> planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>length<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * Timestamps are to be supplied if the device is a mem-to-mem</span> <span class="hl com"> * device. The drivers will have V4L2_BUF_FLAG_TIMESTAMP_COPY</span> <span class="hl com"> * set hence these timestamps will be copied from the output</span> <span class="hl com"> * buffers to capture buffers. If the device is not mem-to-mem,</span> <span class="hl com"> * there is no harm in setting the timestamps as they will be</span> <span class="hl com"> * ignored (and over-written).</span> <span class="hl com"> */</span> buf<span class="hl opt">.</span>timestamp<span class="hl opt">.</span>tv_sec <span class="hl opt">=</span> metadata<span class="hl opt">.</span>timestamp <span class="hl opt">/</span> <span class="hl num">1000000000</span><span class="hl opt">;</span> buf<span class="hl opt">.</span>timestamp<span class="hl opt">.</span>tv_usec <span class="hl opt">= (</span>metadata<span class="hl opt">.</span>timestamp <span class="hl opt">/</span> <span class="hl num">1000</span><span class="hl opt">) %</span> <span class="hl num">1000000</span><span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">) <<</span> <span class="hl str">"Queueing buffer "</span> <span class="hl opt"><<</span> buf<span class="hl opt">.</span>index<span class="hl opt">;</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_QBUF<span class="hl opt">, &</span>buf<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to queue buffer "</span> <span class="hl opt"><<</span> buf<span class="hl opt">.</span>index <span class="hl opt"><<</span> <span class="hl str">": "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">empty</span><span class="hl opt">()) {</span> fdBufferNotifier_<span class="hl opt">-></span><span class="hl kwd">setEnabled</span><span class="hl opt">(</span><span class="hl kwa">true</span><span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>watchdogDuration_<span class="hl opt">)</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">start</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>duration_cast<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>milliseconds<span class="hl opt">>(</span>watchdogDuration_<span class="hl opt">));</span> <span class="hl opt">}</span> queuedBuffers_<span class="hl opt">[</span>buf<span class="hl opt">.</span>index<span class="hl opt">] =</span> buffer<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 com">/**</span> <span class="hl com"> * \brief Slot to handle completed buffer events from the V4L2 video device</span> <span class="hl com"> *</span> <span class="hl com"> * When this slot is called, a Buffer has become available from the device, and</span> <span class="hl com"> * will be emitted through the bufferReady Signal.</span> <span class="hl com"> *</span> <span class="hl com"> * For Capture video devices the FrameBuffer will contain valid data.</span> <span class="hl com"> * For Output video devices the FrameBuffer can be considered empty.</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">bufferAvailable</span><span class="hl opt">()</span> <span class="hl opt">{</span> FrameBuffer <span class="hl opt">*</span>buffer <span class="hl opt">=</span> <span class="hl kwd">dequeueBuffer</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>buffer<span class="hl opt">)</span> <span class="hl kwa">return</span><span class="hl opt">;</span> <span class="hl com">/* Notify anyone listening to the device. */</span> bufferReady<span class="hl opt">.</span><span class="hl kwd">emit</span><span class="hl opt">(</span>buffer<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Dequeue the next available buffer from the video device</span> <span class="hl com"> *</span> <span class="hl com"> * This function dequeues the next available buffer from the device. If no</span> <span class="hl com"> * buffer is available to be dequeued it will return nullptr immediately.</span> <span class="hl com"> *</span> <span class="hl com"> * \return A pointer to the dequeued buffer on success, or nullptr otherwise</span> <span class="hl com"> */</span> FrameBuffer <span class="hl opt">*</span><span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">dequeueBuffer</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwb">struct</span> v4l2_buffer buf <span class="hl opt">= {};</span> <span class="hl kwb">struct</span> v4l2_plane planes<span class="hl opt">[</span>VIDEO_MAX_PLANES<span class="hl opt">] = {};</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> buf<span class="hl opt">.</span>type <span class="hl opt">=</span> bufferType_<span class="hl opt">;</span> buf<span class="hl opt">.</span>memory <span class="hl opt">=</span> memoryType_<span class="hl opt">;</span> <span class="hl kwb">bool</span> multiPlanar <span class="hl opt">=</span> <span class="hl kwd">V4L2_TYPE_IS_MULTIPLANAR</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>type<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>multiPlanar<span class="hl opt">) {</span> buf<span class="hl opt">.</span>length <span class="hl opt">=</span> VIDEO_MAX_PLANES<span class="hl opt">;</span> buf<span class="hl opt">.</span>m<span class="hl opt">.</span>planes <span class="hl opt">=</span> planes<span class="hl opt">;</span> <span class="hl opt">}</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_DQBUF<span class="hl opt">, &</span>buf<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to dequeue buffer: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<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 kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Debug<span class="hl opt">) <<</span> <span class="hl str">"Dequeuing buffer "</span> <span class="hl opt"><<</span> buf<span class="hl opt">.</span>index<span class="hl opt">;</span> <span class="hl com">/*</span> <span class="hl com"> * If the video node fails to stream-on successfully (which can occur</span> <span class="hl com"> * when queuing a buffer), a vb2 kernel bug can lead to the buffer which</span> <span class="hl com"> * returns a failure upon queuing being mistakenly kept in the kernel.</span> <span class="hl com"> * This leads to the kernel notifying us that a buffer is available to</span> <span class="hl com"> * dequeue, which we have no awareness of being queued, and thus we will</span> <span class="hl com"> * not find it in the queuedBuffers_ list.</span> <span class="hl com"> *</span> <span class="hl com"> * Whilst this kernel bug has been fixed in mainline, ensure that we</span> <span class="hl com"> * safely ignore buffers which are unexpected to prevent crashes on</span> <span class="hl com"> * older kernels.</span> <span class="hl com"> */</span> <span class="hl kwc">auto</span> it <span class="hl opt">=</span> queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">find</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>index<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>it <span class="hl opt">==</span> queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">end</span><span class="hl opt">()) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Dequeued unexpected buffer index "</span> <span class="hl opt"><<</span> buf<span class="hl opt">.</span>index<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> cache_<span class="hl opt">-></span><span class="hl kwd">put</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>index<span class="hl opt">);</span> FrameBuffer <span class="hl opt">*</span>buffer <span class="hl opt">=</span> it<span class="hl opt">-></span>second<span class="hl opt">;</span> queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">erase</span><span class="hl opt">(</span>it<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">empty</span><span class="hl opt">()) {</span> fdBufferNotifier_<span class="hl opt">-></span><span class="hl kwd">setEnabled</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">);</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">stop</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>watchdogDuration_<span class="hl opt">) {</span> <span class="hl com">/*</span> <span class="hl com"> * Restart the watchdog timer if there are buffers still queued</span> <span class="hl com"> * in the device.</span> <span class="hl com"> */</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">start</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>duration_cast<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>milliseconds<span class="hl opt">>(</span>watchdogDuration_<span class="hl opt">));</span> <span class="hl opt">}</span> buffer<span class="hl opt">-></span>metadata_<span class="hl opt">.</span>status <span class="hl opt">=</span> buf<span class="hl opt">.</span>flags <span class="hl opt">&</span> V4L2_BUF_FLAG_ERROR <span class="hl opt">?</span> <span class="hl kwc">FrameMetadata</span><span class="hl opt">::</span>FrameError <span class="hl opt">:</span> <span class="hl kwc">FrameMetadata</span><span class="hl opt">::</span>FrameSuccess<span class="hl opt">;</span> buffer<span class="hl opt">-></span>metadata_<span class="hl opt">.</span>sequence <span class="hl opt">=</span> buf<span class="hl opt">.</span>sequence<span class="hl opt">;</span> buffer<span class="hl opt">-></span>metadata_<span class="hl opt">.</span>timestamp <span class="hl opt">=</span> buf<span class="hl opt">.</span>timestamp<span class="hl opt">.</span>tv_sec <span class="hl opt">*</span> <span class="hl num">1000000000ULL</span> <span class="hl opt">+</span> buf<span class="hl opt">.</span>timestamp<span class="hl opt">.</span>tv_usec <span class="hl opt">*</span> <span class="hl num">1000ULL</span><span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span><span class="hl kwd">V4L2_TYPE_IS_OUTPUT</span><span class="hl opt">(</span>buf<span class="hl opt">.</span>type<span class="hl opt">))</span> <span class="hl kwa">return</span> buffer<span class="hl opt">;</span> <span class="hl com">/*</span> <span class="hl com"> * Detect kernel drivers which do not reset the sequence number to zero</span> <span class="hl com"> * on stream start.</span> <span class="hl com"> */</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>firstFrame_<span class="hl opt">) {</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>buf<span class="hl opt">.</span>sequence<span class="hl opt">)</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Warning<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Zero sequence expected for first frame (got "</span> <span class="hl opt"><<</span> buf<span class="hl opt">.</span>sequence <span class="hl opt"><<</span> <span class="hl str">")"</span><span class="hl opt">;</span> firstFrame_ <span class="hl opt">=</span> buf<span class="hl opt">.</span>sequence<span class="hl opt">;</span> <span class="hl opt">}</span> buffer<span class="hl opt">-></span>metadata_<span class="hl opt">.</span>sequence <span class="hl opt">-=</span> firstFrame_<span class="hl opt">.</span><span class="hl kwd">value</span><span class="hl opt">();</span> <span class="hl kwb">unsigned int</span> numV4l2Planes <span class="hl opt">=</span> multiPlanar <span class="hl opt">?</span> buf<span class="hl opt">.</span>length <span class="hl opt">:</span> <span class="hl num">1</span><span class="hl opt">;</span> FrameMetadata <span class="hl opt">&</span>metadata <span class="hl opt">=</span> buffer<span class="hl opt">-></span>metadata_<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>numV4l2Planes <span class="hl opt">!=</span> buffer<span class="hl opt">-></span><span class="hl kwd">planes</span><span class="hl opt">().</span><span class="hl kwd">size</span><span class="hl opt">()) {</span> <span class="hl com">/*</span> <span class="hl com"> * If we have a multi-planar buffer with a V4L2</span> <span class="hl com"> * single-planar format, split the V4L2 buffer across</span> <span class="hl com"> * the buffer planes. Only the last plane may have less</span> <span class="hl com"> * bytes used than its length.</span> <span class="hl com"> */</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>numV4l2Planes <span class="hl opt">!=</span> <span class="hl num">1</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Invalid number of planes ("</span> <span class="hl opt"><<</span> numV4l2Planes <span class="hl opt"><<</span> <span class="hl str">" != "</span> <span class="hl opt"><<</span> buffer<span class="hl opt">-></span><span class="hl kwd">planes</span><span class="hl opt">().</span><span class="hl kwd">size</span><span class="hl opt">() <<</span> <span class="hl str">")"</span><span class="hl opt">;</span> metadata<span class="hl opt">.</span>status <span class="hl opt">=</span> <span class="hl kwc">FrameMetadata</span><span class="hl opt">::</span>FrameError<span class="hl opt">;</span> <span class="hl kwa">return</span> buffer<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/*</span> <span class="hl com"> * With a V4L2 single-planar format, all the data is stored in</span> <span class="hl com"> * a single memory plane. The number of bytes used is conveyed</span> <span class="hl com"> * through that plane when using the V4L2 multi-planar API, or</span> <span class="hl com"> * set directly in the buffer when using the V4L2 single-planar</span> <span class="hl com"> * API.</span> <span class="hl com"> */</span> <span class="hl kwb">unsigned int</span> bytesused <span class="hl opt">=</span> multiPlanar <span class="hl opt">?</span> planes<span class="hl opt">[</span><span class="hl num">0</span><span class="hl opt">].</span>bytesused <span class="hl opt">:</span> buf<span class="hl opt">.</span>bytesused<span class="hl opt">;</span> <span class="hl kwb">unsigned int</span> remaining <span class="hl opt">=</span> bytesused<span class="hl opt">;</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> <span class="hl opt">[</span>i<span class="hl opt">,</span> plane<span class="hl opt">] :</span> <span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">enumerate</span><span class="hl opt">(</span>buffer<span class="hl opt">-></span><span class="hl kwd">planes</span><span class="hl opt">())) {</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>remaining<span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Dequeued buffer ("</span> <span class="hl opt"><<</span> bytesused <span class="hl opt"><<</span> <span class="hl str">" bytes) too small for plane lengths "</span> <span class="hl opt"><<</span> <span class="hl kwc">utils</span><span class="hl opt">::</span><span class="hl kwd">join</span><span class="hl opt">(</span>buffer<span class="hl opt">-></span><span class="hl kwd">planes</span><span class="hl opt">(),</span> <span class="hl str">"/"</span><span class="hl opt">,</span> <span class="hl opt">[](</span><span class="hl kwb">const</span> <span class="hl kwc">FrameBuffer</span><span class="hl opt">::</span>Plane <span class="hl opt">&</span>p<span class="hl opt">) {</span> <span class="hl kwa">return</span> p<span class="hl opt">.</span>length<span class="hl opt">;</span> <span class="hl opt">});</span> metadata<span class="hl opt">.</span>status <span class="hl opt">=</span> <span class="hl kwc">FrameMetadata</span><span class="hl opt">::</span>FrameError<span class="hl opt">;</span> <span class="hl kwa">return</span> buffer<span class="hl opt">;</span> <span class="hl opt">}</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span>i<span class="hl opt">].</span>bytesused <span class="hl opt">=</span> <span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwd">min</span><span class="hl opt">(</span>plane<span class="hl opt">.</span>length<span class="hl opt">,</span> remaining<span class="hl opt">);</span> remaining <span class="hl opt">-=</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span>i<span class="hl opt">].</span>bytesused<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl kwa">else if</span> <span class="hl opt">(</span>multiPlanar<span class="hl opt">) {</span> <span class="hl com">/*</span> <span class="hl com"> * If we use the multi-planar API, fill in the planes.</span> <span class="hl com"> * The number of planes in the frame buffer and in the</span> <span class="hl com"> * V4L2 buffer is guaranteed to be equal at this point.</span> <span class="hl com"> */</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">unsigned int</span> i <span class="hl opt">=</span> <span class="hl num">0</span><span class="hl opt">;</span> i <span class="hl opt"><</span> numV4l2Planes<span class="hl opt">; ++</span>i<span class="hl opt">)</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span>i<span class="hl opt">].</span>bytesused <span class="hl opt">=</span> planes<span class="hl opt">[</span>i<span class="hl opt">].</span>bytesused<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">else</span> <span class="hl opt">{</span> metadata<span class="hl opt">.</span><span class="hl kwd">planes</span><span class="hl opt">()[</span><span class="hl num">0</span><span class="hl opt">].</span>bytesused <span class="hl opt">=</span> buf<span class="hl opt">.</span>bytesused<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">return</span> buffer<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2VideoDevice::bufferReady</span> <span class="hl com"> * \brief A Signal emitted when a framebuffer completes</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Start the video stream</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">streamOn</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> firstFrame_<span class="hl opt">.</span><span class="hl kwd">reset</span><span class="hl opt">();</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_STREAMON<span class="hl opt">, &</span>bufferType_<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to start streaming: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> state_ <span class="hl opt">=</span> <span class="hl kwc">State</span><span class="hl opt">::</span>Streaming<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>watchdogDuration_ <span class="hl opt">&& !</span>queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">empty</span><span class="hl opt">())</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">start</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>duration_cast<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>milliseconds<span class="hl opt">>(</span>watchdogDuration_<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 com">/**</span> <span class="hl com"> * \brief Stop the video stream</span> <span class="hl com"> *</span> <span class="hl com"> * Buffers that are still queued when the video stream is stopped are</span> <span class="hl com"> * immediately dequeued with their status set to FrameMetadata::FrameCancelled,</span> <span class="hl com"> * and the bufferReady signal is emitted for them. The order in which those</span> <span class="hl com"> * buffers are dequeued is not specified.</span> <span class="hl com"> *</span> <span class="hl com"> * This will be a no-op if the stream is not started in the first place and</span> <span class="hl com"> * has no queued buffers.</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">streamOff</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>state_ <span class="hl opt">!=</span> <span class="hl kwc">State</span><span class="hl opt">::</span>Streaming <span class="hl opt">&&</span> queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">empty</span><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 kwa">if</span> <span class="hl opt">(</span>watchdogDuration_<span class="hl opt">.</span><span class="hl kwd">count</span><span class="hl opt">())</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">stop</span><span class="hl opt">();</span> ret <span class="hl opt">=</span> <span class="hl kwd">ioctl</span><span class="hl opt">(</span>VIDIOC_STREAMOFF<span class="hl opt">, &</span>bufferType_<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret <span class="hl opt"><</span> <span class="hl num">0</span><span class="hl opt">) {</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Failed to stop streaming: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> state_ <span class="hl opt">=</span> <span class="hl kwc">State</span><span class="hl opt">::</span>Stopping<span class="hl opt">;</span> <span class="hl com">/* Send back all queued buffers. */</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwc">auto</span> it <span class="hl opt">:</span> queuedBuffers_<span class="hl opt">) {</span> FrameBuffer <span class="hl opt">*</span>buffer <span class="hl opt">=</span> it<span class="hl opt">.</span>second<span class="hl opt">;</span> cache_<span class="hl opt">-></span><span class="hl kwd">put</span><span class="hl opt">(</span>it<span class="hl opt">.</span>first<span class="hl opt">);</span> buffer<span class="hl opt">-></span>metadata_<span class="hl opt">.</span>status <span class="hl opt">=</span> <span class="hl kwc">FrameMetadata</span><span class="hl opt">::</span>FrameCancelled<span class="hl opt">;</span> bufferReady<span class="hl opt">.</span><span class="hl kwd">emit</span><span class="hl opt">(</span>buffer<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwd">ASSERT</span><span class="hl opt">(</span>cache_<span class="hl opt">-></span><span class="hl kwd">isEmpty</span><span class="hl opt">());</span> queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">clear</span><span class="hl opt">();</span> fdBufferNotifier_<span class="hl opt">-></span><span class="hl kwd">setEnabled</span><span class="hl opt">(</span><span class="hl kwa">false</span><span class="hl opt">);</span> state_ <span class="hl opt">=</span> <span class="hl kwc">State</span><span class="hl opt">::</span>Stopped<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 com">/**</span> <span class="hl com"> * \brief Set the dequeue timeout value</span> <span class="hl com"> * \param[in] timeout The timeout value to be used</span> <span class="hl com"> *</span> <span class="hl com"> * Sets a timeout value, given by \a timeout, that will be used by a watchdog</span> <span class="hl com"> * timer to ensure buffer dequeue events are periodically occurring when the</span> <span class="hl com"> * device is streaming. The watchdog timer is only active when the device is</span> <span class="hl com"> * streaming, so it is not necessary to disable it when the device stops</span> <span class="hl com"> * streaming. The timeout value can be safely updated at any time.</span> <span class="hl com"> *</span> <span class="hl com"> * If the timer expires, the \ref V4L2VideoDevice::dequeueTimeout signal is</span> <span class="hl com"> * emitted. This can typically be used by pipeline handlers to be notified of</span> <span class="hl com"> * stalled devices.</span> <span class="hl com"> *</span> <span class="hl com"> * Set \a timeout to 0 to disable the watchdog timer.</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">setDequeueTimeout</span><span class="hl opt">(</span><span class="hl kwc">utils</span><span class="hl opt">::</span>Duration timeout<span class="hl opt">)</span> <span class="hl opt">{</span> watchdogDuration_ <span class="hl opt">=</span> timeout<span class="hl opt">;</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">stop</span><span class="hl opt">();</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>watchdogDuration_ <span class="hl opt">&&</span> state_ <span class="hl opt">==</span> <span class="hl kwc">State</span><span class="hl opt">::</span>Streaming <span class="hl opt">&& !</span>queuedBuffers_<span class="hl opt">.</span><span class="hl kwd">empty</span><span class="hl opt">())</span> watchdog_<span class="hl opt">.</span><span class="hl kwd">start</span><span class="hl opt">(</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>duration_cast<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span><span class="hl kwc">chrono</span><span class="hl opt">::</span>milliseconds<span class="hl opt">>(</span>timeout<span class="hl opt">));</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \var V4L2VideoDevice::dequeueTimeout</span> <span class="hl com"> * \brief A Signal emitted when the dequeue watchdog timer expires</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Slot to handle an expired dequeue timer</span> <span class="hl com"> *</span> <span class="hl com"> * When this slot is called, the time between successive dequeue events is over</span> <span class="hl com"> * the required timeout. Emit the \ref V4L2VideoDevice::dequeueTimeout signal.</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">watchdogExpired</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Warning<span class="hl opt">)</span> <span class="hl opt"><<</span> <span class="hl str">"Dequeue timer of "</span> <span class="hl opt"><<</span> watchdogDuration_ <span class="hl opt"><<</span> <span class="hl str">" has expired!"</span><span class="hl opt">;</span> dequeueTimeout<span class="hl opt">.</span><span class="hl kwd">emit</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Create a new video device instance from \a entity in media device</span> <span class="hl com"> * \a media</span> <span class="hl com"> * \param[in] media The media device where the entity is registered</span> <span class="hl com"> * \param[in] entity The media entity name</span> <span class="hl com"> *</span> <span class="hl com"> * \return A newly created V4L2VideoDevice on success, nullptr otherwise</span> <span class="hl com"> */</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>V4L2VideoDevice<span class="hl opt">></span> <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">fromEntityName</span><span class="hl opt">(</span><span class="hl kwb">const</span> MediaDevice <span class="hl opt">*</span>media<span class="hl opt">,</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl opt">&</span>entity<span class="hl opt">)</span> <span class="hl opt">{</span> MediaEntity <span class="hl opt">*</span>mediaEntity <span class="hl opt">=</span> media<span class="hl opt">-></span><span class="hl kwd">getEntityByName</span><span class="hl opt">(</span>entity<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(!</span>mediaEntity<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 kwc">std</span><span class="hl opt">::</span>make_unique<span class="hl opt"><</span>V4L2VideoDevice<span class="hl opt">>(</span>mediaEntity<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Convert \a PixelFormat to a V4L2PixelFormat supported by the device</span> <span class="hl com"> * \param[in] pixelFormat The PixelFormat to convert</span> <span class="hl com"> *</span> <span class="hl com"> * Convert \a pixelformat to a V4L2 FourCC that is known to be supported by</span> <span class="hl com"> * the video device.</span> <span class="hl com"> *</span> <span class="hl com"> * A V4L2VideoDevice may support different V4L2 pixel formats that map the same</span> <span class="hl com"> * PixelFormat. This is the case of the contiguous and non-contiguous variants</span> <span class="hl com"> * of multiplanar formats, and with the V4L2 MJPEG and JPEG pixel formats.</span> <span class="hl com"> * Converting a PixelFormat to a V4L2PixelFormat may thus have multiple answers.</span> <span class="hl com"> *</span> <span class="hl com"> * This function converts the \a pixelFormat using the list of V4L2 pixel</span> <span class="hl com"> * formats that the V4L2VideoDevice supports. This guarantees that the returned</span> <span class="hl com"> * V4L2PixelFormat will be valid for the device. If multiple matches are still</span> <span class="hl com"> * possible, contiguous variants are preferred. If the \a pixelFormat is not</span> <span class="hl com"> * supported by the device, the function returns an invalid V4L2PixelFormat.</span> <span class="hl com"> *</span> <span class="hl com"> * \return The V4L2PixelFormat corresponding to \a pixelFormat if supported by</span> <span class="hl com"> * the device, or an invalid V4L2PixelFormat otherwise</span> <span class="hl com"> */</span> V4L2PixelFormat <span class="hl kwc">V4L2VideoDevice</span><span class="hl opt">::</span><span class="hl kwd">toV4L2PixelFormat</span><span class="hl opt">(</span><span class="hl kwb">const</span> PixelFormat <span class="hl opt">&</span>pixelFormat<span class="hl opt">)</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>V4L2PixelFormat<span class="hl opt">> &</span>v4l2PixelFormats <span class="hl opt">=</span> <span class="hl kwc">V4L2PixelFormat</span><span class="hl opt">::</span><span class="hl kwd">fromPixelFormat</span><span class="hl opt">(</span>pixelFormat<span class="hl opt">);</span> <span class="hl kwa">for</span> <span class="hl opt">(</span><span class="hl kwb">const</span> V4L2PixelFormat <span class="hl opt">&</span>v4l2Format <span class="hl opt">:</span> v4l2PixelFormats<span class="hl opt">) {</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>pixelFormats_<span class="hl opt">.</span><span class="hl kwd">count</span><span class="hl opt">(</span>v4l2Format<span class="hl opt">))</span> <span class="hl kwa">return</span> v4l2Format<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl kwa">return</span> <span class="hl opt">{};</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \class V4L2M2MDevice</span> <span class="hl com"> * \brief Memory-to-Memory video device</span> <span class="hl com"> *</span> <span class="hl com"> * The V4L2M2MDevice manages two V4L2VideoDevice instances on the same</span> <span class="hl com"> * deviceNode which operate together using two queues to implement the V4L2</span> <span class="hl com"> * Memory to Memory API.</span> <span class="hl com"> *</span> <span class="hl com"> * The two devices should be opened by calling open() on the V4L2M2MDevice, and</span> <span class="hl com"> * can be closed by calling close on the V4L2M2MDevice.</span> <span class="hl com"> *</span> <span class="hl com"> * Calling V4L2VideoDevice::open() and V4L2VideoDevice::close() on the capture</span> <span class="hl com"> * or output V4L2VideoDevice is not permitted.</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2M2MDevice::output</span> <span class="hl com"> * \brief Retrieve the output V4L2VideoDevice instance</span> <span class="hl com"> * \return The output V4L2VideoDevice instance</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \fn V4L2M2MDevice::capture</span> <span class="hl com"> * \brief Retrieve the capture V4L2VideoDevice instance</span> <span class="hl com"> * \return The capture V4L2VideoDevice instance</span> <span class="hl com"> */</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Create a new V4L2M2MDevice from the \a deviceNode</span> <span class="hl com"> * \param[in] deviceNode The file-system path to the video device node</span> <span class="hl com"> */</span> <span class="hl kwc">V4L2M2MDevice</span><span class="hl opt">::</span><span class="hl kwd">V4L2M2MDevice</span><span class="hl opt">(</span><span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl opt">&</span>deviceNode<span class="hl opt">)</span> <span class="hl opt">:</span> <span class="hl kwd">deviceNode_</span><span class="hl opt">(</span>deviceNode<span class="hl opt">)</span> <span class="hl opt">{</span> output_ <span class="hl opt">=</span> <span class="hl kwa">new</span> <span class="hl kwd">V4L2VideoDevice</span><span class="hl opt">(</span>deviceNode<span class="hl opt">);</span> capture_ <span class="hl opt">=</span> <span class="hl kwa">new</span> <span class="hl kwd">V4L2VideoDevice</span><span class="hl opt">(</span>deviceNode<span class="hl opt">);</span> <span class="hl opt">}</span> <span class="hl kwc">V4L2M2MDevice</span><span class="hl opt">::~</span><span class="hl kwd">V4L2M2MDevice</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwa">delete</span> capture_<span class="hl opt">;</span> <span class="hl kwa">delete</span> output_<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Open a V4L2 Memory to Memory device</span> <span class="hl com"> *</span> <span class="hl com"> * Open the device node and prepare the two V4L2VideoDevice instances to handle</span> <span class="hl com"> * their respective buffer queues.</span> <span class="hl com"> *</span> <span class="hl com"> * \return 0 on success or a negative error code otherwise</span> <span class="hl com"> */</span> <span class="hl kwb">int</span> <span class="hl kwc">V4L2M2MDevice</span><span class="hl opt">::</span><span class="hl kwd">open</span><span class="hl opt">()</span> <span class="hl opt">{</span> <span class="hl kwb">int</span> ret<span class="hl opt">;</span> <span class="hl com">/*</span> <span class="hl com"> * The output and capture V4L2VideoDevice instances use the same file</span> <span class="hl com"> * handle for the same device node.</span> <span class="hl com"> */</span> SharedFD <span class="hl kwd">fd</span><span class="hl opt">(</span><span class="hl kwd">syscall</span><span class="hl opt">(</span>SYS_openat<span class="hl opt">,</span> AT_FDCWD<span class="hl opt">,</span> deviceNode_<span class="hl opt">.</span><span class="hl kwd">c_str</span><span class="hl opt">(),</span> O_RDWR <span class="hl opt">|</span> O_NONBLOCK<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> ret <span class="hl opt">= -</span>errno<span class="hl opt">;</span> <span class="hl kwd">LOG</span><span class="hl opt">(</span>V4L2<span class="hl opt">,</span> Error<span class="hl opt">) <<</span> <span class="hl str">"Failed to open V4L2 M2M device: "</span> <span class="hl opt"><<</span> <span class="hl kwd">strerror</span><span class="hl opt">(-</span>ret<span class="hl opt">);</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> ret <span class="hl opt">=</span> output_<span class="hl opt">-></span><span class="hl kwd">open</span><span class="hl opt">(</span>fd<span class="hl opt">,</span> V4L2_BUF_TYPE_VIDEO_OUTPUT<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">goto</span> err<span class="hl opt">;</span> ret <span class="hl opt">=</span> capture_<span class="hl opt">-></span><span class="hl kwd">open</span><span class="hl opt">(</span>fd<span class="hl opt">,</span> V4L2_BUF_TYPE_VIDEO_CAPTURE<span class="hl opt">);</span> <span class="hl kwa">if</span> <span class="hl opt">(</span>ret<span class="hl opt">)</span> <span class="hl kwa">goto</span> err<span class="hl opt">;</span> <span class="hl kwa">return</span> <span class="hl num">0</span><span class="hl opt">;</span> err<span class="hl opt">:</span> <span class="hl kwd">close</span><span class="hl opt">();</span> <span class="hl kwa">return</span> ret<span class="hl opt">;</span> <span class="hl opt">}</span> <span class="hl com">/**</span> <span class="hl com"> * \brief Close the memory-to-memory device, releasing any resources acquired by</span> <span class="hl com"> * open()</span> <span class="hl com"> */</span> <span class="hl kwb">void</span> <span class="hl kwc">V4L2M2MDevice</span><span class="hl opt">::</span><span class="hl kwd">close</span><span class="hl opt">()</span> <span class="hl opt">{</span> capture_<span class="hl opt">-></span><span class="hl kwd">close</span><span class="hl opt">();</span> output_<span class="hl opt">-></span><span class="hl kwd">close</span><span class="hl opt">();</span> <span class="hl opt">}</span> <span class="hl opt">}</span> <span class="hl com">/* namespace libcamera */</span> </code></pre></td></tr></table> </div> <!-- class=content --> <div class='footer'>generated by <a href='https://git.zx2c4.com/cgit/about/'>cgit v1.2.1</a> (<a href='https://git-scm.com/'>git 2.18.0</a>) at 2024-12-25 12:09:43 +0000</div> </div> <!-- id=cgit --> </body> </html>