linux系统V4L2驱动对接代码C++撰写

#ifdef _GPTS_PROJECT_FLAG_ // 定义电力项目-刀闸产品宏 #include "V4l2CaptureIr.h" #include "Project/Gpts/Device/GptsDevice.h" #include "Stream/GpFrameProcessCenter.h" #include "Sensor/DaLiIrSensor.h" ////////////////////////////////////////////////////////////////////////// // CV4l2CaptureIr::CV4l2CaptureIr() { m_unIoMethod = V4L2_IO_METHOD_MMAP; m_nBuffersCount = V4L2_VIDEO_LIST_BUFFER_DEFAULT_COUNT; // 申请一个拥有四个缓冲帧的缓冲区 m_pBuffers = NULL; m_nFd = INVALID_FD_ID; m_unImageSize = 0; } ////////////////////////////////////////////////////////////////////////// // CV4l2CaptureIr::~CV4l2CaptureIr() { // 关闭SDK库，释放内存空间 this->deinit(); } ////////////////////////////////////////////////////////////////////////// // IMP_DATA_GET_METHOD(CV4l2CaptureIr, int, BuffersCount, m_nBuffersCount); IMP_DATA_SET_METHOD(CV4l2CaptureIr, void, BuffersCount, m_nBuffersCount, int, nBuffersCount); ////////////////////////////////////////////////////////////////////////// // 初始化 INT32 CV4l2CaptureIr::init(INT32 nIavFd, UINT32 unBuffSize) { LOGMSG("CV4l2CaptureIr::init nIavFd=[%d] unBuffSize=[%u]", nIavFd, unBuffSize); // 等待耗时统计 TimePoint nTotalCostTm = currentTime(); // 获取相机配置文件参数 CDaLiIrSensor* pSensor = dynamic_cast<CDaLiIrSensor*>(this->getSensor()); CHECKI(pSensor); CGptsDevice* pDev = dynamic_cast<CGptsDevice*>(pSensor->getDevice()); CHECKI(pDev); StuGptsDeviceConfig* pDevConf = (StuGptsDeviceConfig*)pDev->getDevConfig(); CHECKI(pDevConf); // 如果配置文件配置了读取配置文件 m_nBuffersCount = pDevConf->irParam.daLiIrParam.nBuffersCount == 0 ? m_nBuffersCount : pDevConf->irParam.daLiIrParam.nBuffersCount; // 读取io模式 m_unIoMethod = (enum emV4l2IoMethod)pDevConf->irParam.daLiIrParam.nIoMethod; LOGMSG("CV4l2CaptureIr::init read gpts dev config m_nBuffersCount=[%d] m_unIoMethod=[%u]", m_nBuffersCount, m_unIoMethod); // 执行打开文件 CHECKI(this->openVideoDev() == ReturnCode_Success); // 初始化视频设备 CHECKI(this->initVideoDev() == ReturnCode_Success); LOGMSG("CV4l2CaptureIr::init is suc... costTm=[%llu]", (currentTime() - nTotalCostTm).count()); return ReturnCode_Success; } ////////////////////////////////////////////////////////////////////// // 打开视频设备节点 INT32 CV4l2CaptureIr::openVideoDev() { LOGMSG("CV4l2CaptureIr::openVideoDev"); // 等待耗时统计 TimePoint nTotalCostTm = currentTime(); struct stat stInfo; MEMSET(stInfo); // 获取文件信息 if (ReturnCode_Error == stat(DALI_IR_SENSOR_DEV_NAME, &stInfo)) { LOGERROR("CV4l2CaptureIr::openVideoDev can't identify DALI_IR_SENSOR_DEV_NAME=[%s] errno=[%d] reason=[%s]", DALI_IR_SENSOR_DEV_NAME, errno, strerror(errno)); return ReturnCode_Error; } // 检查是否为一个字符设备 if (!S_ISCHR(stInfo.st_mode)) { LOGERROR("CV4l2CaptureIr::openVideoDev isn't char device DALI_IR_SENSOR_DEV_NAME=[%s] errno=[%d] reason=[%s]", DALI_IR_SENSOR_DEV_NAME, errno, strerror(errno)); return ReturnCode_Error; } // 用户空间调用open打开对应的视频文件 非阻塞打开用户空间的/dev/video0文件 m_nFd = open(DALI_IR_SENSOR_DEV_NAME, O_RDWR | O_NONBLOCK, 0); if (-1 == m_nFd) { LOGERROR("CV4l2CaptureIr::openVideoDev can't open the device DALI_IR_SENSOR_DEV_NAME=[%s] errno=[%d] reason=[%s]", DALI_IR_SENSOR_DEV_NAME, errno, strerror(errno)); return ReturnCode_Error; } LOGMSG("CV4l2CaptureIr::openVideoDev is suc... nTotalCostTm=[%llu] device node=[%s] m_nFd=[%d]", (currentTime() - nTotalCostTm).count(), DALI_IR_SENSOR_DEV_NAME, m_nFd); return ReturnCode_Success; } ////////////////////////////////////////////////////////////////////// // 关闭视频设备节点 void CV4l2CaptureIr::closeVideoDev() { LOGMSG("CV4l2CaptureIr::closeVideoDev"); // 等待耗时统计 TimePoint nTotalCostTm = currentTime(); // 检查m_nFd if (m_nFd != INVALID_FD_ID) { close(m_nFd); m_nFd = INVALID_FD_ID; } LOGMSG("CV4l2CaptureIr::closeVideoDev is suc... nTotalCostTm=[%llu]", (currentTime() - nTotalCostTm).count()); } ////////////////////////////////////////////////////////////////////// // 初始化视频设备 INT32 CV4l2CaptureIr::initVideoDev() { LOGMSG("CV4l2CaptureIr::initVideoDev"); // 等待耗时统计 TimePoint nTotalCostTm = currentTime(); // 检查m_nFd CHECKI(m_nFd != INVALID_FD_ID); /* * 设备属性 * 原文链接：https://blog.csdn.net/u010661782/article/details/49020695 * 结构体来源：/usr/include/linux/videodev2.h文件。 * struct v4l2_capability { * __u8 driver[16]; // 驱动名称 * __u8 card[32]; // 设备名称 * __u8 bus_info[32]; // 总线信息 * __u32 version; // 驱动版本号 * __u32 capabilities; // 设备具备的功能 * __u32 device_caps; // 通过特定设备（节点）访问的功能（不知道用处，网上其它资料没有该字段） * __u32 reserved[3]; // 保留字段 * }; * capabilities 常用值: * V4L2_CAP_VIDEO_CAPTURE 是否支持图像获取 */ struct v4l2_capability v4l2CapInfo; MEMSET(v4l2CapInfo); /* * 图像的缩放 * VIDIOC_CROPCAP * int ioctl(int fd,int request, struct v4l2_cropcap *argp); * struct v4l2_cropcap * { * enum v4l2_buf_type type; // 应用程序设置 * struct v4l2_rect bounds; // 最大边界 * struct v4l2_rect defrect; // 默认值 * struct v4l2_fract pixelaspect; * }; * * 原文链接： http://blog.chinaunix.net/uid-25501542-id-207390.html * enum v4l2_buf_type * { * V4L2_BUF_TYPE_VIDEO_CAPTURE = 1, * V4L2_BUF_TYPE_VIDEO_OUTPUT = 2, * V4L2_BUF_TYPE_VIDEO_OVERLAY = 3, * V4L2_BUF_TYPE_VBI_CAPTURE = 4, * V4L2_BUF_TYPE_VBI_OUTPUT = 5, * V4L2_BUF_TYPE_SLICED_VBI_CAPTURE = 6, * V4L2_BUF_TYPE_SLICED_VBI_OUTPUT = 7, * V4L2_BUF_TYPE_VIDEO_OUTPUT_OVERLAY = 8, * V4L2_BUF_TYPE_PRIVATE = 0x80, * }; */ struct v4l2_cropcap v4l2CropCapInfo; MEMSET(v4l2CropCapInfo); /* * 原文链接：http://blog.chinaunix.net/uid-22666248-id-280324.html * 视频的采集窗口参数 * struct v4l2_crop * { * enum v4l2_buf_type type; 　　* struct v4l2_rect c; 　　* }; */ struct v4l2_crop v4l2CropInfo; MEMSET(v4l2CropInfo); /* * 原文链接：https://blog.csdn.net/u010661782/article/details/49020695 * VIDIOC_G_FMT,VIDIOC_S_FMT * VIDIOC_G_FMT,VIDIOC_S_FMT * struct v4l2_format * { * enum v4l2_buf_type type; // 帧类型，应用程序设置 * union fmt * { * struct v4l2_pix_format pix; // 视频设备使用 V4L2_BUF_TYPE_VIDEO_CAPTURE * struct v4l2_window win; // V4L2_BUF_TYPE_VIDEO_OVERLAY * struct v4l2_vbi_format vbi; * struct v4l2_sliced_vbi_format sliced; * __u8 raw_data[200]; // user-defined * }; * }; * struct v4l2_pix_format * { * __u32 width; // 帧宽，单位像素 * __u32 height; // 帧高，单位像素 * __u32 pixelformat; // 帧格式 * enum v4l2_field field; // enum v4l2_field * __u32 bytesperline; // 每一行的bit数 * __u32 sizeimage; // 图像总的bit数 * enum v4l2_colorspace colorspace; // enum v4l2_colorspace * __u32 priv; * }; * see also http://vektor.theorem.ca/graphics/ycbcr/ * enum v4l2