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-rw-r--r--camera.c123
-rw-r--r--camera.h5
2 files changed, 73 insertions, 55 deletions
diff --git a/camera.c b/camera.c
index c1fe6d1..31e7221 100644
--- a/camera.c
+++ b/camera.c
@@ -4,42 +4,41 @@ COMPONENT_INIT { }
// File descriptor is returned in the fd pointer
le_result_t openCameraFd (const char *path, int *fd, tty_Speed_t baud, int nBytes, int timeout) {
- *fd = le_tty_Open(path, O_RDWR);
+ *fd = le_tty_Open(path, O_RDWR | O_NOCTTY | O_NDELAY);
le_result_t baudRes = le_tty_SetBaudRate(*fd, baud);
le_result_t rawRes = le_tty_SetRaw(*fd, nBytes, timeout);
return baudRes == LE_OK && rawRes == LE_OK ? LE_OK : LE_FAULT;
}
-// tty_ functions mostly lifted from here
-// https://github.com/oskarirauta/VC0706/blob/master/include/wiringSerial.c
-ssize_t tty_putByte (int fd, uint8_t byte) {
- return write(fd, &byte, 1);
-}
-
-ssize_t tty_getByte (int fd, uint8_t *data) {
+ssize_t fd_getByte (int fd, uint8_t *data) {
return read(fd, data, 1);
}
-int tty_dataAvail (int fd, int *data) {
+int fd_dataAvail (int fd, int *data) {
return ioctl(fd, FIONREAD, data);
}
void sendCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs) {
- tty_putByte(cam->fd, VC0706_PREFIX);
- tty_putByte(cam->fd, cam->serialNum);
- tty_putByte(cam->fd, cmd);
- for (int i = 0; i < nArgs; i++) {
- tty_putByte(cam->fd, args[i]);
+ uint8_t toWrite[100] = { VC0706_PREFIX, cam->serialNum, cmd };
+ int start = 3;
+ int end = nArgs + start;
+ for (int i = start; i < end; i++) {
+ toWrite[i] = args[i - start];
+ };
+ for (int i = 0; i < end; i++) {
+ LE_DEBUG("toSend[%d]=0x%x", i, toWrite[i]);
}
+ write(cam->fd, &toWrite[0], end);
}
bool runCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_t respLen, bool flushFlag) {
- // flush out the buffer
if (flushFlag) {
readResponse(cam, 100, 10);
}
sendCommand(cam, cmd, args, nArgs);
- if (readResponse(cam, respLen, 200) != respLen)
+ uint8_t actual = readResponse(cam, respLen, 200);
+ LE_DEBUG("Expected: %d, Actual: %d", respLen, actual);
+ if (actual != respLen)
return false;
if (!verifyResponse(cam, cmd))
return false;
@@ -47,7 +46,7 @@ bool runCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_
}
bool runCommandFlush (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_t respLen) {
- return runCommand (cam, cmd, args, nArgs, respLen, true);
+ return runCommand(cam, cmd, args, nArgs, respLen, true);
}
// Reads from the camera and returns how many bytes it read
@@ -57,9 +56,8 @@ uint8_t readResponse (Camera *cam, uint8_t nBytes, uint8_t timeout) {
int avail;
uint8_t data;
while ((counter < timeout) && (cam->bufferLen < nBytes)) {
- LE_DEBUG("counter: %d, timeout: %d, nBytes: %d, bufferLen: %d", counter, timeout, nBytes, cam->bufferLen);
// data is returned in avail pointer
- tty_dataAvail(cam->fd, &avail);
+ fd_dataAvail(cam->fd, &avail);
// this case covers no data available
if (avail <= 0) {
usleep(1000);
@@ -68,7 +66,7 @@ uint8_t readResponse (Camera *cam, uint8_t nBytes, uint8_t timeout) {
}
// this case is when we get data
counter = 0;
- tty_getByte(cam->fd, &data);
+ fd_getByte(cam->fd, &data);
cam->buff[cam->bufferLen++] = data;
}
return cam->bufferLen;
@@ -126,11 +124,16 @@ uint8_t* readPicture (Camera *cam, uint8_t n) {
0, 0, 0, n,
CAM_DELAY >> 8, CAM_DELAY & 0xFF };
LE_DEBUG("frameptr: %d", cam->frameptr);
- if (!runCommand(cam, VC0706_READ_FBUF, args, sizeof(args), 5, false)) // don't flush
+ if (!runCommand(cam, VC0706_READ_FBUF, args, sizeof(args), 5, false)) { // don't flush
+ LE_DEBUG("Failed in runCommand");
return NULL;
- if (readResponse(cam, n + 5, CAM_DELAY) == 0)
+ }
+ int imgDataRead = readResponse(cam, n + 5, CAM_DELAY);
+ LE_DEBUG("Image data read: %d", imgDataRead);
+ if (imgDataRead == 0) {
+ LE_DEBUG("Failed in readResponse");
return NULL;
-
+ }
cam->frameptr += n;
return &(cam->buff[0]);
@@ -158,14 +161,14 @@ uint32_t frameLength (Camera *cam) {
}
char* getVersion (Camera *cam) {
- uint8_t args[] = { 0x01 };
+ uint8_t args[] = { 0x00 };
sendCommand(cam, VC0706_GEN_VERSION, args, sizeof(args));
if (!readResponse(cam, CAM_BUFF_SIZE, 200)) {
LE_DEBUG("Failed to get version, returning empty string");
return 0;
}
cam->buff[cam->bufferLen] = 0;
- return (char*)&(cam->buff[0]);
+ return (char*)&(cam->buff[5]);
}
uint8_t available (Camera *cam) {
@@ -281,41 +284,53 @@ bool setPTZ (Camera *cam, uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt)
return !runCommandFlush(cam, VC0706_SET_ZOOM, args, sizeof(args), 5);
}
+uint8_t getImageBlockSize (int jpgLen) {
+ return CAM_BLOCK_SIZE < jpgLen ? CAM_BLOCK_SIZE : jpgLen;
+}
+
+bool readImageBlock (Camera *cam, FILE *filePtr) {
+ int jpgLen = frameLength(cam);
+ bool success = true;
+ while (jpgLen > 0) {
+ uint8_t bytesToRead = getImageBlockSize(jpgLen);
+ LE_DEBUG("jpgLen: %d, bytesToRead: %d", jpgLen, bytesToRead);
+ uint8_t *buff = readPicture(cam, bytesToRead);
+ if (buff == NULL) {
+ LE_ERROR("Failed to read image data");
+ success = false;
+ break;
+ }
+ fwrite(buff, sizeof(*buff), bytesToRead, filePtr);
+ jpgLen -= bytesToRead;
+ sleep(3);
+ }
+ fclose(filePtr);
+ return success;
+}
+
+bool readImageToFile (Camera *cam, char *path) {
+ char writePath[100];
+ // e.g /mnt/sd/<timestamp>.jpg
+ sprintf(writePath, "%s/%d.jpg", path, (int)time(0));
+ LE_INFO("Opening file pointer for path %s", writePath);
+ FILE *filePtr = fopen(writePath, "w");
+ if (filePtr != NULL) {
+ LE_INFO("Got valid file pointer");
+ return readImageBlock(cam, filePtr);
+ }
+ else {
+ LE_ERROR("Invalid file pointer for %s", writePath);
+ return false;
+ }
+}
+
bool snapshotToFile (Camera *cam, char *path, uint8_t imgSize) {
setImageSize(cam, imgSize);
LE_INFO("Taking photo...");
- bool success = true;
bool photoTaken = takePicture(cam);
if (photoTaken) {
LE_INFO("Photo taken");
- char writePath[100];
- // e.g /mnt/sd/<timestamp>.jpg
- sprintf(writePath, "%s/%d.jpg", path, (int)time(0));
- LE_INFO("Opening file pointer for path %s", writePath);
- FILE *filePtr = fopen(writePath, "w");
- if (filePtr != NULL) {
- LE_INFO("Got valid file pointer");
- int jpgLen = frameLength(cam);
- while (jpgLen > 0) {
- uint8_t *buff;
- uint8_t bytesToRead = CAM_BLOCK_SIZE < jpgLen ? CAM_BLOCK_SIZE : jpgLen;
- LE_DEBUG("jpgLen: %d, bytesToRead: %d", jpgLen, bytesToRead);
- buff = readPicture(cam, bytesToRead);
- if (buff == NULL) {
- LE_ERROR("Failed to read image data");
- success = false;
- break;
- }
- fwrite(buff, sizeof(*buff), bytesToRead, filePtr);
- jpgLen -= bytesToRead;
- }
- fclose(filePtr);
- return success;
- }
- else {
- LE_ERROR("Invalid file pointer for %s", writePath);
- return false;
- }
+ return readImageToFile(cam, path);
}
else {
LE_ERROR("Failed to take photo");
diff --git a/camera.h b/camera.h
index 38c591f..e8c02ab 100644
--- a/camera.h
+++ b/camera.h
@@ -44,7 +44,7 @@
#define CAM_BLOCK_SIZE 32
#define CAM_DELAY 10
#define CAM_SERIAL 0
-#define TTY_TIMEOUT 10
+#define TTY_TIMEOUT 5000
static const char TTY_PATH[] = "/dev/ttyHS0";
@@ -86,6 +86,9 @@ LE_SHARED uint8_t getCompression (Camera *cam);
LE_SHARED bool setCompression(Camera *cam, uint8_t c);
LE_SHARED bool getPTZ(Camera *cam, uint16_t *w, uint16_t *h, uint16_t *wz, uint16_t *hz, uint16_t *pan, uint16_t *tilt);
LE_SHARED bool setPTZ(Camera *cam, uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt);
+uint8_t getImageBlockSize (int jpgLen);
+bool readImageBlock (Camera *cam, FILE *filePtr);
+bool readImageToFile (Camera *cam, char *path);
LE_SHARED bool snapshotToFile (Camera *cam, char *path, uint8_t imgSize);
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 01:27:58 +0000