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webcam: no more errors!

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This commit is contained in:
Thomas Farstrike
2025-05-13 17:18:35 +02:00
parent 830454c94f
commit 34728e907b
1 changed files with 74 additions and 82 deletions
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c_mpos/src/webcam.c
+74 -82
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@@ -64,69 +64,6 @@ static void resize_640x480_to_240x240(uint8_t *src, uint8_t *dst) {
}
}
// Initialize the webcam
static mp_obj_t webcam_init(void) {
webcam_obj_t *self = m_new_obj(webcam_obj_t);
self->base.type = &webcam_type;
self->fd = -1;
self->buffer = NULL;
self->buffer_length = 0;
self->streaming = false;
// Open the webcam device
self->fd = open(VIDEO_DEVICE, O_RDWR);
if (self->fd < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to open device %s\n", VIDEO_DEVICE);
mp_raise_OSError(errno);
}
// Set format to YUYV at 640x480
struct v4l2_format fmt = {0};
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = CAPTURE_WIDTH;
fmt.fmt.pix.height = CAPTURE_HEIGHT;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_ANY;
if (ioctl(self->fd, VIDIOC_S_FMT, &fmt) < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to set YUYV format at %dx%d\n", CAPTURE_WIDTH, CAPTURE_HEIGHT);
close(self->fd);
mp_raise_OSError(errno);
}
// Request one buffer
struct v4l2_requestbuffers req = {0};
req.count = 1;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (ioctl(self->fd, VIDIOC_REQBUFS, &req) < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to request memory-mapped buffer\n");
close(self->fd);
mp_raise_OSError(errno);
}
// Query and map the buffer
struct v4l2_buffer buf = {0};
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = 0;
if (ioctl(self->fd, VIDIOC_QUERYBUF, &buf) < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to query buffer properties\n");
close(self->fd);
mp_raise_OSError(errno);
}
self->buffer_length = buf.length;
self->buffer = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, self->fd, buf.m.offset);
if (self->buffer == MAP_FAILED) {
WEBCAM_DEBUG_PRINT("webcam: Failed to map buffer memory\n");
close(self->fd);
mp_raise_OSError(errno);
}
return MP_OBJ_FROM_PTR(self);
}
MP_DEFINE_CONST_FUN_OBJ_0(webcam_init_obj, webcam_init);
// Capture a grayscale image
static mp_obj_t webcam_capture_grayscale(mp_obj_t self_in) {
webcam_obj_t *self = MP_OBJ_TO_PTR(self_in);
@@ -224,34 +161,89 @@ static mp_obj_t webcam_deinit(mp_obj_t self_in) {
}
MP_DEFINE_CONST_FUN_OBJ_1(webcam_deinit_obj, webcam_deinit);
// Attribute lookup for webcam object
static void webcam_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
if (dest[0] == MP_OBJ_NULL) {
// Lookup attribute
if (attr == MP_QSTR_capture_grayscale) {
dest[0] = MP_OBJ_FROM_PTR(&webcam_capture_grayscale_obj);
dest[1] = self_in;
} else if (attr == MP_QSTR_deinit) {
dest[0] = MP_OBJ_FROM_PTR(&webcam_deinit_obj);
dest[1] = self_in;
}
}
}
// Initialize the webcam and return a tuple with the object and methods
static mp_obj_t webcam_init(void) {
webcam_obj_t *self = m_new_obj(webcam_obj_t);
self->base.type = &webcam_type;
self->fd = -1;
self->buffer = NULL;
self->buffer_length = 0;
self->streaming = false;
// Webcam type definition
static const mp_obj_type_t webcam_type = {
{ &mp_type_type },
.name = MP_QSTR_webcam,
.attr = webcam_attr,
};
// Open the webcam device
self->fd = open(VIDEO_DEVICE, O_RDWR);
if (self->fd < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to open device %s\n", VIDEO_DEVICE);
mp_raise_OSError(errno);
}
// Set format to YUYV at 640x480
struct v4l2_format fmt = {0};
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = CAPTURE_WIDTH;
fmt.fmt.pix.height = CAPTURE_HEIGHT;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix.field = V4L2_FIELD_ANY;
if (ioctl(self->fd, VIDIOC_S_FMT, &fmt) < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to set YUYV format at %dx%d\n", CAPTURE_WIDTH, CAPTURE_HEIGHT);
close(self->fd);
mp_raise_OSError(errno);
}
// Request one buffer
struct v4l2_requestbuffers req = {0};
req.count = 1;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (ioctl(self->fd, VIDIOC_REQBUFS, &req) < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to request memory-mapped buffer\n");
close(self->fd);
mp_raise_OSError(errno);
}
// Query and map the buffer
struct v4l2_buffer buf = {0};
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = 0;
if (ioctl(self->fd, VIDIOC_QUERYBUF, &buf) < 0) {
WEBCAM_DEBUG_PRINT("webcam: Failed to query buffer properties\n");
close(self->fd);
mp_raise_OSError(errno);
}
self->buffer_length = buf.length;
self->buffer = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, self->fd, buf.m.offset);
if (self->buffer == MAP_FAILED) {
WEBCAM_DEBUG_PRINT("webcam: Failed to map buffer memory\n");
close(self->fd);
mp_raise_OSError(errno);
}
// Create a tuple to hold the webcam object and method references
mp_obj_t tuple[3];
tuple[0] = MP_OBJ_FROM_PTR(self);
tuple[1] = MP_OBJ_FROM_PTR(&webcam_capture_grayscale_obj);
tuple[2] = MP_OBJ_FROM_PTR(&webcam_deinit_obj);
return mp_obj_new_tuple(3, tuple);
}
MP_DEFINE_CONST_FUN_OBJ_0(webcam_init_obj, webcam_init);
// Module definition
static const mp_rom_map_elem_t webcam_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_webcam) },
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&webcam_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_capture_grayscale), MP_ROM_PTR(&webcam_capture_grayscale_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&webcam_deinit_obj) },
};
static MP_DEFINE_CONST_DICT(webcam_module_globals, webcam_module_globals_table);
// Webcam type definition
static const mp_obj_type_t webcam_type = {
{ &mp_type_type },
.name = MP_QSTR_webcam,
};
const mp_obj_module_t webcam_user_cmodule = {
.base = { &mp_type_module },
.globals = (mp_obj_dict_t *)&webcam_module_globals,