508 lines
16 KiB
C++
508 lines
16 KiB
C++
#if !defined(ANDROID_r2_2_2) && !defined(ANDROID_r2_3_3) && !defined(ANDROID_r3_0_1)
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#error unsupported version of Android
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#endif
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#include <camera/CameraHardwareInterface.h>
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#include "camera_wrapper.h"
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#include "../include/camera_properties.h"
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#include <string>
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//undef logging macro from /system/core/libcutils/loghack.h
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#ifdef LOGD
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#undef LOGD
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#endif
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#ifdef LOGI
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#undef LOGI
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#endif
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#ifdef LOGW
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#undef LOGW
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#endif
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#ifdef LOGE
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#undef LOGE
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#endif
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// LOGGING
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#include <android/log.h>
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#define CAMERA_LOG_TAG "OpenCV_NativeCamera"
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#define LOGD(...) ((void)__android_log_print(ANDROID_LOG_DEBUG, CAMERA_LOG_TAG, __VA_ARGS__))
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#define LOGI(...) ((void)__android_log_print(ANDROID_LOG_INFO, CAMERA_LOG_TAG, __VA_ARGS__))
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#define LOGW(...) ((void)__android_log_print(ANDROID_LOG_WARN, CAMERA_LOG_TAG, __VA_ARGS__))
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#define LOGE(...) ((void)__android_log_print(ANDROID_LOG_ERROR, CAMERA_LOG_TAG, __VA_ARGS__))
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using namespace android;
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void debugShowFPS()
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{
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static int mFrameCount = 0;
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static int mLastFrameCount = 0;
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static nsecs_t mLastFpsTime = systemTime();
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static float mFps = 0;
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mFrameCount++;
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if (( mFrameCount % 30 ) != 0)
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return;
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nsecs_t now = systemTime();
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nsecs_t diff = now - mLastFpsTime;
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if (diff==0)
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return;
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mFps = ((mFrameCount - mLastFrameCount) * float(s2ns(1))) / diff;
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mLastFpsTime = now;
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mLastFrameCount = mFrameCount;
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LOGI("### Camera FPS ### [%d] Frames, %.2f FPS", mFrameCount, mFps);
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}
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class CameraHandler: public CameraListener
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{
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protected:
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int cameraId;
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sp<Camera> camera;
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CameraParameters params;
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CameraCallback cameraCallback;
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void* userData;
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int emptyCameraCallbackReported;
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void doCall(void* buffer, size_t bufferSize)
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{
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if (cameraCallback == 0)
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{
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if (!emptyCameraCallbackReported)
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LOGE("CameraHandler::doCall(void*, size_t): Camera callback is empty!");
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emptyCameraCallbackReported++;
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}
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else
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{
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bool res = (*cameraCallback)(buffer, bufferSize, userData);
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if(!res)
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{
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LOGE("CameraHandler::doCall(void*, size_t): cameraCallback returns false (camera connection will be closed)");
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closeCameraConnect();
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}
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}
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}
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void doCall(const sp<IMemory>& dataPtr)
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{
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if (dataPtr == NULL)
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{
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LOGE("CameraHandler::doCall(const sp<IMemory>&): dataPtr==NULL (no frame to handle)");
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return;
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}
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size_t size = dataPtr->size();
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if (size <= 0)
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{
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LOGE("CameraHandler::doCall(const sp<IMemory>&): IMemory object is of zero size");
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return;
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}
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void* buffer = (void *)dataPtr->pointer();
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if (!buffer)
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{
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LOGE("CameraHandler::doCall(const sp<IMemory>&): Buffer pointer is NULL");
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return;
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}
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doCall(buffer, size);
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}
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virtual void postDataTimestamp(nsecs_t timestamp, int32_t msgType, const sp<IMemory>& dataPtr)
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{
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static uint32_t count = 0;
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count++;
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LOGE("Recording cb: %d %lld %%p Offset:%%d Stride:%%d\n", msgType, timestamp);
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if (dataPtr == NULL)
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{
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LOGE("postDataTimestamp: dataPtr IS ZERO -- returning");
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camera->releaseRecordingFrame(dataPtr);
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LOGE("postDataTimestamp: camera->releaseRecordingFrame(dataPtr) is done");
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return;
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}
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uint8_t *ptr = (uint8_t*) dataPtr->pointer();
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if (ptr)
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LOGE("VID_CB: 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x", ptr[0], ptr[1], ptr[2], ptr[3], ptr[4], ptr[5], ptr[6], ptr[7], ptr[8], ptr[9]);
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else
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LOGE("postDataTimestamp: Ptr is zero");
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camera->releaseRecordingFrame(dataPtr);
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}
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public:
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CameraHandler(CameraCallback callback = 0, void* _userData = 0):
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cameraId(0),
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cameraCallback(callback),
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userData(_userData),
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emptyCameraCallbackReported(0)
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{
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LOGD("Instantiated new CameraHandler (%p, %p)", callback, _userData);
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}
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virtual ~CameraHandler()
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{
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LOGD("CameraHandler destructor is called");
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}
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virtual void notify(int32_t msgType, int32_t ext1, int32_t ext2)
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{
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LOGE("CameraHandler::Notify: msgType=%d ext1=%d ext2=%d\n", msgType, ext1, ext2);
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#if 0
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if ( msgType & CAMERA_MSG_FOCUS )
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LOGE("CameraHandler::Notify AutoFocus %s in %llu us\n", (ext1) ? "OK" : "FAIL", timevalDelay(&autofocus_start));
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if ( msgType & CAMERA_MSG_SHUTTER )
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LOGE("CameraHandler::Notify Shutter done in %llu us\n", timeval_delay(&picture_start));
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#endif
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}
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virtual void postData(int32_t msgType, const sp<IMemory>& dataPtr)
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{
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debugShowFPS();
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if ( msgType & CAMERA_MSG_PREVIEW_FRAME )
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{
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doCall(dataPtr);
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return;
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}
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if (msgType != CAMERA_MSG_PREVIEW_FRAME)
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LOGE("CameraHandler::postData Recieved message %d is not equal to CAMERA_MSG_PREVIEW_FRAME (%d)", (int) msgType, CAMERA_MSG_PREVIEW_FRAME);
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if ( msgType & CAMERA_MSG_RAW_IMAGE )
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LOGE("CameraHandler::postData Unexpected data format: RAW\n");
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if (msgType & CAMERA_MSG_POSTVIEW_FRAME)
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LOGE("CameraHandler::postData Unexpected data format: Postview frame\n");
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if (msgType & CAMERA_MSG_COMPRESSED_IMAGE )
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LOGE("CameraHandler::postData Unexpected data format: JPEG");
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}
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static CameraHandler* initCameraConnect(const CameraCallback& callback, int cameraId, void* userData, CameraParameters* prevCameraParameters);
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void closeCameraConnect();
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double getProperty(int propIdx);
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void setProperty(int propIdx, double value);
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static void applyProperties(CameraHandler** ppcameraHandler);
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std::string cameraPropertySupportedPreviewSizesString;
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std::string cameraPropertyPreviewFormatString;
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};
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CameraHandler* CameraHandler::initCameraConnect(const CameraCallback& callback, int cameraId, void* userData, CameraParameters* prevCameraParameters)
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{
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LOGD("CameraHandler::initCameraConnect(%p, %d, %p, %p)", callback, cameraId, userData, prevCameraParameters);
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sp<Camera> camera = 0;
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#ifdef ANDROID_r2_2_2
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camera = Camera::connect();
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#endif
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#ifdef ANDROID_r2_3_3
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camera = Camera::connect(cameraId);
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#endif
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if ( 0 == camera.get() )
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{
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LOGE("initCameraConnect: Unable to connect to CameraService\n");
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return 0;
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}
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CameraHandler* handler = new CameraHandler(callback, userData);
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camera->setListener(handler);
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handler->camera = camera;
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handler->cameraId = cameraId;
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if (prevCameraParameters != 0)
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{
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LOGI("initCameraConnect: Setting paramers from previous camera handler");
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camera->setParameters(prevCameraParameters->flatten());
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handler->params.unflatten(prevCameraParameters->flatten());
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}
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else
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{
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android::String8 params_str = camera->getParameters();
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LOGI("initCameraConnect: [%s]", params_str.string());
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handler->params.unflatten(params_str);
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LOGD("Supported Cameras: %s", handler->params.get("camera-indexes"));
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LOGD("Supported Picture Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_SIZES));
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LOGD("Supported Picture Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PICTURE_FORMATS));
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LOGD("Supported Preview Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES));
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LOGD("Supported Preview Formats: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS));
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LOGD("Supported Preview Frame Rates: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FRAME_RATES));
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LOGD("Supported Thumbnail Sizes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_JPEG_THUMBNAIL_SIZES));
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LOGD("Supported Whitebalance Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_WHITE_BALANCE));
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LOGD("Supported Effects: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_EFFECTS));
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LOGD("Supported Scene Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_SCENE_MODES));
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LOGD("Supported Focus Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FOCUS_MODES));
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LOGD("Supported Antibanding Options: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_ANTIBANDING));
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LOGD("Supported Flash Modes: %s", handler->params.get(CameraParameters::KEY_SUPPORTED_FLASH_MODES));
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//check if yuv420sp format available. Set this format as preview format.
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const char* available_formats = handler->params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_FORMATS);
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if (available_formats != 0)
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{
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const char* format_to_set = 0;
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const char* pos = available_formats;
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const char* ptr = pos;
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while(true)
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{
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while(*ptr != 0 && *ptr != ',') ++ptr;
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if (ptr != pos)
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{
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if (0 == strncmp(pos, "yuv420sp", ptr - pos))
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{
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format_to_set = "yuv420sp";
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break;
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}
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if (0 == strncmp(pos, "yuv420i", ptr - pos))
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format_to_set = "yuv420i";
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}
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if (*ptr == 0)
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break;
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pos = ++ptr;
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}
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if (0 != format_to_set)
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{
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handler->params.setPreviewFormat(format_to_set);
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status_t resParams = handler->camera->setParameters(handler->params.flatten());
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if (resParams != 0)
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LOGE("initCameraConnect: failed to set preview format to %s", format_to_set);
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else
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LOGD("initCameraConnect: preview format is set to %s", format_to_set);
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}
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}
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}
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#ifdef ANDROID_r2_2_2
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status_t pdstatus = camera->setPreviewDisplay(sp<ISurface>(0 /*new DummySurface*/));
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if (pdstatus != 0)
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LOGE("initCameraConnect: failed setPreviewDisplay(0) call; camera migth not work correcttly on some devices");
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#endif
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////ATTENTION: switching between two versions: with and without copying memory inside Android OS
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//// see the method CameraService::Client::copyFrameAndPostCopiedFrame and where it is used
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#if 1
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camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK | FRAME_CALLBACK_FLAG_COPY_OUT_MASK);//with copy
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#else
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camera->setPreviewCallbackFlags( FRAME_CALLBACK_FLAG_ENABLE_MASK );//without copy
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#endif
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status_t resStart = camera->startPreview();
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if (resStart != 0)
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{
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LOGE("initCameraConnect: startPreview() fails. Closing camera connection...");
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handler->closeCameraConnect();
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handler = 0;
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}
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return handler;
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}
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void CameraHandler::closeCameraConnect()
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{
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if (camera == NULL)
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{
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LOGI("... camera is already NULL");
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return;
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}
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camera->stopPreview();
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camera->disconnect();
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camera.clear();
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camera=NULL;
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// ATTENTION!!!!!!!!!!!!!!!!!!!!!!!!!!
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// When we set
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// camera=NULL
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// above, the pointed instance of android::Camera object is destructed,
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// since this member `camera' has type android::sp<Camera> (android smart pointer template class),
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// and this is the only pointer to it.
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//
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// BUT this instance of CameraHandler is set as a listener for that android::Camera object
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// (see the function CameraHandler::initCameraConnect above),
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// so this instance of CameraHandler is pointed from that android::Camera object as
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// sp<CameraListener> mListener
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// and there is no other android smart pointers to this.
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//
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// It means, when that instance of the android::Camera object is destructed,
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// it calls destructor for this CameraHandler instance too.
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//
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// So, this line `camera=NULL' causes to the call `delete this'
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// (see destructor of the template class android::sp)
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//
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// So, we must not call `delete this' after the line, since it just has been called indeed
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}
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double CameraHandler::getProperty(int propIdx)
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{
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LOGD("CameraHandler::getProperty(%d)", propIdx);
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switch (propIdx)
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{
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case ANDROID_CAMERA_PROPERTY_FRAMEWIDTH:
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{
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int w,h;
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params.getPreviewSize(&w, &h);
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return w;
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}
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case ANDROID_CAMERA_PROPERTY_FRAMEHEIGHT:
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{
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int w,h;
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params.getPreviewSize(&w, &h);
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return h;
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}
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case ANDROID_CAMERA_PROPERTY_SUPPORTED_PREVIEW_SIZES_STRING:
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{
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cameraPropertySupportedPreviewSizesString = params.get(CameraParameters::KEY_SUPPORTED_PREVIEW_SIZES);
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union {const char* str;double res;} u;
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memset(&u.res, 0, sizeof(u.res));
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u.str = cameraPropertySupportedPreviewSizesString.c_str();
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return u.res;
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}
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case ANDROID_CAMERA_PROPERTY_PREVIEW_FORMAT_STRING:
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{
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const char* fmt = params.get(CameraParameters::KEY_PREVIEW_FORMAT);
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if (fmt == CameraParameters::PIXEL_FORMAT_YUV422SP)
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fmt = "yuv422sp";
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else if (fmt == CameraParameters::PIXEL_FORMAT_YUV420SP)
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fmt = "yuv420sp";
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else if (fmt == CameraParameters::PIXEL_FORMAT_YUV422I)
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fmt = "yuv422i";
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else if (fmt == CameraParameters::PIXEL_FORMAT_RGB565)
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fmt = "rgb565";
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else if (fmt == CameraParameters::PIXEL_FORMAT_JPEG)
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fmt = "jpeg";
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cameraPropertyPreviewFormatString = fmt;
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union {const char* str;double res;} u;
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memset(&u.res, 0, sizeof(u.res));
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u.str = cameraPropertyPreviewFormatString.c_str();
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return u.res;
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}
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};
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return -1;
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}
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void CameraHandler::setProperty(int propIdx, double value)
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{
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LOGD("CameraHandler::setProperty(%d, %f)", propIdx, value);
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switch (propIdx)
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{
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case ANDROID_CAMERA_PROPERTY_FRAMEWIDTH:
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{
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int w,h;
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params.getPreviewSize(&w, &h);
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w = (int)value;
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params.setPreviewSize(w, h);
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}
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break;
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case ANDROID_CAMERA_PROPERTY_FRAMEHEIGHT:
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{
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int w,h;
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params.getPreviewSize(&w, &h);
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h = (int)value;
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params.setPreviewSize(w, h);
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}
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break;
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};
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}
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void CameraHandler::applyProperties(CameraHandler** ppcameraHandler)
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{
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LOGD("CameraHandler::applyProperties()");
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if (ppcameraHandler == 0)
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{
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LOGE("applyProperties: Passed NULL ppcameraHandler");
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return;
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}
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if (*ppcameraHandler == 0)
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{
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LOGE("applyProperties: Passed null *ppcameraHandler");
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return;
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}
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LOGD("CameraHandler::applyProperties()");
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CameraHandler* previousCameraHandler=*ppcameraHandler;
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CameraParameters curCameraParameters(previousCameraHandler->params.flatten());
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CameraCallback cameraCallback=previousCameraHandler->cameraCallback;
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void* userData=previousCameraHandler->userData;
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int cameraId=previousCameraHandler->cameraId;
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LOGD("CameraHandler::applyProperties(): before previousCameraHandler->closeCameraConnect");
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previousCameraHandler->closeCameraConnect();
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LOGD("CameraHandler::applyProperties(): after previousCameraHandler->closeCameraConnect");
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LOGD("CameraHandler::applyProperties(): before initCameraConnect");
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CameraHandler* handler=initCameraConnect(cameraCallback, cameraId, userData, &curCameraParameters);
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LOGD("CameraHandler::applyProperties(): after initCameraConnect, handler=0x%x", (int)handler);
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if (handler == NULL) {
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LOGE("ERROR in applyProperties --- cannot reinit camera");
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handler=initCameraConnect(cameraCallback, cameraId, userData, NULL);
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LOGD("CameraHandler::applyProperties(): repeate initCameraConnect after ERROR, handler=0x%x", (int)handler);
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if (handler == NULL) {
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LOGE("ERROR in applyProperties --- cannot reinit camera AGAIN --- cannot do anything else");
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}
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}
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(*ppcameraHandler)=handler;
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}
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extern "C" {
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void* initCameraConnectC(void* callback, int cameraId, void* userData)
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{
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return CameraHandler::initCameraConnect((CameraCallback)callback, cameraId, userData, NULL);
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}
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void closeCameraConnectC(void** camera)
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{
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CameraHandler** cc = (CameraHandler**)camera;
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(*cc)->closeCameraConnect();
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*cc = 0;
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}
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double getCameraPropertyC(void* camera, int propIdx)
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{
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return ((CameraHandler*)camera)->getProperty(propIdx);
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}
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void setCameraPropertyC(void* camera, int propIdx, double value)
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{
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((CameraHandler*)camera)->setProperty(propIdx,value);
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}
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void applyCameraPropertiesC(void** camera)
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{
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CameraHandler::applyProperties((CameraHandler**)camera);
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}
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}
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