videodev2.lisp

   1 (in-package :cl-v4l2)
   2
   3 (defclass v4l2 (standard-class) ())
   4
   5 (defmethod validate-superclass ((obj v4l2) (obj1 standard-class)) t)
   6
   7 (defmacro define-wrapper (class-and-type supers &optional slots)
   8   (destructuring-bind (class-name &optional (struct-type class-name))
   9       (cffi::ensure-list class-and-type)
  10     (let ((slots (or slots (cffi::foreign-slot-names struct-type))))
  11       `(progn
  12          (defclass ,class-name ,supers
  13            (,@(loop for slot in slots collect
  14                    `(,slot))
  15             (raw :accessor ,(cffi::format-symbol t "~A-RAW" class-name)))
  16            (:metaclass v4l2))
  17
  18          ,@(loop for slot in slots
  19               for slot-name = (cffi::format-symbol t "~A-~A" class-name slot)
  20               for slot-type = (cffi::slot-type (cffi::get-slot-info class-name slot))
  21               collect
  22                 `(defun ,slot-name (inst)
  23                    ,(if (or (eq slot-type :char) (eq slot-type :uchar))
  24                         `(cffi:convert-from-foreign
  25                           (cffi:foreign-slot-value (slot-value inst 'raw) ',class-name ',slot) :string)
  26                         (if (cffi::aggregatep (cffi::parse-type slot-type))
  27                             `(make-instance ',slot-type
  28                                             :pointer (cffi:foreign-slot-value (slot-value inst 'raw) ',class-name ',slot))
  29                             `(cffi:foreign-slot-value (slot-value inst 'raw) ',class-name ',slot))))
  30               collect
  31                 `(defun (setf ,slot-name) (new inst)
  32                    (let ((raw (slot-value inst 'raw)))
  33                      (setf (cffi:foreign-slot-value raw ',class-name ',slot)
  34                            (cffi:convert-to-foreign new ',slot-type)))))
  35
  36          (defmethod slot-value-using-class ((class v4l2) inst slot)
  37            (if (string= (string-upcase (slot-definition-name slot)) "RAW")
  38                (call-next-method class inst)
  39                (funcall (symbol-function
  40                          (cffi::format-symbol t "~A-~A"
  41                                               (class-name class)
  42                                               (slot-definition-name slot)))
  43                         inst)))
  44
  45          (defmethod (setf slot-value-using-class) (new (class v4l2) inst slot)
  46            (let ((slot-name (string-upcase (slot-definition-name slot))))
  47              (if (string= slot-name "RAW")
  48                  (call-next-method new class inst)
  49                  (funcall (fdefinition
  50                            (read-from-string (format nil "(SETF ~A-~A)"
  51                                                      (class-name class)
  52                                                      slot-name)))
  53                           new inst))))
  54
  55          (defmethod initialize-instance :after ((inst ,class-name) &key pointer)
  56            (let ((obj (or pointer (cffi:foreign-alloc ',class-name))))
  57              (setf (slot-value inst 'raw) obj)
  58              (unless pointer
  59                (tg:finalize inst (lambda ()
  60                                    (format t "finalize ~A~%" obj)
  61                                    (foreign-free obj))))))
  62          ',class-name))))
  63
  64 (defmacro def-c-struct (name &rest args)
  65   `(progn
  66      (defcstruct ,name
  67        ,@args)
  68      (define-wrapper ,name ())))
  69
  70 (defmacro def-c-union (name &rest args)
  71   `(progn
  72      (defcunion ,name
  73        ,@args)
  74      (define-wrapper ,name ())))
  75
  76 (def-c-struct v4l2-capability
  77   (driver       :uchar :count 16)
  78   (card         :uchar :count 32)
  79   (bus-info     :uchar :count 32)
  80   (version      :uint32)
  81   (capabilities :uint32)
  82   (reserved     :uint32 :count 4))
  83
  84 (def-c-struct v4l2-fract
  85   (numerator    :uint32)
  86   (denominator  :uint32))
  87
  88 (def-c-struct v4l2-captureparm
  89   (capability   :uint32) ; Supported modes
  90   (capturemode  :uint32) ; Current mode
  91   (timeperframe v4l2-fract)   ; Time per frame in .1us units
  92   (extendedmode :uint32) ; Driver-specific extensions
  93   (readbuffers  :uint32) ; # of buffers for read
  94   (reserved     :uint32 :count 4))
  95
  96 (def-c-struct v4l2-outputparm
  97   (capability   :uint32) ; Supported modes
  98   (outputmode   :uint32) ; Current mode
  99   (timeperframe v4l2-fract)   ; Time per frame in .1us units
 100   (extendedmode :uint32) ; Driver-specific extensions
 101   (writebuffers :uint32) ; # of buffers for write
 102   (reserved     :uint32 :count 4))
 103
 104 (def-c-union v4l2-streamparm-union
 105   (capture      v4l2-captureparm)
 106   (output       v4l2-outputparm)
 107   (raw-data     :uchar :count 200))
 108
 109 (defcenum v4l2-buf-type
 110   (:buf-type-video-capture 1)
 111   :buf-type-video-output
 112   :buf-type-video-overlay
 113   :buf-type-vbi-capture
 114   :buf-type-vbi-output
 115   :buf-type-sliced-vbi-capture
 116   :buf-type-sliced-vbi-output
 117   :buf-type-video-output-overlay)
 118
 119 (def-c-struct v4l2-streamparm
 120   (type         v4l2-buf-type)
 121   (parm         v4l2-streamparm-union))
 122
 123 (defcenum v4l2-tuner-type
 124   (:tuner-radio 1)
 125   :tuner-analog-tv
 126   :tuner-digital-tv)
 127
 128 (def-c-struct v4l2-tuner
 129  (index         :uint32)
 130  (name          :uchar :count 32)
 131  (type          v4l2-tuner-type)
 132  (capability    :uint32)
 133  (rangelow      :uint32)
 134  (rangehigh     :uint32)
 135  (rxsubchans    :uint32)
 136  (audmode       :uint32)
 137  (signal        :int32)
 138  (afc           :int32)
 139  (reserved      :uint32 :count 4))
 140
 141 (def-c-struct v4l2-standard
 142  (index         :uint32)
 143  (id            :uint64)
 144  (name          :uchar :count 24)
 145  (frameperiod   v4l2-fract)
 146  (framelines    :uint32)
 147  (reserved      :uint32 :count 4))
 148
 149 (def-c-struct v4l2-input
 150   (index        :uint32)                ; Which input
 151   (name         :uchar :count 32)       ; Label
 152   (type         :uint32)                ; Type of input
 153   (audioset     :uint32)                ; Associated audios (bitfield)
 154   (tuner        :uint32)                ; Associated tuner
 155   (std          :uint64)
 156   (status       :uint32)
 157   (reserved     :uint32 :count 4))
 158
 159 ;;
 160 ;;      F O R M A T   E N U M E R A T I O N
 161 ;;
 162 (def-c-struct v4l2-fmtdesc
 163  (index         :uint32)                ; Format number
 164  (type          v4l2-buf-type)          ; buffer type
 165  (flags         :uint32)
 166  (description   :uchar :count 32)       ; Description string
 167  (pixelformat   :uint32)                ; Format fourcc
 168  (reserved      :uint32 :count 4))
 169
 170 ;; Values for the 'type' field
 171 (defconstant v4l2-input-type-tuner 1)
 172
 173 (defconstant v4l2-input-type-camera 2)
 174
 175 (defcenum v4l2-field
 176   :field-any                            ; driver can choose from none
 177                                         ; top, bottom, interlaced
 178                                         ; depending on whatever it thinks
 179                                         ; is approximate ...
 180   :field-none                           ; this device has no fields ...
 181   :field-top                            ; top field only
 182   :field-bottom                         ; bottom field only
 183   :field-interlaced                     ; both fields interlaced
 184   :field-seq-tb                         ; both fields sequential into one
 185                                         ; buffer, top-bottom order
 186   :field-seq-bt                         ; same as above + bottom-top order
 187   :field-alternate                      ; both fields alternating into
 188                                         ; separate buffers
 189   :field-interlaced-tb                  ; both fields interlaced, top field
 190                                         ; first and the top field is
 191                                         ; transmitted first
 192   :field-interlaced-bt                  ; both fields interlaced, top field
 193                                         ; first and the bottom field is
 194                                         ; transmitted first
 195   )
 196
 197 (defcenum v4l2-colorspace
 198   (:colorspace-smpte170m 1)             ; ITU-R 601 -- broadcast NTSC/PAL
 199   :colorspace_smpte240m                 ; 1125-Line (US) HDTV
 200   :colorspace-rec709                    ; HD and modern captures.
 201   ; broken BT878 extents (601, luma range 16-253 instead of 16-235)
 202   :colorspace-bt878
 203   ; These should be useful.  Assume 601 extents.
 204   :colorspace-470-system-m
 205   :colorspace-470-system-bg
 206
 207   ; I know there will be cameras that send this.  So, this is
 208   ; unspecified chromaticities and full 0-255 on each of the
 209   ; Y'CbCr components
 210   :colorspace-jpeg
 211
 212   ; For RGB colourspaces, this is probably a good start.
 213   :colorspace-srgb)
 214
 215 ;;
 216 ;;       V I D E O   I M A G E   F O R M A T
 217 ;;
 218 (def-c-struct v4l2-pix-format
 219   (width        :uint32)
 220   (height       :uint32)
 221   (pixelformat  :uint32)
 222   (field        v4l2-field)
 223   (bytesperline :uint32)        ; for padding, zero if unused
 224   (sizeimage    :uint32)
 225   (colorspace   v4l2-colorspace)
 226   (priv         :uint32))       ; private data, depends on pixelformat
 227
 228 ;;      Stream data format
 229 ;;
 230
 231 (def-c-struct v4l2-timecode
 232   (type         :uint32)
 233   (flags        :uint32)
 234   (frames       :uchar)
 235   (seconds      :uchar)
 236   (minutes      :uchar)
 237   (hours        :uchar)
 238   (userbits     :uchar :count 4))
 239
 240 (defcenum v4l2-memory
 241   (:memory-mmap 1)
 242   :memory-userptr
 243   :memory-overlay)
 244 ;;
 245 ;;      M E M O R Y - M A P P I N G   B U F F E R S
 246 ;;
 247 (def-c-struct v4l2-requestbuffers
 248   (count        :uint32)
 249   (type         v4l2-buf-type)
 250   (memory       v4l2-memory)
 251   (reserved     :uint32 :count 2))
 252
 253 (def-c-union v4l2-buffer-union
 254   (offset       :uint32)
 255   (userptr      :ulong))
 256
 257 (def-c-struct v4l2-buffer
 258   (index        :uint32)
 259   (type         v4l2-buf-type)
 260   (bytesused    :uint32)
 261   (flags        :uint32)
 262   (field        v4l2-field)
 263   (timestamp    timeval)
 264   (timecode     v4l2-timecode)
 265   (sequence     :uint32)
 266   ; memory location
 267   (memory       v4l2-memory)
 268   (m            v4l2-buffer-union)
 269   (length       :uint32)
 270   (input        :uint32)
 271   (reserved     :uint32))
 272
 273 (defcenum v4l2-ctrl-type
 274   (:ctrl-type-integer 1)
 275   :ctrl-type-boolean
 276   :ctrl-type-menu
 277   :ctrl-type-button
 278   :ctrl-type-integer64
 279   :ctrl-type-ctrl-class)
 280
 281 ;;  Used in the VIDIOC_QUERYCTRL ioctl for querying controls
 282 (def-c-struct v4l2-queryctrl
 283   (id                   :uint32)
 284   (type                 v4l2-ctrl-type)
 285   (name                 :uchar :count 32)
 286   (minimum              :int32)
 287   (maximum              :int32)
 288   (step                 :int32)
 289   (default-value        :int32)
 290   (flags                :uint32)
 291   (reserved             :uint32 :count 2))
 292
 293 (def-c-struct v4l2-control
 294   (id           :uint32)
 295   (value        :int32))
 296
 297 (defcenum v4l2-power-line-frequency
 298   :cid-power-line-frequency-disabled
 299   :cid-power-line-frequency-50hz
 300   :cid-power-line-frequency-60hz)
 301
 302 (defcenum v4l2-colorfx
 303   :colorfx-none
 304   :colorfx-bw
 305   :colorfx-sepia)
 306
 307 (defcenum  v4l2-exposure-auto-type
 308   :exposure-auto
 309   :exposure-manual
 310   :exposure-shutter-priority
 311   :exposure-aperture-priority)