real210：从摄像头读取一帧数据并压缩成jpeg图片

使用real210开发板，从摄像头读取一帧数据并压缩成jpeg图片，但是图片是倒过来的。暂时还没找出原因

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>

#include <getopt.h>             /* getopt_long() */

#include <fcntl.h>              /* low-level i/o */
#include <unistd.h>
#include <errno.h>
#include <malloc.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>

#include <asm/types.h>          /* for videodev2.h */

#include <linux/videodev2.h>
#include <jpeglib.h>



#define CLEAR(x) memset (&(x), 0, sizeof (x))

typedef enum
{
    IO_METHOD_READ,
    IO_METHOD_MMAP,
    IO_METHOD_USERPTR,
} io_method;

struct buffer
{
    void *start;
    size_t length;
};

static char *           dev_name        = NULL;
static int              fd              = -1;
struct buffer *         buffers         = NULL;
static unsigned int     n_buffers       = 0;

static void errno_exit (const char *s)
{
    fprintf (stderr, "%s error %d, %s\n",  s, errno, strerror (errno));
    exit (EXIT_FAILURE);
}

static int xioctl (int fd, int request, void *arg)
{
    int r;

    do
        r = ioctl (fd, request, arg);
    while (-1 == r && EINTR == errno);

    return r;
}

static int get_pixel_depth(unsigned int fmt)
{
    int depth = 0;

    switch (fmt) {
    case V4L2_PIX_FMT_NV12:
        depth = 12;
        break;
    case V4L2_PIX_FMT_NV21:
        depth = 12;
        break;
    case V4L2_PIX_FMT_YUV420:
        depth = 12;
        break;

    case V4L2_PIX_FMT_RGB565:
    case V4L2_PIX_FMT_YUYV:
    case V4L2_PIX_FMT_UYVY:
    case V4L2_PIX_FMT_YUV422P:
        depth = 16;
        break;

    case V4L2_PIX_FMT_RGB32:
        depth = 32;
        break;
    }

    return depth;
}


/**
  Convert from YUV422 format to RGB888. Formulae are described on http://en.wikipedia.org/wiki/YUV
  
  \param width width of image
  \param height height of image
  \param src source
  \param dst destination
*/
static void YUV422toRGB888(int width, int height, unsigned char *src, unsigned char *dst) 
{
	int line, column;
	unsigned char *py, *pu, *pv;
	unsigned char *tmp = dst;
	
	/* In this format each four bytes is two pixels. Each four bytes is two Y's, a Cb and a Cr.
	   Each Y goes to one of the pixels, and the Cb and Cr belong to both pixels. */
	py = src;
	pu = src + 1;
	pv = src + 3;
#define CLIP(x) ( (x)>=0xFF ? 0xFF : ( (x) <= 0x00 ? 0x00 : (x) ) )
	for (line = 0; line < height; ++line) {
		for (column = 0; column < width; ++column) {
			*tmp++ = CLIP((double)*py + 1.402*((double)*pv-128.0));
			*tmp++ = CLIP((double)*py - 0.344*((double)*pu-128.0) - 0.714*((double)*pv-128.0));
			*tmp++ = CLIP((double)*py + 1.772*((double)*pu-128.0));
			// increase py every time
			py += 2;
			// increase pu,pv every second time
			if ((column & 1)==1) {
				pu += 4;
				pv += 4;
			}
		}
	}
}

/**
  Write image to jpeg file.
  \param img image to write
*/
static void jpegWrite(unsigned char* img) {
	struct jpeg_compress_struct cinfo;
	struct jpeg_error_mgr jerr;
	JSAMPROW row_pointer[1];
	
	// try to open file for saving
	FILE *outfile = fopen( "hello.jpg", "wb" );
	if (!outfile) {
		errno_exit("jpeg");
	}
	
	// create jpeg data
	cinfo.err = jpeg_std_error( &jerr );
	jpeg_create_compress(&cinfo);
	jpeg_stdio_dest(&cinfo, outfile);
	
	// set image parameters
	cinfo.image_width = 640;
	cinfo.image_height = 480;
	cinfo.input_components = 3;
	cinfo.in_color_space = JCS_RGB;
	
	// set jpeg compression parameters to default
	jpeg_set_defaults(&cinfo);
	// and then adjust quality setting
	jpeg_set_quality(&cinfo, 70, TRUE);
	// start compress
	jpeg_start_compress(&cinfo, TRUE);
	// feed data
	while (cinfo.next_scanline < cinfo.image_height) {
		row_pointer[0] = &img[cinfo.next_scanline * cinfo.image_width *  cinfo.input_components];
		jpeg_write_scanlines(&cinfo, row_pointer, 1);
	}
	
	// finish compression
	jpeg_finish_compress(&cinfo);
	// destroy jpeg data
	jpeg_destroy_compress(&cinfo);
	// close output file
	fclose(outfile);
}

static void process_image(const void *p)
{
//    fputc ('.', stdout);
//    fflush (stdout);
	unsigned char* src = (unsigned char*)p;
	//							width  height
	unsigned char* dst = malloc(640*480*3*sizeof(char));
	// convert from YUV422 to RGB888
	YUV422toRGB888(640, 480, src, dst);
//	YUV422toRGB888(width, height, src, dst);
	// write jpeg
	jpegWrite(dst);

	free(dst);
}

static int read_frame(void)
{
    struct v4l2_buffer buf;
    unsigned int i;


    CLEAR (buf);

    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;

    if (-1 == xioctl (fd, VIDIOC_DQBUF, &buf))
    {
        switch (errno)
        {
        case EAGAIN:
            return 0;

        case EIO:
            /* Could ignore EIO, see spec. */

            /* fall through */

        default:
            errno_exit ("VIDIOC_DQBUF");
        }
    }

    assert (buf.index < n_buffers);

    process_image (buffers[buf.index].start);

    if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
        errno_exit ("VIDIOC_QBUF");

  
    return 1;
}

static void mainloop(void)
{
    unsigned int count;   
 
	count = 2;

	while(count--)
	{
		for (;;)
		{
			fd_set fds;
			struct timeval tv;
			int r;

			FD_ZERO (&fds);
			FD_SET (fd, &fds);

			/* Timeout. */
			tv.tv_sec = 2;
			tv.tv_usec = 0;

			r = select (fd + 1, &fds, NULL, NULL, &tv);

			if (-1 == r)
			{
				if (EINTR == errno)
					continue;

				errno_exit ("select");
			}

			if (0 == r)
			{
				fprintf (stderr, "select timeout\n");
				exit (EXIT_FAILURE);
			}

			if (read_frame ())
				break;

			/* EAGAIN - continue select loop. */
		}
	}
}

static void stop_capturing(void)
{
    enum v4l2_buf_type type;

    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if (-1 == xioctl (fd, VIDIOC_STREAMOFF, &type))
        errno_exit ("VIDIOC_STREAMOFF");

}

static void start_capturing(void)
{
    unsigned int i;
    enum v4l2_buf_type type;


    for (i = 0; i < n_buffers; ++i)
    {
        struct v4l2_buffer buf;

        CLEAR (buf);

        buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory      = V4L2_MEMORY_MMAP;
        buf.index       = i;

        if (-1 == xioctl (fd, VIDIOC_QBUF, &buf))
            errno_exit ("VIDIOC_QBUF");
    }

    type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if (-1 == xioctl (fd, VIDIOC_STREAMON, &type))
        errno_exit ("VIDIOC_STREAMON");

}

static void uninit_device(void)
{
    unsigned int i;

    for (i = 0; i < n_buffers; ++i)
        if (-1 == munmap (buffers[i].start, buffers[i].length))
            errno_exit ("munmap");

    free (buffers);
}

static void init_mmap(void)
{
    struct v4l2_control ctrl;
    struct v4l2_requestbuffers req;

	//setp 6: request for buffer
    CLEAR (req);

    req.count               = 4;
    req.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    req.memory              = V4L2_MEMORY_MMAP;

    if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req))
    {
        if (EINVAL == errno)
        {
            fprintf (stderr, "%s does not support ""memory mapping\n", dev_name);
            exit (EXIT_FAILURE);
        }
        else
        {
            errno_exit ("VIDIOC_REQBUFS");
        }
    }

    if (req.count < 2)
    {
        fprintf (stderr, "Insufficient buffer memory on %s\n", dev_name);
        exit (EXIT_FAILURE);
    }

	// step 7: set control
	ctrl.id = 0x08000000 + 112;
//	ctrl.id = V4L2_CID_CAMERA_CHECK_DATALINE;
	ctrl.value = -1;
    if (-1 == xioctl (fd, VIDIOC_S_CTRL, &req))
    {
		errno_exit ("VIDIOC_S_CTRL");
	}
	
	
	// step 8: query buffer
    buffers = calloc (req.count, sizeof (*buffers));
    if (!buffers)
    {
        fprintf (stderr, "Out of memory\n");
        exit (EXIT_FAILURE);
    }

    for (n_buffers = 0; n_buffers < req.count; ++n_buffers)
    {
        struct v4l2_buffer buf;

        CLEAR (buf);

        buf.type        = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        buf.memory      = V4L2_MEMORY_MMAP;
        buf.index       = n_buffers;

        if (-1 == xioctl (fd, VIDIOC_QUERYBUF, &buf))
            errno_exit ("VIDIOC_QUERYBUF");

        buffers[n_buffers].length = buf.length;
        buffers[n_buffers].start =
            mmap (NULL /* start anywhere */,
                  buf.length,
                  PROT_READ | PROT_WRITE /* required */,
                  MAP_SHARED /* recommended */,
                  fd, buf.m.offset);

        if (MAP_FAILED == buffers[n_buffers].start)
            errno_exit ("mmap");
    }
	
	
}

static void init_device(void)
{
    struct v4l2_capability cap;
    struct v4l2_cropcap cropcap;
    struct v4l2_crop crop;
    struct v4l2_format fmt;
    struct v4l2_input input;
    struct v4l2_fmtdesc fmtdesc;

    unsigned int min;

	// step 1: querry capability
    if (-1 == xioctl (fd, VIDIOC_QUERYCAP, &cap))
    {
        if (EINVAL == errno)
        {
            fprintf (stderr, "%s is no V4L2 device\n", dev_name);
            exit (EXIT_FAILURE);
        }
        else
        {
            errno_exit ("VIDIOC_QUERYCAP");
        }
    }

	/* check for capture */
    if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
    {
        fprintf (stderr, "%s is no video capture device\n", dev_name);
        exit (EXIT_FAILURE);
    }

	/* check for memory map and user pointer */
	if (!(cap.capabilities & V4L2_CAP_STREAMING))
	{
		fprintf (stderr, "%s does not support streaming i/o\n", dev_name);
		exit (EXIT_FAILURE);
	}


	// step 2: enum input
	input.index = 0;
	if (-1 == xioctl(fd, VIDIOC_ENUMINPUT, &input))
	{
		errno_exit ("VIDIOC_ENUMINPUT");
	}

	// step 3: set input
    input.index = 0;
	if ( -1 == xioctl(fd, VIDIOC_S_INPUT, &input))
	{
		errno_exit ("VIDIOC_S_INPUT");
	}

	// step 4: enum format
	CLEAR (fmtdesc);
	fmtdesc.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	fmtdesc.index = 0;
	if (-1 == xioctl(fd, VIDIOC_ENUM_FMT, &fmtdesc))
	{
		errno_exit ("VIDIOC_ENUM_FMT");
	}


#if 0
    /* Select video input, video standard and tune here. */

    CLEAR (cropcap);

    cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if (0 == xioctl (fd, VIDIOC_CROPCAP, &cropcap))
    {
        crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        crop.c = cropcap.defrect; /* reset to default */

        if (-1 == xioctl (fd, VIDIOC_S_CROP, &crop))
        {
            switch (errno)
            {
            case EINVAL:
                /* Cropping not supported. */
                break;
            default:
                /* Errors ignored. */
                break;
            }
        }
    }
    else
    {
        /* Errors ignored. */
    }
#endif

	// step 5: set format
    CLEAR (fmt);

    fmt.type                = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    fmt.fmt.pix.width       = 640;
    fmt.fmt.pix.height      = 480;
    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
//    fmt.fmt.pix.field       = V4L2_FIELD_INTERLACED;
	fmt.fmt.pix.sizeimage	= (fmt.fmt.pix.width * fmt.fmt.pix.height * get_pixel_depth(fmt.fmt.pix.pixelformat)) / 8;
	
    if (-1 == xioctl (fd, VIDIOC_S_FMT, &fmt))
        errno_exit ("VIDIOC_S_FMT");

	

    /* Note VIDIOC_S_FMT may change width and height. */
#if 0
    /* Buggy driver paranoia. */
    min = fmt.fmt.pix.width * 2;
    if (fmt.fmt.pix.bytesperline < min)
        fmt.fmt.pix.bytesperline = min;
		
    min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
    if (fmt.fmt.pix.sizeimage < min)
        fmt.fmt.pix.sizeimage = min;
#endif
	init_mmap ();
}

static void close_device(void)
{
    if (-1 == close (fd))
        errno_exit ("close");

    fd = -1;
}

static void open_device(void)
{
    struct stat st;

    if (-1 == stat (dev_name, &st))
    {
        fprintf (stderr, "Cannot identify '%s': %d, %s\n",
                 dev_name, errno, strerror (errno));
        exit (EXIT_FAILURE);
    }

    if (!S_ISCHR (st.st_mode))
    {
        fprintf (stderr, "%s is no device\n", dev_name);
        exit (EXIT_FAILURE);
    }

    fd = open (dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);

    if (-1 == fd)
    {
        fprintf (stderr, "Cannot open '%s': %d, %s\n",
                 dev_name, errno, strerror (errno));
        exit (EXIT_FAILURE);
    }
}
#if 0
static void usage(FILE *fp, int argc, char **argv)
{
    fprintf (fp,
             "Usage: %s [options]\n\n"
             "Options:\n"
             "-d | --device name   Video device name [/dev/video]\n"
             "-h | --help          Print this message\n"
             "-m | --mmap          Use memory mapped buffers\n"
             "-r | --read          Use read() calls\n"
             "-u | --userp         Use application allocated buffers\n"
             "",
             argv[0]);
}
#endif
static const char short_options [] = "d:hmru";

static const struct option long_options [] =
{
    { "device",     required_argument,      NULL,           'd' },
    { "help",       no_argument,            NULL,           'h' },
    { "mmap",       no_argument,            NULL,           'm' },
    { "read",       no_argument,            NULL,           'r' },
    { "userp",      no_argument,            NULL,           'u' },
    { 0, 0, 0, 0 }
};

int main(int argc, char **argv)
{
    dev_name = "/dev/video0";

    open_device ();

    init_device ();

    start_capturing ();

    mainloop ();

    stop_capturing ();

    uninit_device ();

    close_device ();

    exit (EXIT_SUCCESS);

    return 0;
}