如何使用VIDIOC_DQBUF命令从V4L2设备读取一帧视频数据

以下是一个简单的示例，以演示如何使用VIDIOC_DQBUF命令从V4L2设备读取一帧视频数据：

#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/videodev2.h>

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

int main()
{
    struct v4l2_buffer buf;
    struct v4l2_format fmt;

    // Open V4L2 device
    int fd = open("/dev/video0", O_RDWR);
    if(fd < 0)
    {
        perror("Failed to open device");
        exit(EXIT_FAILURE);
    }

    // Set video format and parameters
    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;
    if(ioctl(fd, VIDIOC_S_FMT, &fmt) == -1)
    {
        perror("Failed to set format");
        exit(EXIT_FAILURE);
    }

    // Initialize a buffer for video frame data
    CLEAR(buf);
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;
    if(ioctl(fd, VIDIOC_REQBUFS, &buf) == -1)
    {
        perror("Failed to request buffers");
        exit(EXIT_FAILURE);
    }

    // Map buffer to userspace memory
    struct v4l2_buffer bufferinfo;
    void* buffer_start;
    for(int i = 0; i < buf.count; ++i)
    {
        CLEAR(bufferinfo);
        bufferinfo.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        bufferinfo.memory = V4L2_MEMORY_MMAP;
        bufferinfo.index = i;
        if(ioctl(fd, VIDIOC_QUERYBUF, &bufferinfo) == -1)
        {
            perror("Failed to query buffer");
            exit(EXIT_FAILURE);
        }

        buffer_start = mmap(
            NULL, 
            bufferinfo.length, 
            PROT_READ | PROT_WRITE, 
            MAP_SHARED, 
            fd, 
            bufferinfo.m.offset
        );

        if(buffer_start == MAP_FAILED)
        {
            perror("Failed to map buffer");
            exit(EXIT_FAILURE);
        }
    }

    // Start video streaming
    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if(ioctl(fd, VIDIOC_STREAMON, &type) == -1)
    {
        perror("Failed to start streaming");
        exit(EXIT_FAILURE);
    }

    // Retrieve a frame of video data from the queue
    CLEAR(buf);
    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
    buf.memory = V4L2_MEMORY_MMAP;
    if(ioctl(fd, VIDIOC_DQBUF, &buf) == -1)
    {
        perror("Failed to dequeue buffer");
        exit(EXIT_FAILURE);
    }

    // Process the video data and output it to a file or display

    // requeue processed buffer to input queue
    if(ioctl(fd, VIDIOC_QBUF, &buf) == -1)
    {
        perror("Failed to requeue buffer");
        exit(EXIT_FAILURE);
    }

    // Stop video streaming
    if(ioctl(fd, VIDIOC_STREAMOFF, &type) == -1)
    {
        perror("Failed to stop streaming");
        exit(EXIT_FAILURE);
    }

    // Clean up
    for(int i = 0; i < buf.count; ++i)
    {
        munmap(buffer_start, buf.length);
    }
    close(fd);

    return 0;
}

该示例演示了如何使用VIDIOC_DQBUF命令在V4L2设备上读取一帧视频数据。程序先请求内核分配缓冲区，并将其映射到用户空间缓冲区中。然后，它启动视频流传输，并使用VIDIOC_DQBUF命令从输入队列中取出帧数据。在处理完帧数据之后，程序通过VIDIOC_QBUF命令重新提交该帧数据的缓冲区，并停止视频流传输。最后，为了清理资源，程序释放了用户空间的缓冲区映射并关闭了V4L2设备文件描述符。需要注意的是，该示例省略了对错误情况的处理，实际应用中需要根据情况添加适当的错误处理代码。