ubuntu读取can口数据_ubuntu-Linux系统读取USB摄像头数据(gspca)

#include #include#include#include#include#include#include#include#include#include#include#include#include#include#include#include

structbuffer {void *start;

size_t length;

};struct buffer *buffers;

unsignedlongn_buffers;

unsignedlongfile_length;intfile_fd;char *dev_name = "/dev/video0";intfd;static int read_frame (void)

{structv4l2_buffer buf;/*帧出列*/buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

buf.memory=V4L2_MEMORY_MMAP;

ioctl (fd, VIDIOC_DQBUF,&buf);

write(file_fd,buffers[buf.index].start,buffers[buf.index].length);/*buf入列*/ioctl(fd, VIDIOC_QBUF,&buf);return 1;

}int main (int argc,char **argv)

{structv4l2_capability cap;structv4l2_format fmt;structv4l2_requestbuffers req;structv4l2_buffer buf;

unsignedinti;enumv4l2_buf_type type;

file_fd= open("test.jpg", O_RDWR | O_CREAT, 0777);

fd= open (dev_name, O_RDWR | O_NONBLOCK, 0);/*获取驱动信息*/ioctl (fd, VIDIOC_QUERYCAP,&cap);

printf("Driver Name:%s\n Card Name:%s\n Bus info:%s\n\n",cap.driver,cap.card,cap.bus_info);/*设置图像格式*/fmt.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

fmt.fmt.pix.width= 320;

fmt.fmt.pix.height= 240;

fmt.fmt.pix.field=V4L2_FIELD_INTERLACED;

fmt.fmt.pix.pixelformat=V4L2_PIX_FMT_MJPEG;

ioctl (fd, VIDIOC_S_FMT,&fmt) ;/*申请图像缓冲区*/req.count= 4;

req.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

req.memory=V4L2_MEMORY_MMAP;

ioctl (fd, VIDIOC_REQBUFS,&req);

buffers= calloc (req.count, sizeof (*buffers));for (n_buffers = 0; n_buffers < req.count; ++n_buffers)

{/*获取图像缓冲区的信息*/buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

buf.memory=V4L2_MEMORY_MMAP;

buf.index=n_buffers;

ioctl (fd, VIDIOC_QUERYBUF,&buf);

buffers[n_buffers].length=buf.length;//把内核空间中的图像缓冲区映射到用户空间

buffers[n_buffers].start = mmap (NULL , //通过mmap建立映射关系

buf.length,

PROT_READ|PROT_WRITE ,

MAP_SHARED ,

fd,

buf.m.offset);

}/*图像缓冲入队*/

for (i = 0; i < n_buffers; ++i)

{

buf.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;

buf.memory=V4L2_MEMORY_MMAP;

buf.index=i;

ioctl (fd, VIDIOC_QBUF,&buf);

}//开始捕捉图像数据

type =V4L2_BUF_TYPE_VIDEO_CAPTURE;

ioctl (fd, VIDIOC_STREAMON,&type);

fd_set fds;

FD_ZERO (&fds);

FD_SET (fd,&fds);select(fd + 1, &fds, NULL, NULL, NULL);/*读取一幅图像*/read_frame();for (i = 0; i < n_buffers; ++i)

munmap (buffers[i].start, buffers[i].length);

close (fd);

close (file_fd);

printf("Camera Done.\n");return 0;

}