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dc1394_vloopback.c

/*
 * Turn a Digital Camera into a V4L device using vloopback
 *
 * Written by Dan Dennedy
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 * Description:
 *
 *    Sends format0 640x480 RGB to the vloopback input device so that it
 *    can be consumed by V4L applications on the vloopback output device.
 *    Get vloopback 0.90 from http://motion.technolust.cx/vloopback/
 *    Apply the patch from effectv http://effectv.sf.net/
 *    It has been tested with EffecTV (exciting!), GnomeMeeting, ffmpeg,
 *    camsource, Kino, and veejay.
 *
 * TODO:
 *    - Support video controls
 *    - do cropping on v4l window offset
 *    - supply audio from sound card?
 */

#define _GNU_SOURCE
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <sys/time.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/poll.h>
#include <unistd.h>
#include <signal.h>
#define _LINUX_TIME_H
#define _DEVICE_H_
#include <linux/videodev.h>
#include <getopt.h>
#include <stdint.h>
#include <inttypes.h>

#include <dc1394/dc1394.h>
#include "affine.h"

#define CLAMP(x, low, high)  (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))

/* uncomment the following to drop frames to prevent delays */
#define MAX_PORTS 4
#define DC1394_BUFFERS 8
#define DC1394_WIDTH 640
#define DC1394_HEIGHT 480
#define MAX_WIDTH 1024
#define MAX_HEIGHT 768
#define MIN_WIDTH 160
#define MIN_HEIGHT 120
#define MAX_BPP 3
#define V4L_BUFFERS 2
#define MAX_RESETS 5

/* declarations for libdc1394 */
uint16_t *camera_nodes;
dc1394featureset_t features;
dc1394camera_t *camera;

/* Video4Linux globals */
int v4l_dev = -1;
unsigned char *out_pipe = NULL, *out_mmap = NULL;
#define MAXIOCTL 1024
char ioctlbuf[MAXIOCTL];

/* cmdline options */
int g_daemon = 0;
enum v4l_modes {
        V4L_MODE_NONE,
        V4L_MODE_PIPE,
        V4L_MODE_MMAP
};
enum v4l_modes g_v4l_mode = V4L_MODE_MMAP;
char *dc_dev_name = NULL;
char *v4l_dev_name = NULL;
int g_v4l_fmt = VIDEO_PALETTE_YUV422;
int g_width = DC1394_WIDTH;
int g_height = DC1394_HEIGHT;
u_int64_t g_guid = 0;

static struct option long_options[]={
    {"daemon",0,NULL,0},
    {"pipe",0,NULL,0},
    {"guid",1,NULL,0},
    {"video1394",1,NULL,0},
    {"vloopback",1,NULL,0},
    {"palette",1,NULL,0},
    {"width",1,NULL,0},
    {"height",1,NULL,0},
    {"help",0,NULL,0},
    {NULL,0,0,0}
};

void get_options(int argc,char *argv[])
{
    int option_index=0;

    while(getopt_long(argc,argv,"",long_options,&option_index)>=0){
        switch(option_index){
            /* case values must match long_options */
        case 0:
            g_daemon = 1;
            break;
        case 1:
            g_v4l_mode = V4L_MODE_PIPE;
            break;
        case 2:
            sscanf(optarg, "%"PRIx64, &g_guid);
            break;
        case 3:
            dc_dev_name=strdup(optarg);
            break;
        case 4:
            v4l_dev_name=strdup(optarg);
            break;
        case 5:
            if (strcasecmp(optarg, "rgb24") == 0)
                g_v4l_fmt = VIDEO_PALETTE_RGB24;
            else if (strcasecmp(optarg, "yuv422p") == 0)
                g_v4l_fmt = VIDEO_PALETTE_YUV422P;
            else if (strcasecmp(optarg, "yuv420p") == 0)
                g_v4l_fmt = VIDEO_PALETTE_YUV420P;
            break;
        case 6:
            g_width = atoi(optarg);
            break;
        case 7:
            g_height = atoi(optarg);
            break;
        default:
            printf( "\n"
                    "%s - send video from dc1394 through vloopback\n\n"
                    "Usage:\n"
                    "    %s [--daemon] [--pipe] [--guid=camera-guid]\n"
                    "       [--video1394=/dev/video1394/x] [--vloopback=/dev/video0]\n"
                    "       [--palette=format] [--width=n] [--height=n]\n\n"
                    "    --daemon    - run as a daemon, detached from console (optional)\n"
                    "    --pipe      - write images to vloopback device instead of using\n"
                    "                  zero-copy mmap mode (optional)\n"
                    "    --guid      - select camera to use (optional)\n"
                    "                  default is first camera on any port\n"
                    "    --video1394 - specifies video1394 device to use (optional)\n"
                    "                  default = /dev/video1394/<port#>\n"
                    "    --vloopback - specifies video4linux device to use (optional)\n"
                    "                  by default, this is automatically determined!\n"
                    "    --palette   - specified the video palette to use (optional)\n"
                    "                  yuv422 (default), yuv422p, yuv420p, or rgb24\n"
                    "    --width     - set the initial width (default=640)\n"
                    "    --height    - set the initial height (default=480)\n"
                    "    --help      - prints this message\n\n"
                    ,argv[0],argv[0]);
            exit(0);
        }
    }

}

/***** IMAGE PROCESSING *******************************************************/

typedef void (*affine_transform_cb)(const unsigned char *src, unsigned char *dest);

void transform_yuv422(const unsigned char *src, unsigned char *dest)
{
    swab(src, dest, 4);
}

void transform_rgb24(const unsigned char *src, unsigned char *dest)
{
    dest[2] = src[0]; //b
    dest[1] = src[1]; //g
    dest[0] = src[2]; //r
}

void affine_scale( const unsigned char *src, int src_width, int src_height, unsigned char *dest, int dest_width, int dest_height,
                   int bpp, affine_transform_cb transform )
{
    affine_transform_t affine;
    double scale_x = (double) dest_width / (double) src_width;
    double scale_y = (double) dest_height / (double) src_height;
    register unsigned char *d = dest;
    register const unsigned char  *s = src;
    register int i, j, x, y;

    /* optimization for no scaling required */
    if (scale_x == 1.0 && scale_y == 1.0) {
        for (i = 0; i < src_width*src_height; i++) {
            transform(s, d);
            s += bpp;
            d += bpp;
        }
        return;
    }

    affine_transform_init( &affine );

    if ( scale_x <= 1.0 && scale_y <= 1.0 ) {
        affine_transform_scale( &affine, scale_x, scale_y );

        for( j = 0; j < src_height; j++ ) {
            for( i = 0; i < src_width; i++ ) {
                x = (int) ( affine_transform_mapx( &affine, i - src_width/2, j - src_height/2 ) );
                y = (int) ( affine_transform_mapy( &affine, i - src_width/2, j - src_height/2 ) );
                x += dest_width/2;
                x = CLAMP( x, 0, dest_width);
                y += dest_height/2;
                y = CLAMP( y, 0, dest_height);
                s = src + (j*src_width*bpp) + i*bpp;
                d = dest + y*dest_width*bpp + x*bpp;
                transform(s, d);
                d += bpp;
                s += bpp;
            }
        }
    }
    else if ( scale_x >= 1.0 && scale_y >= 1.0 ) {
        affine_transform_scale( &affine, 1.0/scale_x, 1.0/scale_y );

        for( y = 0; y < dest_height; y++ ) {
            for( x = 0; x < dest_width; x++ ) {
                i = (int) ( affine_transform_mapx( &affine, x - dest_width/2, y - dest_height/2 ) );
                j = (int) ( affine_transform_mapy( &affine, x - dest_width/2, y - dest_height/2 ) );
                i += src_width/2;
                i = CLAMP( i, 0, dest_width);
                j += src_height/2;
                j = CLAMP( j, 0, dest_height);
                s = src + (j*src_width*bpp) + i*bpp;
                d = dest + y*dest_width*bpp + x*bpp;
                transform(s, d);
                d += bpp;
                s += bpp;
            }
        }
    }
}

inline void
yuy2_to_yv16( const unsigned char *src, unsigned char *dest, int width, int height)
{
    register int total = (width * height) >> 1;
    register int i;
    register unsigned char *img_y = dest;
    register unsigned char *img_cb = img_y + (width * height);
    register unsigned char *img_cr = img_cb + total;

    for (i = 0; i < total; i++) {
        *img_y++  = *src++;
        *img_cb++ = *src++;
        *img_y++  = *src++;
        *img_cr++ = *src++;
    }
}

inline void
yuy2_to_yv12( const unsigned char *src, unsigned char *dest, int width, int height)
{
    register int stride = width >> 1;
    register int i, j;
    register unsigned char *img_y = dest;
    register unsigned char *img_cb = img_y + (width * height);
    register unsigned char *img_cr = img_cb + stride * (height >> 1);

    for (i = 0; i < height; i++) {
        for (j = 0; j < stride; j++) {
            if (i%2) {
                *img_y++  = *src++;
                src++;
                *img_y++  = *src++;
                src++;
            } else {
                *img_y++  = *src++;
                *img_cb++ = (src[width << 1] + src[0]) >> 1;
                src++;
                *img_y++  = *src++;
                *img_cr++ = (src[width << 1] + src[0]) >> 1;
                src++;
            }
        }
    }
}

/***** IMAGE CAPTURE **********************************************************/

int capture_pipe(int dev, const unsigned char *image_in)
{
    int size = g_width * g_height;
    int bpp = 0;
    int ppp = 1; /* pixels per pixel! */
    affine_transform_cb transform = NULL;

    switch (g_v4l_fmt) {
    case VIDEO_PALETTE_RGB24:
        bpp = 3;
        ppp = 1;
        transform = transform_rgb24;
        break;

    case VIDEO_PALETTE_YUV422:
    case VIDEO_PALETTE_YUV422P:
    case VIDEO_PALETTE_YUV420P:
        bpp = 2;
        ppp = 2;
        transform = transform_yuv422;
        break;
    default:
        return DC1394_FAILURE;
    }

    affine_scale( image_in, DC1394_WIDTH/ppp, DC1394_HEIGHT,
                  out_pipe, g_width/ppp, g_height,
                  ppp * bpp, transform);

    if (g_v4l_fmt == VIDEO_PALETTE_YUV422P && out_pipe != NULL) {
        size_t memsize = (g_width * g_height) << 1;
        unsigned char *buffer = malloc(memsize);
        if (buffer) {
            memcpy( buffer, out_pipe, memsize);
            yuy2_to_yv16( buffer, out_pipe, g_width, g_height);
            free(buffer);
        }
    }
    else if (g_v4l_fmt == VIDEO_PALETTE_YUV420P && out_pipe != NULL) {
        size_t memsize = (g_width * g_height) << 1;
        unsigned char *buffer = malloc(memsize);
        if (buffer) {
            memcpy( buffer, out_pipe, memsize);
            yuy2_to_yv12( buffer, out_pipe, g_width, g_height);
            free(buffer);
        }
        size = g_width * g_height * 3 / 2;
        bpp = 1;
    }

    if (write(dev, out_pipe, size*bpp) != (size*bpp)) {
        perror("Error writing image to pipe");
        return DC1394_FAILURE;
    }
    return DC1394_SUCCESS;
}

int capture_mmap(int frame)
{
    int err;
    int bpp = 0;
    int ppp = 1; /* pixels per pixel! */
    affine_transform_cb transform = NULL;
    dc1394video_frame_t * framebuf=NULL;

    switch (g_v4l_fmt) {
    case VIDEO_PALETTE_RGB24:
        bpp = 3;
        ppp = 1;
        transform = transform_rgb24;
        break;

    case VIDEO_PALETTE_YUV422:
    case VIDEO_PALETTE_YUV422P:
    case VIDEO_PALETTE_YUV420P:
        bpp = 2;
        ppp = 2;
        transform = transform_yuv422;
        break;

    default:
        return DC1394_FAILURE;
    }

    if (g_v4l_fmt == VIDEO_PALETTE_YUV422P && out_pipe != NULL) {
        err=dc1394_capture_dequeue (camera, DC1394_CAPTURE_POLICY_WAIT, &framebuf);
        if (err==DC1394_SUCCESS) {
            affine_scale( framebuf->image, DC1394_WIDTH/ppp, DC1394_HEIGHT,
                          out_pipe, g_width/ppp, g_height,
                          ppp * bpp, transform);
            dc1394_capture_enqueue (camera, framebuf);
        }
        yuy2_to_yv16( out_pipe, out_mmap + (MAX_WIDTH * MAX_HEIGHT * 3 * frame), g_width, g_height);
    }
    else if (g_v4l_fmt == VIDEO_PALETTE_YUV420P && out_pipe != NULL) {
        err = dc1394_capture_dequeue (camera, DC1394_CAPTURE_POLICY_WAIT, &framebuf);
        if (err==DC1394_SUCCESS) {
            affine_scale( framebuf->image, DC1394_WIDTH/ppp, DC1394_HEIGHT,
                          out_pipe, g_width/ppp, g_height,
                          ppp * bpp, transform);
            dc1394_capture_enqueue (camera, framebuf);
        }
        yuy2_to_yv12( out_pipe, out_mmap + (MAX_WIDTH * MAX_HEIGHT * 3 * frame), g_width, g_height);
    }
    else {
        err = dc1394_capture_dequeue (camera, DC1394_CAPTURE_POLICY_WAIT, &framebuf);
        if (err==DC1394_SUCCESS) {
            affine_scale( framebuf->image, DC1394_WIDTH/ppp, DC1394_HEIGHT,
                          out_mmap + (MAX_WIDTH * MAX_HEIGHT * 3 * frame), g_width/ppp, g_height,
                          ppp * bpp, transform);
            dc1394_capture_enqueue (camera, framebuf);
        }
    }


    return DC1394_SUCCESS;
}

/***** DIGITAL CAMERA *********************************************************/

int dc_init()
{
    dc1394_t * d;
    dc1394camera_list_t * list;
    dc1394error_t err;

    d = dc1394_new ();
    err=dc1394_camera_enumerate (d, &list);
    DC1394_ERR_RTN(err,"Failed to enumerate cameras");

    if (list->num == 0) {
        dc1394_log_error("No cameras found");
        return 1;
    }

    camera = dc1394_camera_new (d, list->ids[0].guid);
    if (!camera) {
        dc1394_log_error("Failed to initialize camera with guid %llx", list->ids[0].guid);
        return 1;
    }
    dc1394_camera_free_list (list);

    printf("Using camera with GUID %"PRIx64"\n", camera->guid);

    dc1394_camera_print_info(camera, stdout);

    return DC1394_SUCCESS;
}

int dc_start(int palette)
{
    dc1394video_mode_t mode;
    dc1394error_t err;

    switch (palette) {
    case VIDEO_PALETTE_RGB24:
        mode = DC1394_VIDEO_MODE_640x480_RGB8;
        break;

    case VIDEO_PALETTE_YUV422:
    case VIDEO_PALETTE_YUV422P:
    case VIDEO_PALETTE_YUV420P:
        mode = DC1394_VIDEO_MODE_640x480_YUV422;
        break;

    default:
        return DC1394_FAILURE;
    }

    err=dc1394_video_set_iso_speed(camera, DC1394_ISO_SPEED_400);
    DC1394_ERR_RTN(err,"Could not set ISO speed");

    err=dc1394_video_set_mode(camera, mode);
    DC1394_ERR_RTN(err,"Could not set video mode");

    err=dc1394_video_set_framerate(camera, DC1394_FRAMERATE_15);
    DC1394_ERR_RTN(err,"Could not set framerate");

    err=dc1394_capture_setup(camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
    DC1394_ERR_RTN(err,"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");

    err=dc1394_video_set_transmission(camera, DC1394_ON);
    DC1394_ERR_RTN(err,"Could not start camera iso transmission");

    return DC1394_SUCCESS;
}

void dc_stop()
{
    if (g_v4l_mode != V4L_MODE_NONE) {
        dc1394_video_set_transmission(camera, DC1394_OFF);
        dc1394_capture_stop(camera);
    }
}

/***** VIDEO4LINUX ***********************************************************/

int v4l_open(char *device)
{
    int pipe = -1;
    FILE *vloopbacks;
    char pipepath[255];
    char buffer[255];
    char *loop;
    char *input;
    char *istatus;
    char *output;
    char *ostatus;

    if (device == NULL) {
        vloopbacks=fopen("/proc/video/vloopback/vloopbacks", "r");
        if (!vloopbacks) {
            perror ("Failed to open '/proc/video/vloopback/vloopbacks");
            return -1;
        }
        /* Read vloopback version */
        fgets(buffer, 255, vloopbacks);
        printf("%s", buffer);
        /* Read explanation line */
        fgets(buffer, 255, vloopbacks);
        while (fgets(buffer, 255, vloopbacks)) {
            if (strlen(buffer)>1) {
                buffer[strlen(buffer)-1]=0;
                loop=strtok(buffer, "\t");
                input=strtok(NULL, "\t");
                istatus=strtok(NULL, "\t");
                output=strtok(NULL, "\t");
                ostatus=strtok(NULL, "\t");
                if (istatus[0]=='-') {
                    sprintf(pipepath, "/dev/%s", input);
                    pipe=open(pipepath, O_RDWR);
                    if (pipe>=0) {
                        printf("Input: /dev/%s\n", input);
                        printf("Output: /dev/%s\n", output);
                        break;
                    }
                }
            }
        }
    } else {
        pipe=open(device, O_RDWR);
    }
    return pipe;
}

int v4l_start_pipe (int width, int height, int format)
{
    struct video_capability vid_caps;
    struct video_window vid_win;
    struct video_picture vid_pic;
    size_t memsize = width * height;

    switch (format) {
    case VIDEO_PALETTE_RGB24:
        memsize *= 3;
        break;

    case VIDEO_PALETTE_YUV422:
    case VIDEO_PALETTE_YUV422P:
    case VIDEO_PALETTE_YUV420P:
        memsize *= 2;
        break;

    default:
        return DC1394_FAILURE;
    }

    if (out_pipe)
        free(out_pipe);
    out_pipe = (unsigned char *) malloc(memsize);

    if (ioctl (v4l_dev, VIDIOCGCAP, &vid_caps) == -1) {
        perror ("ioctl (VIDIOCGCAP)");
        return DC1394_FAILURE;
    }
    if (ioctl (v4l_dev, VIDIOCGPICT, &vid_pic)== -1) {
        perror ("ioctl VIDIOCGPICT");
        return DC1394_FAILURE;
    }
    vid_pic.palette = format;
    if (ioctl (v4l_dev, VIDIOCSPICT, &vid_pic)== -1) {
        perror ("ioctl VIDIOCSPICT");
        return DC1394_FAILURE;
    }
    if (ioctl (v4l_dev, VIDIOCGWIN, &vid_win)== -1) {
        perror ("ioctl VIDIOCGWIN");
        return DC1394_FAILURE;
    }
    vid_win.width=width;
    vid_win.height=height;
    if (ioctl (v4l_dev, VIDIOCSWIN, &vid_win)== -1) {
        perror ("ioctl VIDIOCSWIN");
        return DC1394_FAILURE;
    }
    //g_v4l_mode = V4L_MODE_PIPE;
    return DC1394_SUCCESS;
}

int v4l_start_mmap (int memsize)
{
    if (out_pipe)
        free(out_pipe);
    out_pipe = (unsigned char *) malloc(MAX_WIDTH * MAX_HEIGHT * 2);

    out_mmap = mmap(0, memsize, PROT_READ|PROT_WRITE, MAP_SHARED, v4l_dev, 0);
    if ( out_mmap == (unsigned char *) -1 )
        return DC1394_FAILURE;
    //g_v4l_mode = V4L_MODE_MMAP;
    return DC1394_SUCCESS;
}

int v4l_ioctl(unsigned long int cmd, void *arg)
{
    //printf("ioctl %d\n", cmd & 0xff);
    switch (cmd) {
    case VIDIOCGCAP:
        {
            struct video_capability *vidcap=arg;

            sprintf(vidcap->name, "IEEE 1394 Digital Camera");
            vidcap->type = VID_TYPE_CAPTURE | VID_TYPE_SCALES;
            vidcap->channels = 1;
            vidcap->audios = 0;
            vidcap->maxwidth = MAX_WIDTH;
            vidcap->maxheight = MAX_HEIGHT;
            vidcap->minwidth = MIN_WIDTH;
            vidcap->minheight = MIN_HEIGHT;
            break;
        }
    case VIDIOCGTUNER:
        {
            struct video_tuner *vidtune=arg;

            sprintf(vidtune->name, "IEEE 1394 Digital Camera");
            vidtune->tuner = 0;
            vidtune->rangelow = 0;
            vidtune->rangehigh = 0;
            vidtune->flags = VIDEO_TUNER_PAL | VIDEO_TUNER_NTSC;
            vidtune->mode = g_height > 480 ? VIDEO_MODE_PAL : VIDEO_MODE_NTSC;
            vidtune->signal = 0;
            break;
        }
    case VIDIOCGCHAN:
        {
            struct video_channel *vidchan=arg;

            vidchan->channel = 0;
            vidchan->flags = 0;
            vidchan->tuners = 0;
            vidchan->type = VIDEO_TYPE_CAMERA;
            strcpy(vidchan->name, "Dummy channel");
            break;
        }
    case VIDIOCGPICT:
        {
            struct video_picture *vidpic=arg;

            /* TODO: we might be able to support these */
            vidpic->colour = 0xffff;
            vidpic->hue = 0xffff;
            vidpic->brightness = 0xffff;
            vidpic->contrast = 0xffff;
            vidpic->whiteness = 0xffff;

            vidpic->palette = g_v4l_fmt;
            switch (g_v4l_fmt) {
            case VIDEO_PALETTE_RGB24:
                vidpic->depth = 24;
                break;

            case VIDEO_PALETTE_YUV422:
            case VIDEO_PALETTE_YUV422P:
                vidpic->depth = 16;
                break;

            case VIDEO_PALETTE_YUV420P:
                vidpic->depth = 12;
                break;

            default:
                return DC1394_FAILURE;
            }
            break;
        }
    case VIDIOCSPICT:
        {
            struct video_picture *vidpic=arg;

            switch (vidpic->palette)
                {
                case VIDEO_PALETTE_YUV422:
                case VIDEO_PALETTE_YUV422P:
                case VIDEO_PALETTE_YUV420P:
                    printf("VIDIOCSPICT: video palette set to YUV42%d%s\n",
                           vidpic->palette == VIDEO_PALETTE_YUV420P ? 0 : 2,
                           vidpic->palette == VIDEO_PALETTE_YUV422P ? "P" : "");
                    dc_stop();
                    g_v4l_fmt = vidpic->palette;
                    dc_start(g_v4l_fmt);
                    break;

                case VIDEO_PALETTE_RGB24:
                    printf("VIDIOCSPICT: video palette set to RGB24\n");
                    dc_stop();
                    g_v4l_fmt = vidpic->palette;
                    dc_start(g_v4l_fmt);
                    break;

                default:
                    printf("VIDIOCSPICT: unsupported video palette %d\n", vidpic->palette);
                    return DC1394_FAILURE;
                }
            break;
        }
    case VIDIOCCAPTURE:
        {
            break;
        }
    case VIDIOCGWIN:
        {
            struct video_window *vidwin=arg;

            vidwin->x=0;
            vidwin->y=0;
            vidwin->width=g_width;
            vidwin->height=g_height;
            vidwin->chromakey=0;
            vidwin->flags=0;
            vidwin->clipcount=0;
            break;
        }
    case VIDIOCSWIN:
        {
            struct video_window *vidwin=arg;

            /* TODO: support cropping */

            if (vidwin->width > MAX_WIDTH ||
                vidwin->height > MAX_HEIGHT )
                return DC1394_FAILURE;
            if (vidwin->flags)
                return DC1394_FAILURE;
            g_width = vidwin->width;
            g_height = vidwin->height;
            printf("VIDIOCSWIN: size set to %dx%d\n", g_width, g_height);
            break;
        }
    case VIDIOCGMBUF:
        {
            struct video_mbuf *vidmbuf=arg;
            int i;

            vidmbuf->size = MAX_WIDTH * MAX_HEIGHT * MAX_BPP;
            vidmbuf->frames = V4L_BUFFERS;
            for (i=0; i < V4L_BUFFERS; i++)
                vidmbuf->offsets[i] = i * vidmbuf->size;
            vidmbuf->size *= vidmbuf->frames;
            break;
        }
    case VIDIOCMCAPTURE:
        {
            struct video_mmap *vidmmap=arg;

            if ( vidmmap->format != g_v4l_fmt )
                switch (vidmmap->format)
                    {
                    case VIDEO_PALETTE_YUV422:
                    case VIDEO_PALETTE_YUV422P:
                    case VIDEO_PALETTE_YUV420P:
                        printf("VIDIOCMCAPTURE: video palette set to YUV42%d%s\n",
                               vidmmap->format == VIDEO_PALETTE_YUV420P ? 0 : 2,
                               vidmmap->format == VIDEO_PALETTE_YUV422P ? "P" : "");
                        dc_stop();
                        g_v4l_fmt = vidmmap->format;
                        dc_start(g_v4l_fmt);
                        break;

                    case VIDEO_PALETTE_RGB24:
                        printf("VIDIOCMCAPTURE: video palette set to RGB24\n");
                        dc_stop();
                        g_v4l_fmt = vidmmap->format;
                        dc_start(g_v4l_fmt);
                        break;

                    default:
                        printf("VIDIOCMCAPTURE: unsupported video palette %d\n", vidmmap->format);
                        return DC1394_FAILURE;
                    }

            if (vidmmap->height > MAX_HEIGHT ||
                vidmmap->width > MAX_WIDTH) {
                printf("VIDIOCMCAPTURE: invalid size %dx%d\n", vidmmap->width, vidmmap->height );
                return DC1394_FAILURE;
            }
            if (vidmmap->height != g_height ||
                vidmmap->width != g_width) {
                g_height = vidmmap->height;
                g_width = vidmmap->width;
                printf("VIDIOCMCAPTURE: new size %dx%d\n", g_width, g_height);
            }
            break;
        }
    case VIDIOCSYNC:
        {
            struct video_mmap *vidmmap=arg;
            if ( !capture_mmap(vidmmap->frame) ) {
                printf("VIDIOCSYNC: failed frame %d\n", vidmmap->frame);
                return DC1394_FAILURE;
            }
            break;
        }
    default:
        {
            printf("ioctl %ld unhandled\n", cmd & 0xff);
                        break;
        }
    }
    return DC1394_SUCCESS;
}

void v4l_sighandler(int signo)
{
    int size, ret;
    unsigned long int cmd;
    struct pollfd ufds;

    if (signo!=SIGIO)
        return;
    ufds.fd=v4l_dev;
    ufds.events=POLLIN;
    ufds.revents=0;
    poll(&ufds, 1, 1000);
    if (!ufds.revents & POLLIN) {
        printf("Received signal but got negative on poll?!?!?!?\n");
        return;
    }
    size=read(v4l_dev, ioctlbuf, MAXIOCTL);
    if (size >= sizeof(unsigned long int)) {
        memcpy(&cmd, ioctlbuf, sizeof(unsigned long int));
        if (cmd==0) {
            printf("Client closed device\n");
            return;
        }
        ret=v4l_ioctl(cmd, ioctlbuf+sizeof(unsigned long int));
        if (ret) {
            memset(ioctlbuf+sizeof(unsigned long int), MAXIOCTL-sizeof(unsigned long int), 0xff);
            printf("ioctl %ld unsuccesfull\n", cmd & 0xff);
        }
        ioctl(v4l_dev, cmd, ioctlbuf+sizeof(unsigned long int));
    }
    return;
}

/***** MAIN *******************************************************************/

void signal_handler( int sig) {
    exit(0);
}

void cleanup(void) {
    if (v4l_dev)
        close(v4l_dev);
    dc1394_video_set_transmission(camera, DC1394_OFF);
    if (g_v4l_mode != V4L_MODE_NONE) {
        dc1394_capture_stop(camera);
    }
    dc1394_camera_free(camera);
    if (out_pipe)
        free(out_pipe);
    if (out_mmap)
        munmap(out_mmap, MAX_WIDTH * MAX_HEIGHT * MAX_BPP );
}

int main(int argc,char *argv[])
{
    dc1394error_t err;
    get_options(argc,argv);

    if (g_daemon) {
        if (fork() == 0)
            setsid();
        else
            exit(0);
    }

    atexit(cleanup);

    if (dc_init() != DC1394_SUCCESS) {
        dc1394_log_error("no cameras found :(");
        exit(-1);
    }

    if ( dc_start(g_v4l_fmt)!=DC1394_SUCCESS ) {
        dc1394_log_error("Failed to start dc1394 capture");
        exit(-1);
    }

    v4l_dev = v4l_open(v4l_dev_name);
    if (v4l_dev < 0) {
        perror ("Failed to open Video4Linux device");
        exit(-1);
    }

    if (g_v4l_mode == V4L_MODE_PIPE) {
        if ( v4l_start_pipe(g_width, g_height, g_v4l_fmt)!=DC1394_SUCCESS ) {
            dc1394_log_error("Failed to start vloopback pipe provider");
            exit(-1);
        }
    } else {
        if ( v4l_start_mmap(MAX_WIDTH * MAX_HEIGHT * MAX_BPP * V4L_BUFFERS)!=DC1394_SUCCESS ) {
            dc1394_log_error("Failed to start vloopback mmap provider");
            exit(-1);
        }
    }

    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);
    signal(SIGIO, v4l_sighandler);

    while (1) {
        if (g_v4l_mode == V4L_MODE_PIPE) {
            dc1394video_frame_t * framebuf=NULL;
            err=dc1394_capture_dequeue(camera, DC1394_CAPTURE_POLICY_WAIT, &framebuf);
            if (err==DC1394_SUCCESS) {
                capture_pipe( v4l_dev, framebuf->image);
                dc1394_capture_enqueue(camera, framebuf);
            }
        } else {
            pause();
        }
    }
    exit(0);
}

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