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Merge win support into develop

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This commit is contained in:
John Zhao 2018-06-01 00:17:12 +08:00
commit e4fddf2b8d
12 changed files with 942 additions and 190 deletions
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4
.gitignore vendored
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@ -1,5 +1,7 @@
.DS_Store .DS_Store
/.vscode/
.vs/
.vscode/
_build/ _build/
_install/ _install/

27
CommonDefs.mk
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@ -171,23 +171,32 @@ ifeq ($(HOST_OS),Win)
ifeq ($(HOST_NAME),MinGW) ifeq ($(HOST_NAME),MinGW)
CMAKE += -G "MinGW Makefiles" CMAKE += -G "MinGW Makefiles"
else ifeq ($(HOST_ARCH),x64) else ifeq ($(HOST_ARCH),x64)
VS_VERSION := $(shell echo "$(shell which cl)" | sed "s/.*Visual\sStudio\s\([0-9]\+\).*/\1/g") ifeq ($(VS_CODE),)
ifeq (15,$(VS_VERSION)) WHICH_CL := $(shell which cl)
ifeq ($(WHICH_CL),)
$(error "Visual Studio version is unknown. Could set VS_CODE to specify it, e.g. make [TARGET] VS_CODE=2017")
endif
# C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\...
# C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\...
VS_CODE := $(shell echo "$(WHICH_CL)" | grep -Po "(?<=Visual Studio[ /])[0-9]+")
endif
# $(call mkinfo,"VS_CODE: $(VS_CODE)")
ifeq ($(filter $(VS_CODE),15 2017),$(VS_CODE))
CMAKE += -G "Visual Studio 15 2017 Win64" CMAKE += -G "Visual Studio 15 2017 Win64"
else ifeq (14,$(VS_VERSION)) else ifeq ($(filter $(VS_CODE),14 2015),$(VS_CODE))
CMAKE += -G "Visual Studio 14 2015 Win64" CMAKE += -G "Visual Studio 14 2015 Win64"
else ifeq (12,$(VS_VERSION)) else ifeq ($(filter $(VS_CODE),12 2013),$(VS_CODE))
CMAKE += -G "Visual Studio 12 2013 Win64" CMAKE += -G "Visual Studio 12 2013 Win64"
else ifeq (11,$(VS_VERSION)) else ifeq ($(filter $(VS_CODE),11 2012),$(VS_CODE))
CMAKE += -G "Visual Studio 11 2012 Win64" CMAKE += -G "Visual Studio 11 2012 Win64"
else ifeq (10,$(VS_VERSION)) else ifeq ($(filter $(VS_CODE),10 2010),$(VS_CODE))
CMAKE += -G "Visual Studio 10 2010 Win64" CMAKE += -G "Visual Studio 10 2010 Win64"
else ifeq (9,$(VS_VERSION)) else ifeq ($(filter $(VS_CODE),9 2008),$(VS_CODE))
CMAKE += -G "Visual Studio 9 2008 Win64" CMAKE += -G "Visual Studio 9 2008 Win64"
else ifeq (8,$(VS_VERSION)) else ifeq ($(filter $(VS_CODE),8 2005),$(VS_CODE))
CMAKE += -G "Visual Studio 8 2005 Win64" CMAKE += -G "Visual Studio 8 2005 Win64"
else else
$(call mkinfo,"Connot specify Visual Studio Win64") $(error "Visual Studio version is not proper, VS_CODE: $(VS_CODE)")
endif endif
endif endif

44
samples/uvc/camera.cc
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@ -27,8 +27,17 @@
struct frame { struct frame {
const void *data = nullptr; const void *data = nullptr;
std::function<void()> continuation = nullptr;
frame() {
// VLOG(2) << __func__;
}
~frame() { ~frame() {
// VLOG(2) << __func__;
data = nullptr; data = nullptr;
if (continuation) {
continuation();
continuation = nullptr;
}
} }
}; };
@ -41,7 +50,11 @@ int main(int argc, char *argv[]) {
auto context = uvc::create_context(); auto context = uvc::create_context();
auto devices = uvc::query_devices(context); auto devices = uvc::query_devices(context);
LOG_IF(FATAL, devices.size() <= 0) << "No devices :("; if (devices.size() <= 0) {
LOG(ERROR) << "No devices :(";
return 1;
}
for (auto &&device : devices) { for (auto &&device : devices) {
auto vid = uvc::get_vendor_id(*device); auto vid = uvc::get_vendor_id(*device);
// auto pid = uvc::get_product_id(*device); // auto pid = uvc::get_product_id(*device);
@ -54,7 +67,10 @@ int main(int argc, char *argv[]) {
// std::string dashes(80, '-'); // std::string dashes(80, '-');
size_t n = mynteye_devices.size(); size_t n = mynteye_devices.size();
LOG_IF(FATAL, n <= 0) << "No MYNT EYE devices :("; if (n <= 0) {
LOG(ERROR) << "No MYNT EYE devices :(";
return 1;
}
LOG(INFO) << "MYNT EYE devices: "; LOG(INFO) << "MYNT EYE devices: ";
for (size_t i = 0; i < n; i++) { for (size_t i = 0; i < n; i++) {
@ -87,18 +103,21 @@ int main(int argc, char *argv[]) {
std::mutex mtx; std::mutex mtx;
std::condition_variable cv; std::condition_variable cv;
std::vector<frame> frames; std::shared_ptr<frame> frame = nullptr;
const auto frame_ready = [&frames]() { return !frames.empty(); }; const auto frame_ready = [&frame]() { return frame != nullptr; };
const auto frame_empty = [&frames]() { return frames.empty(); }; const auto frame_empty = [&frame]() { return frame == nullptr; };
uvc::set_device_mode( uvc::set_device_mode(
*device, 752, 480, static_cast<int>(Format::YUYV), 25, *device, 752, 480, static_cast<int>(Format::YUYV), 25,
[&mtx, &cv, &frames, &frame_ready](const void *data) { [&mtx, &cv, &frame, &frame_ready](
const void *data, std::function<void()> continuation) {
// reinterpret_cast<const std::uint8_t *>(data); // reinterpret_cast<const std::uint8_t *>(data);
std::unique_lock<std::mutex> lock(mtx); std::unique_lock<std::mutex> lock(mtx);
frame frame; if (frame == nullptr) {
frame.data = data; // not copy frame = std::make_shared<struct frame>();
frames.push_back(frame); }
frame->data = data; // not copy here
frame->continuation = continuation;
if (frame_ready()) if (frame_ready())
cv.notify_one(); cv.notify_one();
}); });
@ -119,13 +138,12 @@ int main(int argc, char *argv[]) {
throw std::runtime_error("Timeout waiting for frame."); throw std::runtime_error("Timeout waiting for frame.");
} }
auto frame = frames.back(); // only last one is valid // only lastest frame is valid
cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame->data));
cv::Mat img(480, 752, CV_8UC2, const_cast<void *>(frame.data));
cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2); cv::cvtColor(img, img, cv::COLOR_YUV2BGR_YUY2);
cv::imshow("frame", img); cv::imshow("frame", img);
frames.clear(); frame = nullptr;
char key = static_cast<char>(cv::waitKey(1)); char key = static_cast<char>(cv::waitKey(1));
if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q if (key == 27 || key == 'q' || key == 'Q') { // ESC/Q

3
src/api/synthetic.h
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@ -25,10 +25,11 @@
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
class API; class API;
class Object;
class Plugin; class Plugin;
class Processor; class Processor;
struct Object;
class Synthetic { class Synthetic {
public: public:
using stream_callback_t = API::stream_callback_t; using stream_callback_t = API::stream_callback_t;

3
src/device/device.cc
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@ -414,7 +414,7 @@ void Device::StartVideoStreaming() {
uvc::set_device_mode( uvc::set_device_mode(
*device_, stream_request.width, stream_request.height, *device_, stream_request.width, stream_request.height,
static_cast<int>(stream_request.format), stream_request.fps, static_cast<int>(stream_request.format), stream_request.fps,
[this](const void *data) { [this](const void *data, std::function<void()> continuation) {
// drop the first stereo stream data // drop the first stereo stream data
static std::uint8_t drop_count = 1; static std::uint8_t drop_count = 1;
if (drop_count > 0) { if (drop_count > 0) {
@ -425,6 +425,7 @@ void Device::StartVideoStreaming() {
CallbackPushedStreamData(Stream::LEFT); CallbackPushedStreamData(Stream::LEFT);
CallbackPushedStreamData(Stream::RIGHT); CallbackPushedStreamData(Stream::RIGHT);
} }
continuation();
}); });
} else { } else {
LOG(FATAL) << "Not any stream capabilities are supported by this device"; LOG(FATAL) << "Not any stream capabilities are supported by this device";

43
src/internal/channels.cc
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@ -31,6 +31,8 @@ MYNTEYE_BEGIN_NAMESPACE
namespace { namespace {
const uvc::xu mynteye_xu = {3, 2, {0x947a6d9f, 0x8a2f, 0x418d, {0x85, 0x9e, 0x6c, 0x9a, 0xa0, 0x38, 0x10, 0x14}}};
int XuCamCtrlId(Option option) { int XuCamCtrlId(Option option) {
switch (option) { switch (option) {
case Option::EXPOSURE_MODE: case Option::EXPOSURE_MODE:
@ -867,10 +869,22 @@ bool Channels::PuControlQuery(
return uvc::pu_control_query(*device_, option, query, value); return uvc::pu_control_query(*device_, option, query, value);
} }
bool Channels::XuControlRange(
channel_t channel, uint8_t id, int32_t *min, int32_t *max, int32_t *def) const {
return XuControlRange(mynteye_xu, channel, id, min, max, def);
}
bool Channels::XuControlRange(
const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min, int32_t *max,
int32_t *def) const {
CHECK_NOTNULL(device_);
return uvc::xu_control_range(*device_, xu, selector, id, min, max, def);
}
bool Channels::XuControlQuery( bool Channels::XuControlQuery(
channel_t channel, uvc::xu_query query, uint16_t size, channel_t channel, uvc::xu_query query, uint16_t size,
uint8_t *data) const { uint8_t *data) const {
return XuControlQuery({3}, channel >> 8, query, size, data); return XuControlQuery(mynteye_xu, channel, query, size, data);
} }
bool Channels::XuControlQuery( bool Channels::XuControlQuery(
@ -1001,32 +1015,11 @@ Channels::control_info_t Channels::PuControlInfo(Option option) const {
Channels::control_info_t Channels::XuControlInfo(Option option) const { Channels::control_info_t Channels::XuControlInfo(Option option) const {
int id = XuCamCtrlId(option); int id = XuCamCtrlId(option);
std::uint8_t data[3] = {static_cast<std::uint8_t>((id | 0x80) & 0xFF), 0, 0}; int32_t min = 0, max = 0, def = 0;
if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) { if (!XuControlRange(CHANNEL_CAM_CTRL, static_cast<std::uint8_t>(id), &min, &max, &def)) {
LOG(WARNING) << "Get XuControlInfo of " << option << " failed"; LOG(WARNING) << "Get XuControlInfo of " << option << " failed";
return {0, 0, 0};
} }
return {min, max, def};
control_info_t info{0, 0, 0};
data[0] = id & 0xFF;
if (XuCamCtrlQuery(uvc::XU_QUERY_MIN, 3, data)) {
info.min = (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "Get XuControlInfo.min of " << option << " failed";
}
if (XuCamCtrlQuery(uvc::XU_QUERY_MAX, 3, data)) {
info.max = (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "Get XuControlInfo.max of " << option << " failed";
}
if (XuCamCtrlQuery(uvc::XU_QUERY_DEF, 3, data)) {
info.def = (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "Get XuControlInfo.def of " << option << " failed";
}
return info;
} }
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

16
src/internal/channels.h
View File

@ -37,11 +37,11 @@ struct xu;
class MYNTEYE_API Channels { class MYNTEYE_API Channels {
public: public:
typedef enum Channel { typedef enum Channel {
CHANNEL_CAM_CTRL = 0x0100, CHANNEL_CAM_CTRL = 1,
CHANNEL_HALF_DUPLEX = 0x0200, CHANNEL_HALF_DUPLEX = 2,
CHANNEL_IMU_WRITE = 0x0300, CHANNEL_IMU_WRITE = 3,
CHANNEL_IMU_READ = 0x0400, CHANNEL_IMU_READ = 4,
CHANNEL_FILE = 0x0500, CHANNEL_FILE = 5,
CHANNEL_LAST CHANNEL_LAST
} channel_t; } channel_t;
@ -110,6 +110,12 @@ class MYNTEYE_API Channels {
Option option, int32_t *min, int32_t *max, int32_t *def) const; Option option, int32_t *min, int32_t *max, int32_t *def) const;
bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const; bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const;
bool XuControlRange(
channel_t channel, uint8_t id, int32_t *min, int32_t *max, int32_t *def) const;
bool XuControlRange(
const uvc::xu &xu, uint8_t selector, uint8_t id, int32_t *min, int32_t *max,
int32_t *def) const;
bool XuControlQuery( bool XuControlQuery(
channel_t channel, uvc::xu_query query, uint16_t size, channel_t channel, uvc::xu_query query, uint16_t size,
uint8_t *data) const; uint8_t *data) const;

10
src/uvc/README.md Normal file
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@ -0,0 +1,10 @@
## `uvc-v4l2.cc`
* [Linux Media Subsystem Documentation](https://www.kernel.org/doc/html/latest/media/index.html)
* [The Linux USB Video Class (UVC) driver](https://www.kernel.org/doc/html/latest/media/v4l-drivers/uvcvideo.html)
## `uvc-wmf.cc`
* [Media Foundation](https://msdn.microsoft.com/en-us/library/ms694197(VS.85).aspx)
* [USB Video Class Driver](https://docs.microsoft.com/en-us/windows-hardware/drivers/stream/usb-video-class-driver)

14
src/uvc/uvc-libuvc.cc
View File

@ -144,6 +144,20 @@ bool pu_control_query(
return false; return false;
} }
bool xu_control_range(
const device &device, const xu &xu, uint8_t selector, uint8_t id, int32_t *min,
int32_t *max, int32_t *def) {
// TODO(JohnZhao)
UNUSED(device)
UNUSED(xu)
UNUSED(selector)
UNUSED(id)
UNUSED(min)
UNUSED(max)
UNUSED(def)
return false;
}
bool xu_control_query( bool xu_control_query(
const device &device, const xu &xu, uint8_t selector, xu_query query, const device &device, const xu &xu, uint8_t selector, xu_query query,
uint16_t size, uint8_t *data) { uint16_t size, uint8_t *data) {

41
src/uvc/uvc-v4l2.cc
View File

@ -381,11 +381,11 @@ struct device {
} }
if (callback) { if (callback) {
callback(buffers[buf.index].start); callback(buffers[buf.index].start, [buf, this]() mutable {
}
if (xioctl(fd, VIDIOC_QBUF, &buf) < 0) if (xioctl(fd, VIDIOC_QBUF, &buf) < 0)
LOG_ERROR(FATAL, "VIDIOC_QBUF"); throw_error("VIDIOC_QBUF");
});
}
} }
} }
@ -504,6 +504,39 @@ bool pu_control_query(
return device.pu_control_query(get_cid(option), code, value); return device.pu_control_query(get_cid(option), code, value);
} }
bool xu_control_range(
const device &device, const xu &xu, uint8_t selector, uint8_t id,
int32_t *min, int32_t *max, int32_t *def) {
bool ret = true;
std::uint8_t data[3]{static_cast<uint8_t>(id | 0x80), 0, 0};
if (!xu_control_query(device, xu, selector, XU_QUERY_SET, 3, data)) {
LOG(WARNING) << "xu_control_range query failed";
ret = false;
}
if (xu_control_query(device, xu, selector, XU_QUERY_MIN, 3, data)) {
*min = (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "xu_control_range query min failed";
ret = false;
}
if (xu_control_query(device, xu, selector, XU_QUERY_MAX, 3, data)) {
*max = (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "xu_control_range query max failed";
ret = false;
}
if (xu_control_query(device, xu, selector, XU_QUERY_DEF, 3, data)) {
*def = (data[1] << 8) | (data[2]);
} else {
LOG(WARNING) << "xu_control_range query def failed";
ret = false;
}
return ret;
}
bool xu_control_query( bool xu_control_query(
const device &device, const xu &xu, uint8_t selector, xu_query query, const device &device, const xu &xu, uint8_t selector, xu_query query,
uint16_t size, uint8_t *data) { uint16_t size, uint8_t *data) {

745
src/uvc/uvc-wmf.cc
View File

@ -13,44 +13,476 @@
// limitations under the License. // limitations under the License.
#include "uvc/uvc.h" // NOLINT #include "uvc/uvc.h" // NOLINT
#include <windows.h>
#include <usbioctl.h>
#include <Shlwapi.h> // For QISearch, etc.
#include <mfapi.h> // For MFStartup, etc.
#include <mfidl.h> // For MF_DEVSOURCE_*, etc.
#include <mfreadwrite.h> // MFCreateSourceReaderFromMediaSource
#include <mferror.h>
#pragma comment(lib, "Shlwapi.lib")
#pragma comment(lib, "mf.lib")
#pragma comment(lib, "mfplat.lib")
#pragma comment(lib, "mfreadwrite.lib")
#pragma comment(lib, "mfuuid.lib")
#pragma comment(lib, "setupapi.lib")
#pragma comment(lib, "winusb.lib")
#include <uuids.h>
#include <vidcap.h>
#include <ksmedia.h>
#include <ksproxy.h>
#include <Cfgmgr32.h>
#pragma comment(lib, "cfgmgr32.lib")
#include <SetupAPI.h>
#include <WinUsb.h>
#include <algorithm>
#include <chrono>
#include <functional>
#include <map>
#include <regex>
#include <sstream>
#include <thread>
#include <strsafe.h>
#include <glog/logging.h> #include <glog/logging.h>
#define VLOG_INFO VLOG(2)
// #define VLOG_INFO LOG(INFO)
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
namespace uvc { namespace uvc {
struct context { const std::map<uint32_t, uint32_t> fourcc_map = {
context() { { 0x56595559, 0x32595559 }, // 'VYUY' => '2YUY'
VLOG(2) << __func__; { 0x59555956, 0x59555932 } // 'YUYV' => 'YUY2'
};
struct throw_error {
throw_error() = default;
explicit throw_error(const std::string &s) {
ss << s;
} }
~context() { ~throw_error() noexcept(false) {
VLOG(2) << __func__; throw std::runtime_error(ss.str());
} }
template<class T>
throw_error &operator<<(const T &val) {
ss << val;
return *this;
}
std::ostringstream ss;
};
static void check(const char *call, HRESULT hr) {
if (FAILED(hr)) {
throw_error() << call << "(...) returned 0x" << std::hex
<< static_cast<uint32_t>(hr);
} else {
// VLOG_INFO << call << " SUCCESSED";
}
}
template<class T> class com_ptr {
T *p;
void ref(T *new_p) {
if (p == new_p) return;
unref();
p = new_p;
if (p) p->AddRef();
}
void unref() {
if (p) {
p->Release();
p = nullptr;
}
}
public:
com_ptr() : p() {}
com_ptr(T *p) : com_ptr() {
ref(p);
}
com_ptr(const com_ptr &r) : com_ptr(r.p) {}
~com_ptr() {
unref();
}
operator T *() const {
return p;
}
T &operator*() const {
return *p;
}
T *operator->() const {
return p;
}
T **operator&() {
unref();
return &p;
}
com_ptr &operator=(const com_ptr &r) {
ref(r.p);
return *this;
}
};
static std::string win_to_utf(const WCHAR *s) {
int len = WideCharToMultiByte(CP_UTF8, 0, s, -1, nullptr, 0, NULL, NULL);
if (len == 0) throw_error() << "WideCharToMultiByte(...) returned 0 and GetLastError() is " << GetLastError();
std::string buffer(len - 1, ' ');
len = WideCharToMultiByte(CP_UTF8, 0, s, -1, &buffer[0], (int)buffer.size()+1, NULL, NULL);
if (len == 0) throw_error() << "WideCharToMultiByte(...) returned 0 and GetLastError() is " << GetLastError();
return buffer;
}
std::vector<std::string> tokenize(std::string string, char separator) {
std::vector<std::string> tokens;
std::string::size_type i1 = 0;
while (true) {
auto i2 = string.find(separator, i1);
if (i2 == std::string::npos) {
tokens.push_back(string.substr(i1));
return tokens;
}
tokens.push_back(string.substr(i1, i2-i1));
i1 = i2 + 1;
}
}
/*
static void print_guid(const char *call, int i, GUID guid) {
std::ostringstream ss;
ss << call << "(" << i << ") = ";
ss << "Data1: " << std::hex << guid.Data1 << ", ";
ss << "Data2: " << std::hex << guid.Data2 << ", ";
ss << "Data3: " << std::hex << guid.Data3 << ", ";
ss << "Data4: [ ";
for (int j = 0; j < 8; j++) {
ss << std::hex << (int)guid.Data4[j] << " ";
}
ss << "]";
LOG(INFO) << ss.str();
}
*/
bool parse_usb_path(int &vid, int &pid, int &mi, std::string &unique_id, const std::string &path) {
auto name = path;
std::transform(begin(name), end(name), begin(name), ::tolower);
auto tokens = tokenize(name, '#');
if (tokens.size() < 1 || tokens[0] != R"(\\?\usb)") return false; // Not a USB device
if (tokens.size() < 3) {
LOG(ERROR) << "malformed usb device path: " << name;
return false;
}
auto ids = tokenize(tokens[1], '&');
if (ids[0].size() != 8 || ids[0].substr(0,4) != "vid_" || !(std::istringstream(ids[0].substr(4,4)) >> std::hex >> vid)) {
LOG(ERROR) << "malformed vid string: " << tokens[1];
return false;
}
if (ids[1].size() != 8 || ids[1].substr(0,4) != "pid_" || !(std::istringstream(ids[1].substr(4,4)) >> std::hex >> pid)) {
LOG(ERROR) << "malformed pid string: " << tokens[1];
return false;
}
if (ids[2].size() != 5 || ids[2].substr(0,3) != "mi_" || !(std::istringstream(ids[2].substr(3,2)) >> mi)) {
LOG(ERROR) << "malformed mi string: " << tokens[1];
return false;
}
ids = tokenize(tokens[2], '&');
if (ids.size() < 2) {
LOG(ERROR) << "malformed id string: " << tokens[2];
return false;
}
unique_id = ids[1];
return true;
}
bool parse_usb_path_from_device_id(int &vid, int &pid, int &mi, std::string &unique_id, const std::string &device_id) {
auto name = device_id;
std::transform(begin(name), end(name), begin(name), ::tolower);
auto tokens = tokenize(name, '\\');
if (tokens.size() < 1 || tokens[0] != R"(usb)") return false; // Not a USB device
auto ids = tokenize(tokens[1], '&');
if (ids[0].size() != 8 || ids[0].substr(0, 4) != "vid_" || !(std::istringstream(ids[0].substr(4, 4)) >> std::hex >> vid)) {
LOG(ERROR) << "malformed vid string: " << tokens[1];
return false;
}
if (ids[1].size() != 8 || ids[1].substr(0, 4) != "pid_" || !(std::istringstream(ids[1].substr(4, 4)) >> std::hex >> pid)) {
LOG(ERROR) << "malformed pid string: " << tokens[1];
return false;
}
if (ids[2].size() != 5 || ids[2].substr(0, 3) != "mi_" || !(std::istringstream(ids[2].substr(3, 2)) >> mi)) {
LOG(ERROR) << "malformed mi string: " << tokens[1];
return false;
}
ids = tokenize(tokens[2], '&');
if (ids.size() < 2) {
LOG(ERROR) << "malformed id string: " + tokens[2];
return false;
}
unique_id = ids[1];
return true;
}
struct context {
context() {
CoInitializeEx(NULL, COINIT_APARTMENTTHREADED);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
MFStartup(MF_VERSION, MFSTARTUP_NOSOCKET);
}
~context() {
MFShutdown();
CoUninitialize();
}
};
class reader_callback : public IMFSourceReaderCallback {
std::weak_ptr<device> owner; // The device holds a reference to us, so use
// weak_ptr to prevent a cycle
ULONG ref_count;
volatile bool streaming = false;
public:
reader_callback(std::weak_ptr<device> owner) : owner(owner), ref_count() {}
bool is_streaming() const {
return streaming;
}
void on_start() {
streaming = true;
}
#pragma warning( push )
#pragma warning( disable: 4838 )
// Implement IUnknown
HRESULT STDMETHODCALLTYPE QueryInterface(REFIID riid, void **ppvObject) override {
static const QITAB table[] = {QITABENT(reader_callback, IUnknown), QITABENT(reader_callback, IMFSourceReaderCallback), {0}};
return QISearch(this, table, riid, ppvObject);
}
#pragma warning( pop )
ULONG STDMETHODCALLTYPE AddRef() override { return InterlockedIncrement(&ref_count); }
ULONG STDMETHODCALLTYPE Release() override {
ULONG count = InterlockedDecrement(&ref_count);
if (count == 0) delete this;
return count;
}
// Implement IMFSourceReaderCallback
HRESULT STDMETHODCALLTYPE OnReadSample(HRESULT hrStatus, DWORD dwStreamIndex, DWORD dwStreamFlags, LONGLONG llTimestamp, IMFSample *sample) override;
HRESULT STDMETHODCALLTYPE OnFlush(DWORD dwStreamIndex) override { streaming = false; return S_OK; }
HRESULT STDMETHODCALLTYPE OnEvent(DWORD dwStreamIndex, IMFMediaEvent *pEvent) override { return S_OK; }
}; };
struct device { struct device {
const std::shared_ptr<context> parent; const std::shared_ptr<context> parent;
int vid, pid; int vid, pid;
std::string unique_id;
std::string name;
explicit device(std::shared_ptr<context> parent) : parent(parent) { com_ptr<reader_callback> reader_callback;
VLOG(2) << __func__; com_ptr<IMFActivate> mf_activate;
com_ptr<IMFMediaSource> mf_media_source;
com_ptr<IAMCameraControl> am_camera_control;
com_ptr<IAMVideoProcAmp> am_video_proc_amp;
std::map<int, com_ptr<IKsControl>> ks_controls;
com_ptr<IMFSourceReader> mf_source_reader;
video_channel_callback callback = nullptr;
device(std::shared_ptr<context> parent, int vid, int pid, std::string unique_id, std::string name)
: parent(move(parent)), vid(vid), pid(pid), unique_id(move(unique_id)), name(name) {
} }
~device() { ~device() {
VLOG(2) << __func__; stop_streaming();
} }
IKsControl *get_ks_control(const uvc::xu &xu) {
auto it = ks_controls.find(xu.node);
if (it != end(ks_controls)) return it->second;
get_media_source();
// Attempt to retrieve IKsControl
com_ptr<IKsTopologyInfo> ks_topology_info = NULL;
check("QueryInterface", mf_media_source->QueryInterface(__uuidof(IKsTopologyInfo), (void **)&ks_topology_info));
GUID node_type;
/*
DWORD numberOfNodes;
check("get_NumNodes", ks_topology_info->get_NumNodes(&numberOfNodes));
for (int i = 0; i < numberOfNodes; i++) {
check("get_NodeType", ks_topology_info->get_NodeType(i, &node_type));
print_guid("node_type", i, node_type);
}
*/
check("get_NodeType", ks_topology_info->get_NodeType(xu.node, &node_type));
const GUID KSNODETYPE_DEV_SPECIFIC_LOCAL{0x941C7AC0L, 0xC559, 0x11D0, {0x8A, 0x2B, 0x00, 0xA0, 0xC9, 0x25, 0x5A, 0xC1}};
if (node_type != KSNODETYPE_DEV_SPECIFIC_LOCAL) throw_error() << "Invalid extension unit node ID: " << xu.node;
com_ptr<IUnknown> unknown;
check("CreateNodeInstance", ks_topology_info->CreateNodeInstance(xu.node, IID_IUnknown, (LPVOID *)&unknown));
com_ptr<IKsControl> ks_control;
check("QueryInterface", unknown->QueryInterface(__uuidof(IKsControl), (void **)&ks_control));
VLOG_INFO << "Obtained KS control node : " << xu.node;
return ks_controls[xu.node] = ks_control;
}
void start_streaming() {
if (mf_source_reader) {
reader_callback->on_start();
check("IMFSourceReader::ReadSample", mf_source_reader->ReadSample(MF_SOURCE_READER_FIRST_VIDEO_STREAM, 0, NULL, NULL, NULL, NULL));
}
}
void stop_streaming() {
if (mf_source_reader) mf_source_reader->Flush(MF_SOURCE_READER_FIRST_VIDEO_STREAM);
while (true) {
bool is_streaming = reader_callback->is_streaming();
if (is_streaming) std::this_thread::sleep_for(std::chrono::milliseconds(10));
else break;
}
mf_source_reader = nullptr;
am_camera_control = nullptr;
am_video_proc_amp = nullptr;
ks_controls.clear();
if (mf_media_source) {
mf_media_source = nullptr;
check("IMFActivate::ShutdownObject", mf_activate->ShutdownObject());
}
callback = {};
}
com_ptr<IMFMediaSource> get_media_source() {
if (!mf_media_source) {
check("IMFActivate::ActivateObject", mf_activate->ActivateObject(__uuidof(IMFMediaSource), (void **)&mf_media_source));
if (mf_media_source) {
check("IMFMediaSource::QueryInterface", mf_media_source->QueryInterface(__uuidof(IAMCameraControl), (void **)&am_camera_control));
if (SUCCEEDED(mf_media_source->QueryInterface(__uuidof(IAMVideoProcAmp), (void **)&am_video_proc_amp)));
} else throw_error() << "Invalid media source";
}
return mf_media_source;
}
}; };
HRESULT reader_callback::OnReadSample(HRESULT hrStatus, DWORD dwStreamIndex, DWORD dwStreamFlags, LONGLONG llTimestamp, IMFSample *sample) {
if (auto owner_ptr = owner.lock()) {
if (sample) {
com_ptr<IMFMediaBuffer> buffer = NULL;
if (SUCCEEDED(sample->GetBufferByIndex(0, &buffer))) {
BYTE *byte_buffer;
DWORD max_length, current_length;
if (SUCCEEDED(buffer->Lock(&byte_buffer, &max_length, &current_length))) {
auto continuation = [buffer, this]() {
buffer->Unlock();
};
owner_ptr->callback(byte_buffer, continuation);
}
}
}
if (auto owner_ptr_new = owner.lock()) {
auto hr = owner_ptr_new->mf_source_reader->ReadSample(MF_SOURCE_READER_FIRST_VIDEO_STREAM, 0, NULL, NULL, NULL, NULL);
switch (hr) {
case S_OK: break;
case MF_E_INVALIDREQUEST: LOG(ERROR) << "ReadSample returned MF_E_INVALIDREQUEST"; break;
case MF_E_INVALIDSTREAMNUMBER: LOG(ERROR) << "ReadSample returned MF_E_INVALIDSTREAMNUMBER"; break;
case MF_E_NOTACCEPTING: LOG(ERROR) << "ReadSample returned MF_E_NOTACCEPTING"; break;
case E_INVALIDARG: LOG(ERROR) << "ReadSample returned E_INVALIDARG"; break;
case MF_E_VIDEO_RECORDING_DEVICE_INVALIDATED: LOG(ERROR) << "ReadSample returned MF_E_VIDEO_RECORDING_DEVICE_INVALIDATED"; break;
default: LOG(ERROR) << "ReadSample returned HRESULT " << std::hex << (uint32_t)hr; break;
}
if (hr != S_OK) streaming = false;
}
}
return S_OK;
}
std::shared_ptr<context> create_context() { std::shared_ptr<context> create_context() {
return std::make_shared<context>(); return std::make_shared<context>();
} }
std::vector<std::shared_ptr<device>> query_devices( std::vector<std::shared_ptr<device>> query_devices(std::shared_ptr<context> context) {
std::shared_ptr<context> context) { IMFAttributes *pAttributes = NULL;
check("MFCreateAttributes", MFCreateAttributes(&pAttributes, 1));
check("IMFAttributes::SetGUID", pAttributes->SetGUID(
MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE, MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_GUID));
IMFActivate **ppDevices;
UINT32 numDevices;
check("MFEnumDeviceSources", MFEnumDeviceSources(pAttributes, &ppDevices, &numDevices));
std::vector<std::shared_ptr<device>> devices; std::vector<std::shared_ptr<device>> devices;
UNUSED(context) for (UINT32 i = 0; i < numDevices; ++i) {
com_ptr<IMFActivate> pDevice;
*&pDevice = ppDevices[i];
WCHAR *wchar_dev_name = NULL;
WCHAR *wchar_name = NULL;
UINT32 length;
pDevice->GetAllocatedString(
MF_DEVSOURCE_ATTRIBUTE_SOURCE_TYPE_VIDCAP_SYMBOLIC_LINK, &wchar_dev_name,
&length);
auto dev_name = win_to_utf(wchar_dev_name);
CoTaskMemFree(wchar_dev_name);
pDevice->GetAllocatedString(MF_DEVSOURCE_ATTRIBUTE_FRIENDLY_NAME, &wchar_name, &length);
auto name = win_to_utf(wchar_name); // Device description name
CoTaskMemFree(wchar_name);
int vid, pid, mi;
std::string unique_id;
if (!parse_usb_path(vid, pid, mi, unique_id, dev_name)) continue;
std::shared_ptr<device> dev;
for (auto & d : devices) {
if (d->vid == vid && d->pid == pid && d->unique_id == unique_id)
dev = d;
}
if (!dev) {
try {
dev = std::make_shared<device>(context, vid, pid, unique_id, name);
devices.push_back(dev);
} catch (const std::exception &e) {
VLOG_INFO << "Not a USB video device: " << e.what();
}
}
dev->reader_callback = new reader_callback(dev);
dev->mf_activate = pDevice;
dev->vid = vid;
dev->pid = pid;
}
CoTaskMemFree(ppDevices);
return devices; return devices;
} }
@ -63,65 +495,286 @@ int get_product_id(const device &device) {
} }
std::string get_name(const device &device) { std::string get_name(const device &device) {
UNUSED(device) return device.name;
return "";
} }
std::string get_video_name(const device &device) { std::string get_video_name(const device &device) {
UNUSED(device) return device.name;
return ""; }
static long get_cid(Option option) {
switch (option) {
case Option::GAIN:
return VideoProcAmp_Gain;
case Option::BRIGHTNESS:
return VideoProcAmp_Brightness;
case Option::CONTRAST:
return VideoProcAmp_Contrast;
default:
LOG(FATAL) << "No VideoProcAmp cid for " << option;
}
} }
bool pu_control_range( bool pu_control_range(
const device &device, Option option, int32_t *min, int32_t *max, const device &device, Option option, int32_t *min, int32_t *max,
int32_t *def) { int32_t *def) {
UNUSED(device) VLOG_INFO << __func__ << " " << option;
UNUSED(option) const_cast<uvc::device &>(device).get_media_source();
UNUSED(min) long minVal = 0, maxVal = 0, steppingDelta = 0, defVal = 0, capsFlag = 0;
UNUSED(max) check("IAMVideoProcAmp::GetRange",
UNUSED(def) const_cast<uvc::device &>(device).am_video_proc_amp->GetRange(
return false; get_cid(option), &minVal, &maxVal, &steppingDelta, &defVal, &capsFlag));
if (min) *min = static_cast<int>(minVal);
if (max) *max = static_cast<int>(maxVal);
if (def) *def = static_cast<int>(defVal);
VLOG_INFO << __func__ << " " << option <<
": min=" << *min << ", max=" << *max << ", def=" << *def;
return true;
}
static void pu_control_get(const device &device, long property, int32_t *value) {
long data, flags = 0;
check("IAMVideoProcAmp::Get",
const_cast<uvc::device &>(device).am_video_proc_amp->Get(
property, &data, &flags));
*value = data;
}
static void pu_control_set(const device &device, long property, int32_t *value) {
long data = *value;
check("IAMVideoProcAmp::Set",
const_cast<uvc::device &>(device).am_video_proc_amp->Set(
property, data, VideoProcAmp_Flags_Auto));
} }
bool pu_control_query( bool pu_control_query(
const device &device, Option option, pu_query query, int32_t *value) { const device &device, Option option, pu_query query, int32_t *value) {
UNUSED(device) CHECK_NOTNULL(value);
UNUSED(option) const_cast<uvc::device &>(device).get_media_source();
UNUSED(query) switch (query) {
UNUSED(value) case PU_QUERY_SET:
VLOG_INFO << "pu_control_set " << option << ": " << *value;
pu_control_set(device, get_cid(option), value);
VLOG_INFO << "pu_control_set " << option << " done";
return true;
case PU_QUERY_GET:
VLOG_INFO << "pu_control_get " << option;
pu_control_get(device, get_cid(option), value);
VLOG_INFO << "pu_control_get " << option << ": " << *value;
return true;
default:
LOG(ERROR) << "pu_control_query request code is unaccepted";
return false; return false;
}
}
static std::string to_string(uint16_t size, uint8_t *data) {
std::ostringstream ss;
for (uint8_t *beg = data, *end = data + size; beg != end; beg++) {
ss << "0x" << std::hex << static_cast<int>(*beg) << ",";
}
return ss.str();
}
/*
static std::vector<BYTE> xu_control_desc(const device &device, const xu &xu, ULONG id, ULONG flags) {
auto ks_control = const_cast<uvc::device &>(device).get_ks_control(xu);
KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
node.Property.Set = reinterpret_cast<const GUID &>(xu.id);
node.Property.Id = id;
node.Property.Flags = flags;
node.NodeId = xu.node;
KSPROPERTY_DESCRIPTION description;
ULONG bytes_received = 0;
check("IKsControl::KsProperty", ks_control->KsProperty(
(PKSPROPERTY)&node,
sizeof(node),
&description,
sizeof(KSPROPERTY_DESCRIPTION),
&bytes_received));
ULONG size = description.DescriptionSize;
std::vector<BYTE> buffer(size);
check("IKsControl::KsProperty", ks_control->KsProperty(
(PKSPROPERTY)&node,
sizeof(node),
buffer.data(),
size,
&bytes_received));
if (bytes_received != size) { throw_error() << "wrong data"; }
// VLOG_INFO << "buffer size=" << size << ", data=["
// << to_string(size, buffer.data()) << "]";
return buffer;
}
bool xu_control_range(
const device &device, const xu &xu, uint8_t selector, int32_t *min,
int32_t *max, int32_t *def) {
VLOG_INFO << __func__ << " " << static_cast<int>(selector);
size_t prop_header_size = sizeof(KSPROPERTY_MEMBERSHEADER) + sizeof(KSPROPERTY_DESCRIPTION);
// get step, min and max values
{
auto &&buffer = xu_control_desc(device, xu, selector,
KSPROPERTY_TYPE_BASICSUPPORT | KSPROPERTY_TYPE_TOPOLOGY);
BYTE *values = buffer.data() + prop_header_size;
// size_t size = buffer.size() - prop_header_size;
// VLOG_INFO << "values size: " << size << ", data=["
// << to_string(size, values) << "]";
*min = (values[1] << 8) | (values[2]);
values += 3;
*max = (values[1] << 8) | (values[2]);
// values += 3;
// *step = (values[1] << 8) | (values[2]);
}
// get def value
{
auto &&buffer = xu_control_desc(device, xu, selector,
KSPROPERTY_TYPE_DEFAULTVALUES | KSPROPERTY_TYPE_TOPOLOGY);
BYTE *values = buffer.data() + prop_header_size;
// size_t size = buffer.size() - prop_header_size;
// VLOG_INFO << "values size: " << size << ", data=["
// << to_string(size, values) << "]";
*def = (values[1] << 8) | (values[2]);
}
VLOG_INFO << __func__ << " " << static_cast<int>(selector)
<< ": min=" << *min << ", max=" << *max << ", def=" << *def;
return true;
}
*/
static void xu_control_get(const device &device, const xu &xu, uint8_t selector,
uint16_t size, uint8_t *data) {
VLOG_INFO << __func__ << " " << static_cast<int>(selector);
auto &&ks_control = const_cast<uvc::device &>(device).get_ks_control(xu);
KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
node.Property.Set = reinterpret_cast<const GUID &>(xu.id);
node.Property.Id = selector;
node.Property.Flags = KSPROPERTY_TYPE_GET | KSPROPERTY_TYPE_TOPOLOGY;
node.NodeId = xu.node;
ULONG bytes_received = 0;
check("IKsControl::KsProperty", ks_control->KsProperty(
(PKSPROPERTY)&node, sizeof(node), data, size, &bytes_received));
if (bytes_received != size)
throw_error() << "xu_control_get did not return enough data";
VLOG_INFO << __func__ << " " << static_cast<int>(selector)
<< ": size=" << size << ", data=[" << to_string(size, data) << "]";
}
static void xu_control_set(const device &device, const xu &xu, uint8_t selector,
uint16_t size, uint8_t *data) {
VLOG_INFO << __func__ << " " << static_cast<int>(selector)
<< ": size=" << size << ", data=[" << to_string(size, data) << "]";
auto &&ks_control = const_cast<uvc::device &>(device).get_ks_control(xu);
KSP_NODE node;
memset(&node, 0, sizeof(KSP_NODE));
node.Property.Set = reinterpret_cast<const GUID &>(xu.id);
node.Property.Id = selector;
node.Property.Flags = KSPROPERTY_TYPE_SET | KSPROPERTY_TYPE_TOPOLOGY;
node.NodeId = xu.node;
ULONG bytes_received = 0;
check("IKsControl::KsProperty", ks_control->KsProperty(
(PKSPROPERTY)&node, sizeof(node), data, size, &bytes_received));
VLOG_INFO << __func__ << " " << static_cast<int>(selector) << " done";
}
static int32_t xu_control_range_basic(const device &device, const xu &xu, uint8_t selector, uint8_t id) {
std::uint8_t data[3]{id, 0, 0};
xu_control_set(device, xu, selector, 3, data);
xu_control_get(device, xu, selector, 3, data);
return (data[1] << 8) | (data[2]);
}
bool xu_control_range(
const device &device, const xu &xu, uint8_t selector, uint8_t id,
int32_t *min, int32_t *max, int32_t *def) {
VLOG_INFO << __func__ << " " << static_cast<int>(selector);
*min = xu_control_range_basic(
device, xu, selector, static_cast<uint8_t>(id | 0x90));
*max = xu_control_range_basic(
device, xu, selector, static_cast<uint8_t>(id | 0xa0));
*def = xu_control_range_basic(
device, xu, selector, static_cast<uint8_t>(id | 0xc0));
return true;
} }
bool xu_control_query( bool xu_control_query(
const device &device, const xu &xu, uint8_t selector, xu_query query, const device &device, const xu &xu, uint8_t selector, xu_query query,
uint16_t size, uint8_t *data) { uint16_t size, uint8_t *data) {
UNUSED(device) CHECK_NOTNULL(data);
UNUSED(xu) switch (query) {
UNUSED(selector) case XU_QUERY_SET:
UNUSED(query) xu_control_set(device, xu, selector, size, data);
UNUSED(size) return true;
UNUSED(data) case XU_QUERY_GET:
xu_control_get(device, xu, selector, size, data);
return true;
default:
LOG(ERROR) << "xu_control_query request code is unaccepted";
return false; return false;
}
} }
void set_device_mode( void set_device_mode(device &device, int width, int height, int fourcc, int fps, video_channel_callback callback) {
device &device, int width, int height, int fourcc, int fps, // NOLINT if (!device.mf_source_reader) {
video_channel_callback callback) { com_ptr<IMFAttributes> pAttributes;
UNUSED(device) check("MFCreateAttributes", MFCreateAttributes(&pAttributes, 1));
UNUSED(width) check("IMFAttributes::SetUnknown", pAttributes->SetUnknown(MF_SOURCE_READER_ASYNC_CALLBACK, static_cast<IUnknown *>(device.reader_callback)));
UNUSED(height) check("MFCreateSourceReaderFromMediaSource", MFCreateSourceReaderFromMediaSource(device.get_media_source(), pAttributes, &device.mf_source_reader));
UNUSED(fourcc) }
UNUSED(fps)
UNUSED(callback) if (fourcc_map.count(fourcc)) fourcc = fourcc_map.at(fourcc);
for (DWORD j = 0; ; j++) {
com_ptr<IMFMediaType> media_type;
HRESULT hr = device.mf_source_reader->GetNativeMediaType((DWORD)MF_SOURCE_READER_FIRST_VIDEO_STREAM, j, &media_type);
if (hr == MF_E_NO_MORE_TYPES) break;
check("IMFSourceReader::GetNativeMediaType", hr);
UINT32 uvc_width, uvc_height, uvc_fps_num, uvc_fps_denom;
GUID subtype;
check("MFGetAttributeSize", MFGetAttributeSize(media_type, MF_MT_FRAME_SIZE, &uvc_width, &uvc_height));
if (uvc_width != width || uvc_height != height) continue;
check("IMFMediaType::GetGUID", media_type->GetGUID(MF_MT_SUBTYPE, &subtype));
if (subtype.Data1 != fourcc) continue;
check("MFGetAttributeRatio", MFGetAttributeRatio(media_type, MF_MT_FRAME_RATE, &uvc_fps_num, &uvc_fps_denom));
if (uvc_fps_denom == 0) continue;
//int uvc_fps = uvc_fps_num / uvc_fps_denom;
//LOG(INFO) << "uvc_fps: " << uvc_fps;
check("IMFSourceReader::SetCurrentMediaType", device.mf_source_reader->SetCurrentMediaType((DWORD)MF_SOURCE_READER_FIRST_VIDEO_STREAM, NULL, media_type));
device.callback = callback;
return;
}
throw_error() << "no matching media type for pixel format " << std::hex << fourcc;
} }
void start_streaming(device &device, int num_transfer_bufs) { // NOLINT void start_streaming(device &device, int num_transfer_bufs) {
UNUSED(device) device.start_streaming();
UNUSED(num_transfer_bufs)
} }
void stop_streaming(device &device) { // NOLINT void stop_streaming(device &device) {
UNUSED(device) device.stop_streaming();
} }
} // namespace uvc } // namespace uvc

16
src/uvc/uvc.h
View File

@ -36,9 +36,17 @@ typedef enum pu_query {
PU_QUERY_LAST PU_QUERY_LAST
} pu_query; } pu_query;
struct MYNTEYE_API guid {
uint32_t data1;
uint16_t data2, data3;
uint8_t data4[8];
};
// Extension Unit // Extension Unit
struct MYNTEYE_API xu { struct MYNTEYE_API xu {
uint8_t unit; uint8_t unit;
int node;
guid id;
}; };
typedef enum xu_query { typedef enum xu_query {
@ -77,12 +85,16 @@ MYNTEYE_API bool pu_control_query(
const device &device, Option option, pu_query query, int32_t *value); const device &device, Option option, pu_query query, int32_t *value);
// Access XU (Extension Unit) controls // Access XU (Extension Unit) controls
MYNTEYE_API bool xu_control_query( MYNTEYE_API bool xu_control_range(
const device &device, const xu &xu, uint8_t selector, uint8_t id,
int32_t *min, int32_t *max, int32_t *def);
MYNTEYE_API bool xu_control_query( // XU_QUERY_SET, XU_QUERY_GET
const device &device, const xu &xu, uint8_t selector, xu_query query, const device &device, const xu &xu, uint8_t selector, xu_query query,
uint16_t size, uint8_t *data); uint16_t size, uint8_t *data);
// Control streaming // Control streaming
typedef std::function<void(const void *frame)> video_channel_callback; typedef std::function<void(const void *frame,
std::function<void()> continuation)> video_channel_callback;
MYNTEYE_API void set_device_mode( MYNTEYE_API void set_device_mode(
device &device, int width, int height, int fourcc, int fps, // NOLINT device &device, int width, int height, int fourcc, int fps, // NOLINT