[Vm-dev] [commit] r2572 - update CameraPlugin to latest version

commits at squeakvm.org commits at squeakvm.org
Mon Jul 30 22:04:37 UTC 2012


Author: piumarta
Date: 2012-07-30 15:04:37 -0700 (Mon, 30 Jul 2012)
New Revision: 2572

Added:
   trunk/platforms/unix/plugins/CameraPlugin/README.CameraPlugin
   trunk/platforms/unix/plugins/CameraPlugin/config.cmake
   trunk/platforms/unix/plugins/CameraPlugin/sqCamera-linux.c
Removed:
   trunk/platforms/unix/plugins/CameraPlugin/sqCamera.c
Log:
update CameraPlugin to latest version

Added: trunk/platforms/unix/plugins/CameraPlugin/README.CameraPlugin
===================================================================
--- trunk/platforms/unix/plugins/CameraPlugin/README.CameraPlugin	                        (rev 0)
+++ trunk/platforms/unix/plugins/CameraPlugin/README.CameraPlugin	2012-07-30 22:04:37 UTC (rev 2572)
@@ -0,0 +1,43 @@
+CameraPlugin, 17th May 2010 11:00:00
+
+- Rewrote for more general use (Squeak, Etoys, XO, etc)
+
+- Supports multiple simultaneously open cameras
+
+- Dependency on libv4l2 dropped but...
+
+- Code now attempts to open libv4l2 and uses it available
+
+- Additional pixel format conversions (if no libv4l2)
+
+- Redesigned so future version can do frame skipping without
+  incurring conversion delays on skipped frames. To support
+  this the Scratch API would need to change...
+
+	CameraGetFrame(int camNum, unsigned char* buf, int pixelCount)
+
+  to...
+
+	CameraGetFrame(int camNum, unsigned char* buf, int pixelCount, int skipFrameCount)
+
+- Why is frame skipping required? To support "snapshot" type 
+  use-cases such as the following and particularly when the
+  camera would be shut down between uses to preserve power:
+
+	- taking a picture at any ad hoc moment, 
+	- taking a picture at a specific/precise time,
+	- taking a picture at periodically, eg, time-lapse photgraphy
+
+  Webcams are generally designed for streaming and drivers
+  typically use various degrees of buffering to improve
+  performance. Buffering can mean that, eg, a five second
+  time-lapse captured image could actually be five, ten or
+  more seconds old. In one such test I needed to skip 20
+  frames to get the latest one! Some cameras/ drivers are
+  designed for this type of operation but "CameraPlugin"
+  is being specifically designed for maximum general use
+  across various hw platforms and many different types of
+  camera. 
+
+- More info: http://info.scratch.mit.edu/Linux_installer/Linux_Camera_Plug-in
+

Added: trunk/platforms/unix/plugins/CameraPlugin/config.cmake
===================================================================
--- trunk/platforms/unix/plugins/CameraPlugin/config.cmake	                        (rev 0)
+++ trunk/platforms/unix/plugins/CameraPlugin/config.cmake	2012-07-30 22:04:37 UTC (rev 2572)
@@ -0,0 +1,3 @@
+PLUGIN_REQUIRE_INCLUDE(V4L2 linux/videodev2.h /usr/include)
+
+

Added: trunk/platforms/unix/plugins/CameraPlugin/sqCamera-linux.c
===================================================================
--- trunk/platforms/unix/plugins/CameraPlugin/sqCamera-linux.c	                        (rev 0)
+++ trunk/platforms/unix/plugins/CameraPlugin/sqCamera-linux.c	2012-07-30 22:04:37 UTC (rev 2572)
@@ -0,0 +1,900 @@
+/* sqCamera-linux.c -- plugin for hardware camera on Linux
+ *
+ * Author: Derek O'Connell <doc at doconnel.f9.co.uk>
+ * 
+ *   Copyright (C) 2010 by Derek O'Connel
+ *   All rights reserved.
+ *   
+ *   This file is part of Unix Squeak.
+ * 
+ *   Permission is hereby granted, free of charge, to any person obtaining a
+ *   copy of this software and associated documentation files (the "Software"),
+ *   to deal in the Software without restriction, including without limitation
+ *   the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ *   and/or sell copies of the Software, and to permit persons to whom the
+ *   Software is furnished to do so, subject to the following conditions:
+ * 
+ *   The above copyright notice and this permission notice shall be included in
+ *   all copies or substantial portions of the Software.
+ * 
+ *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ *   THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ *   FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ *   DEALINGS IN THE SOFTWARE.
+ *
+ * Last edited: 2012-07-30 14:59:01 by piumarta on emilia
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <assert.h>
+
+#include <getopt.h> 
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/time.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include <dlfcn.h>
+
+#include <asm/types.h>	  /* for videodev2.h */
+
+#include <linux/videodev2.h>
+
+
+#define sqInt int
+#define true 1
+#define false 0
+
+
+/* >>>>> USE_TEST_PATTERN >>>>
+/  
+/ Helps check Squeak is capturing and displaying the 
+/ latest frame. See CameraGetFrame() which will
+/ return single colour frames in the sequence RGB.
+/ 
+/ Remove the "x" to enable...
+*/
+
+#define USE_TEST_PATTERNx
+
+#ifdef USE_TEST_PATTERN
+  static int tstColourIdx = 0;
+#endif
+
+
+/* >>>>> LIBV4L2 USAGE >>>>> 
+/ 
+/ Attempting to get best-of-all-worlds so
+/ explicitly loading libv4l2 if available
+/ to avoid build-time dependency.
+/ 
+*/
+
+void *hLibv4l2 = NULL;
+
+int (*vd_open)(const char *, int, ...);
+int (*vd_close)(int);
+int (*vd_dup)(int);
+int (*vd_ioctl)(int, unsigned long int, ...);
+ssize_t (*vd_read)(int, void *, size_t);
+void * (*vd_mmap)(void *, size_t, int, int, int, int64_t);
+int (*vd_munmap)(void *, size_t);
+
+
+/* >>>>>>> MULTI-CAMERA SUPPORT >>>>> */
+
+#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;
+};
+
+struct camInfo_t {
+	unsigned int isOpen;
+	unsigned int devNum;
+	int	fileDesc;
+	unsigned int bmWidth, bmHeight;
+	
+	io_method ioMethod;
+	int pixelformat;
+	struct buffer *buffers;
+	unsigned int nBuffers;
+
+	struct v4l2_buffer vBuf;
+	void *inBuffer;
+	unsigned long inBufferSize;
+	
+	void *sqBuffer;
+	unsigned long sqBufferBytes;
+	unsigned long sqPixels;
+
+	unsigned long frameCount;
+} camInfo[10];
+
+typedef struct camInfo_t *camPtr;
+
+static char * videoDevName0 = "/dev/video0";
+
+struct v4l2_buffer tmpVBuf;
+
+
+/* >>>>>>>> FUNCTION PROTOTYPES >>>>>>>> */
+
+/* LIBRARY CONSTRUCTOR/DESCTRUCTOR */
+void __attribute__ ((constructor)) libCon(void);
+void __attribute__ ((destructor)) libDes(void);
+
+/* SQUEAK INTERFACE */
+sqInt CameraGetParam(int camNum, int paramNum);
+sqInt CameraGetFrame(int camNum, unsigned char* buf, int pixelCount);
+sqInt CameraExtent(int camNum);
+char* CameraName(int camNum);
+void CameraClose(int camNum);
+sqInt CameraOpen(int camNum, int frameWidth, int frameHeight);
+
+
+/* ========================================================= */
+/* ========================================================= */
+/* ========================================================= */
+
+/* >>>>>>>>>>> UTILITY */
+
+inline int   camIsOpen(camPtr cam) { return ( cam->isOpen); }
+inline int camIsClosed(camPtr cam) { return (!cam->isOpen); }
+
+
+static void 
+vBufReset(struct v4l2_buffer *buf)
+{
+	CLEAR (*buf);
+	buf->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+	buf->memory = V4L2_MEMORY_MMAP;
+}
+
+
+/* >>>>>>>>>>> LIB CONSTRUCTOR/DESTRUCTOR */
+
+void __attribute__ ((constructor)) 
+libCon(void)
+{
+	int devNum;
+	camPtr cam;
+
+	vd_open = open;
+	vd_close = close;
+	vd_dup = dup;
+	vd_ioctl = ioctl;
+	vd_read = read;
+	vd_mmap = mmap;
+	vd_munmap = munmap;
+
+	/* Use libv4l2: use if available... */
+	
+	hLibv4l2 = dlopen("libv4l2.so.0", RTLD_LAZY);
+	if (hLibv4l2) {
+		vd_open = dlsym(hLibv4l2, "v4l2_open");
+		vd_close = dlsym(hLibv4l2, "v4l2_close");
+		vd_dup = dlsym(hLibv4l2, "v4l2_dup");
+		vd_ioctl = dlsym(hLibv4l2, "v4l2_ioctl");
+		vd_read = dlsym(hLibv4l2, "v4l2_read");
+		vd_mmap = dlsym(hLibv4l2, "v4l2_mmap");
+		vd_munmap = dlsym(hLibv4l2, "v4l2_munmap");
+	} 
+
+	/* Init camInfo array... */
+	
+	for (devNum = 0; devNum < 10; ++devNum) {
+	  cam = &camInfo[devNum];
+
+	  CLEAR(*cam);
+
+	  cam->isOpen = false;
+	  cam->devNum = devNum;
+	  cam->ioMethod = IO_METHOD_MMAP;
+	  cam->nBuffers = 2;
+	  vBufReset(&(cam->vBuf));
+	  /* Pixel format auto selected for ease/speed of conversion */
+
+/*
+	  cam->fileDesc = 0;
+	  cam->bmWidth = 0;
+	  cam->bmHeight = 0;
+	  cam->buffers = NULL;
+	  cam->nBuffers = 0;
+	  cam->vBuf = NULL;
+	  cam->pixelformat		= V4L2_PIX_FMT_YUYV;
+	  cam->pixelformat		= V4L2_PIX_FMT_RGB24;
+	  cam->sqBuffer = 0;
+	  cam->sqBufferBytes = 0;
+	  cam->sqPixels = 0;
+	  cam->frameCount = 0;
+*/
+  }
+}
+
+
+void __attribute__ ((destructor)) 
+libDes(void)
+{
+  int camNum;
+  for (camNum = 1; camNum < 11; ++camNum)
+	if (camIsOpen(&camInfo[camNum-1]))
+	  CameraClose(camNum);
+  
+/* 
+/ Closing libv4l2 causes a crash, so it must
+/ already be closed by this point.
+*/
+/*  
+  if (hLibv4l2) dlclose(hLibv4l2);
+*/
+}
+
+
+/* >>>>>>>>>>> PIXEL FORMAT CONVERSION, SQ BUFFER TRANSFER */
+
+/* YUV CONVERSION:
+/
+/  from: palettes.c in VideoForLinuxPlugin
+/  from: http://en.wikipedia.org/wiki/YUV422
+/
+*/
+
+inline unsigned char 
+clipPixel(const int pixel) {
+    int result;
+    result = ((pixel < 0) ? 0 : pixel);
+    return (unsigned char) ((result > 255) ? 255: result);
+}
+
+
+inline void 
+convertPixelYUV444toARGB32(
+			   const unsigned char y,
+               const unsigned char u,
+               const unsigned char v,
+               unsigned char* dest)
+{
+    const int C = (y - 16) * 298 + 128;
+    const int D = u - 128;
+    const int E = v - 128;
+
+    /* ARGB */
+    dest[0] = clipPixel(( C + 516 * D          ) >> 8);
+    dest[1] = clipPixel(( C - 100 * D - 208 * E) >> 8);
+    dest[2] = clipPixel(( C           + 409 * E) >> 8);
+    dest[3] = 255;
+}
+
+
+inline void 
+convertImageYUYVToARGB32 (camPtr cam)
+{
+	int i;
+
+	const unsigned char* src = cam->inBuffer;
+	unsigned char* dst = cam->sqBuffer;
+	unsigned long int *pdst;
+	unsigned long int pixelCount = cam->sqPixels;
+
+	unsigned char u, y1, v, y2;
+
+	for (i = 0; i < pixelCount; i += 2) {
+		y1 = *src++;
+		u  = *src++;
+		y2 = *src++;
+		v  = *src++;
+
+		convertPixelYUV444toARGB32(y1, u, v, dst);
+		pdst = (unsigned long *)dst;
+		dst += 4;
+
+		if (y2 == y1)
+		  *(unsigned long *)dst = *pdst;
+		else
+		  convertPixelYUV444toARGB32(y2, u, v, dst);
+		
+		dst += 4;
+	}
+}
+/* <<<<<<<<< YUV CONVERSION <<<<<<<< */
+
+
+static void 
+convertImageRGB24toARGB32 (camPtr cam)
+{
+	unsigned char 	  *src = cam->inBuffer;
+	unsigned long int *dst = cam->sqBuffer;
+	unsigned long int pixelCount = cam->sqPixels;
+	unsigned long int pixel;
+	int i;
+
+	if (0 == dst) return;
+
+	for ( i = 0; i < pixelCount; i++) {
+		pixel = 0xFF000000 | (*src++ << 16);
+		pixel = pixel | (*src++ << 8);
+		*dst++  = pixel | *src++;
+	}
+}
+
+
+static void 
+convertImageRGB444toARGB32 (camPtr cam)
+{
+	unsigned char 	  *src = cam->inBuffer;
+	unsigned long int *dst = cam->sqBuffer;
+	unsigned long int pixelCount = cam->sqPixels;
+	unsigned long int r,g,b,pixel;
+	int i;
+
+	if (0 == dst) return;
+
+	/* Byte0: (g)ggg(b)bbb, Byte1: xxxx(r)rrr */
+
+	for ( i = 0; i < pixelCount; i++) {
+	  r = *src << 4;
+	  g = *src++ & 0xF0;
+	  b = (*src++ & 0x0F) << 4;
+	  pixel = 0xFF000000;
+	  pixel |= (r << 16);
+	  pixel |= (g <<  8);
+	  pixel |= b;
+	  *dst++ = pixel;
+	}
+}
+
+
+static void 
+convertImageRGB565toARGB32 (camPtr cam)
+{
+	unsigned char 	  *src = cam->inBuffer;
+	unsigned long int *dst = cam->sqBuffer;
+	unsigned long int pixelCount = cam->sqPixels;
+	unsigned long int r,g,b,pixel;
+	int i;
+
+	if (0 == dst) return;
+
+	/* Byte0: ggg(r)rrrr, Byte1: (b)bbbb(g)gg */
+
+	for ( i = 0; i < pixelCount; i++) {
+	  r = (*src & 0x1F) << 3;
+	  g = (*src++ & 0xE0) >> 5;
+	  g |= (*src & 0x07) << 5;
+	  b = *src++ & 0xF8;
+	  pixel = 0xFF000000;
+	  pixel |= (b << 16);
+	  pixel |= (g <<  8);
+	  pixel |= r;
+	  *dst++ = pixel;
+	}
+}
+
+
+void
+convertImage (camPtr cam)
+{
+	/* func pts to be used at later date */
+  
+	if (cam->pixelformat == V4L2_PIX_FMT_YUYV) {
+		convertImageYUYVToARGB32 (cam);
+		return;
+	}
+
+	if (cam->pixelformat == V4L2_PIX_FMT_RGB565) {
+		convertImageRGB565toARGB32 (cam);
+		return;
+	}
+	
+	if (cam->pixelformat == V4L2_PIX_FMT_RGB444) {
+		convertImageRGB444toARGB32 (cam);
+		return;
+	}
+	
+	if (cam->pixelformat == V4L2_PIX_FMT_RGB24) {
+		convertImageRGB24toARGB32 (cam);
+		return;
+	}
+}
+
+
+/* >>>>>>>>>>> V4L ACCESS */
+
+static int 
+xioctl (camPtr cam, int request, void * arg) 
+{
+	int r;
+	do r = vd_ioctl (cam->fileDesc, request, arg);
+	  while (-1 == r && EINTR == errno);
+	return (0 == r);
+}
+
+
+inline static int
+queueBuffer(camPtr cam, struct v4l2_buffer *bufPtr)
+{
+	return xioctl (cam, VIDIOC_QBUF, bufPtr);
+}
+
+
+inline static int
+dequeueBuffer(camPtr cam, struct v4l2_buffer *bufPtr)
+{
+	return xioctl (cam, VIDIOC_DQBUF, bufPtr);
+}
+
+
+inline static int 
+read_frame (camPtr cam) 
+{
+	struct v4l2_buffer *bufPtr = &(cam->vBuf);
+	
+	cam->frameCount += 1;
+	
+	vBufReset(bufPtr);
+	
+	if (!dequeueBuffer(cam, bufPtr)) {
+		switch (errno) {
+			case EAGAIN:
+			case EIO:
+				return false;
+			default:
+				return false;
+		}
+	}
+/* Not convinced this check is needed...
+	if (bufPtr->index < cam->nBuffers)
+*/
+	/* Quickly copy incoming frame and requeue immediately */
+	memcpy(cam->inBuffer, cam->buffers[bufPtr->index].start, cam->inBufferSize);
+	queueBuffer(cam, bufPtr);
+	/* Conversion not triggered here, see comment on CameraGetFrame() */
+
+	return true;
+}
+
+
+static 
+int 
+getFrame(camPtr cam) 
+{
+	int fd = cam->fileDesc;
+	unsigned int retry;
+	fd_set fds;
+	struct timeval tv;
+	int r;
+
+	retry = 1;
+	while (retry-- > 0) {
+		FD_ZERO (&fds);
+		FD_SET (fd, &fds);
+
+		/* Timeout. */
+		tv.tv_sec = 0;
+		tv.tv_usec = 20000;
+
+		errno = 0;
+		if (-1 == (r = select (fd + 1, &fds, NULL, NULL, &tv))) {
+			/* try again on EINTR */
+			if ((EINTR == errno) | (EAGAIN == errno))
+				continue;
+			return false;
+		}
+
+		if (0 == r)
+		  return false;
+		
+		if (FD_ISSET(fd, &fds))
+		  return read_frame (cam);
+
+		return false;
+	}
+	
+	return false;
+}
+
+
+static int 
+stream_off (camPtr cam) 
+{
+	enum v4l2_buf_type streamType = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+	return xioctl (cam, VIDIOC_STREAMOFF, &streamType);
+}
+
+
+static int 
+stream_on (camPtr cam) 
+{
+	enum v4l2_buf_type streamType = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+	return xioctl (cam, VIDIOC_STREAMON, &streamType);
+}
+
+
+static int 
+uninit_device (camPtr cam) 
+{
+	unsigned int i;
+
+	if (cam->buffers)
+	  for (i = 0; i < cam->nBuffers; ++i)
+		  if (vd_munmap (cam->buffers[i].start, cam->buffers[i].length))
+			  return false;
+
+	free (cam->buffers);
+	free (cam->inBuffer);
+	
+	return true;
+}
+
+
+static int 
+queueAllBuffers (camPtr cam) 
+{
+	struct v4l2_buffer *bufPtr = &(cam->vBuf);
+	
+	vBufReset(bufPtr);
+	for (bufPtr->index = 0; bufPtr->index < cam->nBuffers; (bufPtr->index)++)
+		if (!queueBuffer(cam, bufPtr)) return false;
+	return true;
+}
+
+
+static int 
+init_mmap (camPtr cam) 
+{
+	struct v4l2_buffer *bufPtr = &tmpVBuf;
+	struct v4l2_requestbuffers req;
+	
+	CLEAR (req);
+	req.count	= cam->nBuffers;
+	req.type	= V4L2_BUF_TYPE_VIDEO_CAPTURE;
+	req.memory	= V4L2_MEMORY_MMAP;
+
+	if (!xioctl(cam, VIDIOC_REQBUFS, &req)) return false;
+/* Left in for debugging >>>
+	{
+		if (EINVAL == errno) {
+			return false;
+		} else {
+			return false;
+		}
+	}
+<<< */
+
+	if (req.count < cam->nBuffers) return false;
+	if (cam->nBuffers < req.count) 
+		printf("Excess Buffers: %i\n", req.count);
+
+	if (!(cam->buffers = calloc (req.count, sizeof (struct buffer))))
+		return false;
+
+	vBufReset(bufPtr);
+	for (bufPtr->index = 0; bufPtr->index < req.count; bufPtr->index++) {
+
+		if (!xioctl(cam, VIDIOC_QUERYBUF, bufPtr)) return false;
+		
+		cam->buffers[bufPtr->index].length = bufPtr->length;
+		cam->buffers[bufPtr->index].start  = vd_mmap (
+						  NULL /* start anywhere */,
+						  bufPtr->length,
+						  PROT_READ | PROT_WRITE /* required */,
+						  MAP_SHARED /* recommended */,
+						  cam->fileDesc,
+						  bufPtr->m.offset);
+
+		if (MAP_FAILED == cam->buffers[bufPtr->index].start) return false;
+	}
+
+	return true;
+}
+
+
+static int
+set_format (camPtr cam, struct v4l2_format *fmt, int pixelformat, int w, int h)
+{
+	fmt->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+	fmt->fmt.pix.width	= w;
+	fmt->fmt.pix.height	= h;
+	fmt->fmt.pix.pixelformat = pixelformat;
+	fmt->fmt.pix.field	= V4L2_FIELD_NONE;
+	if (!xioctl (cam, VIDIOC_S_FMT, fmt)) return false;
+
+	/* Note VIDIOC_S_FMT may change width and height. */
+	if ((w != fmt->fmt.pix.width) | (h != fmt->fmt.pix.height)
+			| (fmt->fmt.pix.pixelformat != pixelformat))
+		return false;
+
+	cam->pixelformat = pixelformat;
+	
+	return true;
+}
+
+
+static int 
+init_device (camPtr cam, int w, int h) 
+{
+	struct v4l2_capability cap;
+	struct v4l2_cropcap cropcap;
+	struct v4l2_crop crop;
+	struct v4l2_format fmt;
+	int bpp;
+	unsigned int min;
+
+	if (!xioctl (cam, VIDIOC_QUERYCAP, &cap)) return false;
+/* left in for debugging >>>
+	{
+		if (EINVAL == errno) {
+			return -1;
+		} else {
+			return -1;
+		}
+	}
+<<< */
+
+	if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) return false;
+	if (!(cap.capabilities & V4L2_CAP_STREAMING)) return false;
+
+	/* Select video input, video standard and tune here. */
+
+	CLEAR (cropcap);
+	cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+
+	if (xioctl (cam, VIDIOC_CROPCAP, &cropcap)) {
+		crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+		crop.c = cropcap.defrect; /* reset to default */
+		if (!xioctl (cam, VIDIOC_S_CROP, &crop)) {
+			if (EINVAL == errno) {
+				/* Cropping not supported (ignored) */
+			} else {
+				/* Errors ignored. */
+			}
+		}
+	} else {
+		/* Errors ignored. */
+	}
+
+	CLEAR (fmt);
+	/* The order of preference of formats... */
+	if (!set_format(cam, &fmt, V4L2_PIX_FMT_RGB24, w, h))
+	  if (!set_format(cam, &fmt, V4L2_PIX_FMT_YUYV, w, h))
+		if (!set_format(cam, &fmt, V4L2_PIX_FMT_RGB565, w, h))
+		  if (!set_format(cam, &fmt, V4L2_PIX_FMT_RGB444, w, h))
+			return false;
+		
+	/* For reference:
+		V4L2_PIX_FMT_RGB24 : 3 bytes == 1 dst pixel
+		V4L2_PIX_FMT_RGB565: 2 bytes == 1 dst pixel
+		V4L2_PIX_FMT_RGB444: 2 bytes == 1 dst pixel
+		V4L2_PIX_FMT_YUYV  : 4 bytes == 2 dst pixels
+	*/
+	
+	switch (fmt.fmt.pix.pixelformat) {
+	  case V4L2_PIX_FMT_RGB24: /* printf("V4L2_PIX_FMT_RGB24\n"); */
+		bpp = 3; 
+		break;
+	  case V4L2_PIX_FMT_RGB565: /* printf("V4L2_PIX_FMT_RGB565\n"); */
+		bpp = 2; 
+		break;
+	  case V4L2_PIX_FMT_RGB444: /* printf("V4L2_PIX_FMT_RGB444\n"); */
+		bpp = 2;
+		break;
+	  case V4L2_PIX_FMT_YUYV: /* printf("V4L2_PIX_FMT_YUYV\n"); */
+		bpp = 4; 
+		break;
+	}
+	
+	/* Buggy driver paranoia >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> */	
+	min = fmt.fmt.pix.width * bpp;
+	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;
+	/* <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< */
+	
+	if (!(cam->inBuffer = calloc (min, 1))) return false;
+	cam->inBufferSize = min;
+	
+	if (!init_mmap(cam)) return false;
+
+	if (!queueAllBuffers(cam)) return false;
+
+	/* cache returned dims */
+	cam->bmWidth = fmt.fmt.pix.width;
+	cam->bmHeight = fmt.fmt.pix.height;
+	cam->sqPixels = cam->bmWidth * cam->bmHeight;
+	cam->sqBufferBytes = cam->sqPixels * 4; /* Bytes to tx to Squeak (always RGB32) */
+
+	return true;
+}
+
+
+static int 
+close_device (camPtr cam) 
+{
+	vd_close (cam->fileDesc);
+	cam->fileDesc = 0;
+	return true;
+}
+
+
+static int 
+open_device (camPtr cam) 
+{
+	char deviceName[12];
+	struct stat st;
+
+	strcpy(deviceName, videoDevName0);
+	deviceName[10] = cam->devNum + '0';
+
+	if (stat (deviceName, &st)) return false;
+	if (!S_ISCHR (st.st_mode)) return false;
+
+	return (-1 != (cam->fileDesc = vd_open (deviceName, O_RDWR /* required */ | O_NONBLOCK, 0)));
+}
+
+
+int 
+initCamera(camPtr cam, int w, int h) 
+{
+    if (!open_device(cam)) return false;
+
+	if (!init_device(cam, w, h)) {
+        close_device(cam);
+        return false;
+    }
+
+    if (!stream_on(cam)) {
+        uninit_device(cam);
+        close_device(cam);
+        return false;
+    }
+
+    return true;
+}
+
+
+/* >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> */
+/* >>>>>>>>>>>>>>>>> SCRATCH I/F >>>>>>>>>>>>>>>>> */
+/* >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> */
+
+sqInt 
+CameraGetParam(int camNum, int paramNum) 
+{
+	camPtr cam = &camInfo[camNum-1];
+	return false;
+}
+
+
+/*
+/ Spec from Scratch protocol...
+/
+/	  "Copy a camera frame into the given Bitmap. The Bitmap should be for a Form 
+/	  of depth 32 that is the same width and height as the current camera frame. 
+/	  Fail if the camera is not open or if the bitmap is not the right size. If 
+/	  successful, answer the number of frames received from the camera since the 
+/	  last call. If this is zero, then there has been no change."
+/	
+/  This version: 
+/	- designed to fail silently
+/	- coded so that a future version can skip frames and do so *without* incurring
+/	  delays due to conversion.
+*/
+sqInt 
+CameraGetFrame(int camNum, unsigned char* buf, int pixelCount) 
+{
+#ifdef USE_TEST_PATTERN
+	unsigned long f,i;
+	unsigned long *d;
+#endif
+
+	camPtr cam = &camInfo[camNum-1];
+	
+	if (camIsClosed(cam)) return 0;
+	if (pixelCount != cam->sqPixels) return 0;
+	
+	cam->sqBuffer = (void *)buf;
+
+#ifdef USE_TEST_PATTERN
+printf("%i\n", tstColourIdx);
+	switch (tstColourIdx) {
+	  case 0:
+		f = 0xFFFF0000;
+		break;
+	  case 1:
+		f = 0xFF00FF00;
+		break;
+	  case 2:
+		f = 0xFF0000FF;
+		break;
+	}
+	d = (unsigned long *)buf;
+	for (i = 0; i < pixelCount; i++)
+	  *d++ = f;
+	tstColourIdx = (tstColourIdx == 2 ? 0: tstColourIdx + 1);
+	return 1;
+#endif
+
+/* OPTION 1: ALL FRAMES, SKIP IMAGE-SIDE, INCUR CONVERSION COST... */
+
+	if (getFrame(cam)) {
+	  convertImage (cam);
+	  return 1;
+	}
+	return 0;
+
+	
+/* OPTION 2: ONLY LATEST FRAME, AVOIDS CONVERSION OF SKIPPED FRAMES... */
+
+	/* getFrame() buffers & eventually fails leaving the latest/last frame */
+/*
+	while (getFrame(cam));
+	convertImage (cam);
+	return 1;
+*/
+
+}
+
+
+sqInt 
+CameraExtent(int camNum) 
+{
+	camPtr cam = &camInfo[camNum-1];
+	if (camIsClosed(cam)) return false;
+	return (cam->bmWidth << 16) + cam->bmHeight;
+}
+
+
+char* 
+CameraName(int camNum) 
+{
+	camPtr cam = &camInfo[camNum-1];
+	if (camIsClosed(cam)) return "camera not open";
+	return "default camera";
+}
+
+
+void 
+CameraClose(int camNum) 
+{
+	camPtr cam = &camInfo[camNum-1];
+	if (camIsClosed(cam)) return;
+	stream_off(cam);
+	uninit_device(cam);
+	close_device(cam);
+	cam->isOpen = false;
+}
+
+
+sqInt 
+CameraOpen(int camNum, int frameWidth, int frameHeight) 
+{
+	camPtr cam = &camInfo[camNum-1];
+
+	if (camIsOpen(cam)) return false;
+	if (!initCamera(cam, frameWidth, frameHeight)) return false;
+	cam->isOpen = true;
+	
+	while (!getFrame(cam));
+
+#ifdef USE_TEST_PATTERN
+	tstColourIdx = 0;
+#endif
+	return true;
+}
+

Deleted: trunk/platforms/unix/plugins/CameraPlugin/sqCamera.c
===================================================================
--- trunk/platforms/unix/plugins/CameraPlugin/sqCamera.c	2012-07-30 20:51:54 UTC (rev 2571)
+++ trunk/platforms/unix/plugins/CameraPlugin/sqCamera.c	2012-07-30 22:04:37 UTC (rev 2572)
@@ -1,796 +0,0 @@
-/*
- *  V4L2 for Scratch (Derek O'Connell, 2009)
- *
- *  This code can be used and distributed without restrictions.
- *
- */
-
-#include "sq.h"
-
-#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 <dlfcn.h>
-
-#include <asm/types.h>	  /* for videodev2.h */
-
-#include <linux/videodev2.h>
-
-/* >>>>>>>>>>>>>>>>>>>>>>>>>>>>>> */
-/*
-#define USE_LIBV4L2x
-#ifdef USE_LIBV4L2
-#include <libv4l2.h>
-#endif
-*/
-
-void *hLibv4l2 = NULL;
-
-int (*vd_open)(const char *, int, ...);
-int (*vd_close)(int);
-int (*vd_dup)(int);
-int (*vd_ioctl)(int, unsigned long int, ...);
-ssize_t (*vd_read)(int, void *, size_t);
-void * (*vd_mmap)(void *, size_t, int, int, int, int64_t);
-int (*vd_munmap)(void *, size_t);
-
-/* <<<<<<<<<<<<<<<<<<<<<<<<<<<<<< */
-
-
-#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;
-};
-
-
-struct camInfo_t {
-	int devNum;
-	int	fileDesc;
-	int bmWidth, bmHeight;
-	
-	io_method ioMethod;
-	int pixelformat;
-	struct buffer *	buffers;
-	unsigned int nBuffers;
-
-	struct v4l2_buffer read_buf;
-
-	void *sqBuffer;
-	long sqBufferBytes;
-	long sqPixels;
-
-	long frameCount;
-} camInfo[10];
-
-typedef struct camInfo_t *camPtr;
-
-static char * videoDevName0 = "/dev/video0";
-
-/* ================================== FUNCTION PROTOTYPES */
-
-/* LIBRARY CONSTRUCTOR/DESCTRUCTOR */
-
-void __attribute__ ((constructor)) libCon(void);
-void __attribute__ ((destructor)) libDes(void);
-
-
-/* UTILITY */
-
-inline int camIsOpen(  camPtr cam) { return (-1 != cam->fileDesc); }
-inline int camIsClosed(camPtr cam) { return (-1 == cam->fileDesc); }
-
-
-/* V4L ACCESS */
-
-
-/* SQUEAK INTERFACE */
-
-sqInt CameraGetParam(int camNum, int paramNum);
-sqInt CameraGetFrame(int camNum, unsigned char* buf, int pixelCount);
-sqInt CameraExtent(int camNum);
-char* CameraName(int camNum);
-void CameraClose(int camNum);
-sqInt CameraOpen(int camNum, int frameWidth, int frameHeight);
-
-
-/* ================================== ??? */
-
-
-/* LIBRARY CONSTRUCTOR/DESCTRUCTOR */
-
-void __attribute__ ((constructor)) 
-libCon(void)
-{
-  int devNum;
-  camPtr cam;
-
-  vd_open = open;
-  vd_close = close;
-  vd_dup = dup;
-  vd_ioctl = ioctl;
-  vd_read = read;
-  vd_mmap = mmap;
-  vd_munmap = munmap;
-
-/*  printf("libv4l2: use if available...");
-*/
-hLibv4l2 = dlopen("libv4l2.so", RTLD_LAZY);
-  if (hLibv4l2) 
-  {
-/*	  printf("yay!\n");
-*/  
-	  vd_open	= dlsym(hLibv4l2, "v4l2_open");
-	  vd_close 	= dlsym(hLibv4l2, "v4l2_close");
-	  vd_dup 	= dlsym(hLibv4l2, "v4l2_dup");
-	  vd_ioctl 	= dlsym(hLibv4l2, "v4l2_ioctl");
-	  vd_read 	= dlsym(hLibv4l2, "v4l2_read");
-	  vd_mmap 	= dlsym(hLibv4l2, "v4l2_mmap");
-	  vd_munmap = dlsym(hLibv4l2, "v4l2_munmap");
-  } else {
-/*	  printf("nay, %s\n", dlerror());
-*/
-  }
-
-  for (devNum = 0; devNum < 10; ++devNum) {
-	cam = &camInfo[devNum];
-
-	CLEAR(*cam);
-
-	cam->devNum				= devNum;
-	cam->fileDesc			= -1;
-	cam->ioMethod			= IO_METHOD_MMAP;
-	cam->read_buf.type		= V4L2_BUF_TYPE_VIDEO_CAPTURE;
-	cam->read_buf.memory	= V4L2_MEMORY_MMAP;
-	cam->nBuffers 			= 1;
-
-/*	Pixel format now auto selected according to ease/speed of conversion
-	cam->pixelformat		= V4L2_PIX_FMT_YUYV;
-	cam->pixelformat		= V4L2_PIX_FMT_RGB24;
-*/
-
-/*
-	cam->fileDesc = 0;
-	cam->bmWidth = 0;
-	cam->bmHeight = 0;
-	cam->buffers = NULL;
-	cam->nBuffers = 0;
-	cam->read_buf = NULL;
-	cam->sqBuffer = 0;
-	cam->sqBufferBytes = 0;
-	cam->sqPixels = 0;
-	cam->frameCount = 0;
-*/
-  }
-}
-
-void __attribute__ ((destructor)) 
-libDes(void)
-{
-  int camNum;
-  for (camNum = 1; camNum < 11; ++camNum)
-	  CameraClose(camNum);
-/*  
-  if (hLibv4l2)
-	  dlclose(hLibv4l2);
-*/
-}
-
-
-/* V4L ACCESS */
-
-static int 
-xioctl (camPtr cam, int request, void * arg) 
-{
-	int r;
-
-	do r = vd_ioctl (cam->fileDesc, request, arg);
-	  while (-1 == r && EINTR == errno);
-
-	return r;
-}
-
-
-/* >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
-  from: palettes.c in VideoForLinuxPlugin
-  from: http://en.wikipedia.org/wiki/YUV422
-
-  Originally (here) a quick hack for XO-1 but libv4l
-  version worked anyway.
-  >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> */
-
-inline unsigned char clipPixel(const int pixel) {
-    int result;
-
-    result = ((pixel < 0) ? 0 : pixel);
-    return (unsigned char) ((result > 255) ? 255: result);
-}
-
-inline void 
-convertPixelYUV444toARGB32(
-			   const unsigned char y,
-               const unsigned char u,
-               const unsigned char v,
-               unsigned char* dest)
-{
-    const int C = (y - 16) * 298 + 128;
-    const int D = u - 128;
-    const int E = v - 128;
-
-    /* ARGB */
-    dest[0] = clipPixel(( C + 516 * D          ) >> 8);
-    dest[1] = clipPixel(( C - 100 * D - 208 * E) >> 8);
-    dest[2] = clipPixel(( C           + 409 * E) >> 8);
-    dest[3] = 255;
-
-}
-
-inline void 
-convertImageYUYVToARGB32 (camPtr cam, int bufIdx)
-{
-	int i;
-
-	const unsigned char* src = cam->buffers[bufIdx].start;
-	unsigned char* dst = cam->sqBuffer;
-	unsigned long int *pdst;
-	unsigned long int pixelCount = cam->sqPixels;
-
-	unsigned char u, y1, v, y2;
-
-	for (i = 0; i < pixelCount; i += 2) {
-		y1 = *src++;
-		u  = *src++;
-		y2 = *src++;
-		v  = *src++;
-
-		convertPixelYUV444toARGB32(y1, u, v, dst);
-		pdst = (unsigned long *)dst;
-		dst += 4;
-
-		if (y2 == y1)
-		  *(unsigned long *)dst = *pdst;
-		else
-		  convertPixelYUV444toARGB32(y2, u, v, dst);
-		
-		dst += 4;
-	}
-}
-
-/* <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< */
-
-static void 
-convertImageRGB24toARGB32 (camPtr cam, int bufIdx) /* const void *src, const void *dst) */
-{
-	unsigned char 	  *src = cam->buffers[bufIdx].start;
-	unsigned long int *dst = cam->sqBuffer;
-	unsigned long int pixelCount = cam->sqPixels;
-	unsigned long int pixel;
-	int i;
-
-	if (0 == dst) return;
-
-	for ( i = 0; i < pixelCount; i++) {
-		pixel = 0xFF000000 | (*src++ << 16);
-		pixel = pixel | (*src++ << 8);
-		*dst++  = pixel | *src++;
-	}
-}
-
-
-static void 
-convertImageRGB444toARGB32 (camPtr cam, int bufIdx) /* const void *src, const void *dst) */
-{
-	unsigned char 	  *src = cam->buffers[bufIdx].start;
-	unsigned long int *dst = cam->sqBuffer;
-	unsigned long int pixelCount = cam->sqPixels;
-	unsigned long int r,g,b,pixel;
-	int i;
-
-	if (0 == dst) return;
-
-	/* Byte0: (g)ggg(b)bbb, Byte1: xxxx(r)rrr */
-
-	for ( i = 0; i < pixelCount; i++) {
-	  r = *src << 4;
-	  g = *src++ & 0xF0;
-	  b = (*src++ & 0x0F) << 4;
-	  pixel = 0xFF000000;
-	  pixel |= (r << 16);
-	  pixel |= (g <<  8);
-	  pixel |= b;
-	  *dst++ = pixel;
-	}
-}
-
-
-static void 
-convertImageRGB565toARGB32 (camPtr cam, int bufIdx) /* const void *src, const void *dst) */
-{
-	unsigned char 	  *src = cam->buffers[bufIdx].start;
-	unsigned long int *dst = cam->sqBuffer;
-	unsigned long int pixelCount = cam->sqPixels;
-	unsigned long int r,g,b,pixel;
-	int i;
-
-	if (0 == dst) return;
-
-	/* Byte0: ggg(r)rrrr, Byte1: (b)bbbb(g)gg */
-
-	for ( i = 0; i < pixelCount; i++) {
-	  r = (*src & 0x1F) << 3;
-	  g = (*src++ & 0xE0) >> 5;
-	  g |= (*src & 0x07) << 5;
-	  b = *src++ & 0xF8;
-	  pixel = 0xFF000000;
-	  pixel |= (b << 16);
-	  pixel |= (g <<  8);
-	  pixel |= r;
-	  *dst++ = pixel;
-	}
-}
-
-
-void
-convertImage (camPtr cam, int bufIdx)
-{
-	/* func pts to be used at later date */
-  
-	if (cam->pixelformat == V4L2_PIX_FMT_YUYV) {
-		convertImageYUYVToARGB32 (cam, bufIdx);
-		return;
-	}
-
-	if (cam->pixelformat == V4L2_PIX_FMT_RGB565) {
-		convertImageRGB565toARGB32 (cam, bufIdx);
-		return;
-	}
-	
-	if (cam->pixelformat == V4L2_PIX_FMT_RGB444) {
-		convertImageRGB444toARGB32 (cam, bufIdx);
-		return;
-	}
-	
-	if (cam->pixelformat == V4L2_PIX_FMT_RGB24) {
-		convertImageRGB24toARGB32 (cam, bufIdx);
-		return;
-	}
-}
-
-
-static int 
-read_frame (camPtr cam) 
-{
-	struct v4l2_buffer buf;
-
-	cam->frameCount += 1;
-
-	CLEAR (buf);
-	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-	buf.memory = V4L2_MEMORY_MMAP;
-
-	if (-1 == xioctl (cam, VIDIOC_DQBUF, &buf)) {
-		switch (errno) {
-			case EAGAIN:
-			case EIO:
-				return 0;
-			default:
-				return -1;
-		}
-	}
-
-	if (buf.index < cam->nBuffers)
-		convertImage (cam, buf.index);
-
-	if (-1 == xioctl (cam, VIDIOC_QBUF, &buf)) return -1;
-
-	return 0;
-}
-
-
-static int 
-getFrame(camPtr cam) 
-{
-	int fd = cam->fileDesc;
-	unsigned int retry;
-	fd_set fds;
-	struct timeval tv;
-	int r;
-
-	retry = 1;
-
-	while (retry-- > 0) {
-		FD_ZERO (&fds);
-		FD_SET (fd, &fds);
-
-		/* Timeout. */
-		tv.tv_sec = 1;
-		tv.tv_usec = 0;
-
-		r = select (fd + 1, &fds, NULL, NULL, &tv);
-
-		if (-1 == r) {
-			if (EINTR == errno)
-				continue;
-
-			return -1;
-		}
-
-		if (0 == r) return -1;
-		if (0 == read_frame (cam)) return 0;
-
-		/* EAGAIN - retry */
-	}
-}
-
-
-static int 
-stream_off (camPtr cam) 
-{
-	enum v4l2_buf_type type;
-	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-	xioctl (cam, VIDIOC_STREAMOFF, &type);
-	return 0;
-}
-
-
-static int 
-stream_on (camPtr cam) 
-{
-	enum v4l2_buf_type type;
-	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-	if (-1 == xioctl (cam, VIDIOC_STREAMON, &type)) return -1;
-	return 0;
-}
-
-
-static int 
-uninit_device (camPtr cam) 
-{
-	unsigned int i;
-
-	for (i = 0; i < cam->nBuffers; ++i)
-		if (-1 == vd_munmap (cam->buffers[i].start, cam->buffers[i].length))
-			return -1;
-
-	free (cam->buffers);
-	return 0;
-}
-
-
-static int 
-queue_buffers (camPtr cam) 
-{
-	unsigned int i;
-
-	for (i = 0; i < cam->nBuffers; ++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 (cam, VIDIOC_QBUF, &buf)) return -1;
-	}
-
-	return 0;
-}
-
-
-static int 
-init_mmap (camPtr cam) 
-{
-	struct v4l2_requestbuffers req;
-	int bufIdx;
-	
-	CLEAR (req);
-	req.count	= cam->nBuffers;
-	req.type	= V4L2_BUF_TYPE_VIDEO_CAPTURE;
-	req.memory	= V4L2_MEMORY_MMAP;
-
-	if (-1 == xioctl (cam, VIDIOC_REQBUFS, &req)) {
-		if (EINVAL == errno) {
-			return -1;
-		} else {
-			return -1;
-		}
-	}
-
-	if (req.count < 1) return -1;
-
-	cam->buffers = calloc (req.count, sizeof (*(cam->buffers)));
-	if (!cam->buffers) return -1;
-
-	for (bufIdx = 0; bufIdx < req.count; ++bufIdx) {
-		struct v4l2_buffer buf;
-
-		CLEAR (buf);
-		buf.type	= V4L2_BUF_TYPE_VIDEO_CAPTURE;
-		buf.memory	= V4L2_MEMORY_MMAP;
-		buf.index	= bufIdx;
-
-		if (-1 == xioctl (cam, VIDIOC_QUERYBUF, &buf)) return -1;
-
-		cam->buffers[bufIdx].length = buf.length;
-		cam->buffers[bufIdx].start  = vd_mmap (NULL /* start anywhere */,
-						  buf.length,
-						  PROT_READ | PROT_WRITE /* required */,
-						  MAP_SHARED /* recommended */,
-						  cam->fileDesc,
-						  buf.m.offset);
-
-		if (MAP_FAILED == cam->buffers[bufIdx].start) return -1;
-	}
-
-	return 0;
-}
-
-static int
-set_format (camPtr cam, struct v4l2_format *fmt, int pixelformat, int w, int h)
-{
-/*
-	fmt->fmt.pix.field	= V4L2_FIELD_INTERLACED;
-	fmt->fmt.pix.field	= V4L2_FIELD_TOP;
-*/
-
-	fmt->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-	fmt->fmt.pix.width	= w;
-	fmt->fmt.pix.height	= h;
-	fmt->fmt.pix.pixelformat = pixelformat;
-	fmt->fmt.pix.field	= V4L2_FIELD_NONE; /* V4L2_FIELD_INTERLACED; */
-	if (-1 == xioctl (cam, VIDIOC_S_FMT, fmt)) return -1;
-
-	/* Note VIDIOC_S_FMT may change width and height. */
-
-	if ((w != fmt->fmt.pix.width)  | 
-	    (h != fmt->fmt.pix.height) | 
-	    (fmt->fmt.pix.pixelformat != pixelformat))
-	{
-		return -1;
-	}
-
-	cam->pixelformat = pixelformat;
-	
-	return 0;
-}
-
-static int 
-init_device (camPtr cam, int w, int h) 
-{
-	struct v4l2_capability cap;
-	struct v4l2_cropcap cropcap;
-	struct v4l2_crop crop;
-	struct v4l2_format fmt;
-	int bpp;
-	unsigned int min;
-
-	if (-1 == xioctl (cam, VIDIOC_QUERYCAP, &cap)) {
-		if (EINVAL == errno) {
-			return -1;
-		} else {
-			return -1;
-		}
-	}
-
-	if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) return -1;
-	if (!(cap.capabilities & V4L2_CAP_STREAMING)) return -1;
-
-	/* Select video input, video standard and tune here. */
-
-	CLEAR (cropcap);
-	cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
-	if (0 == xioctl (cam, VIDIOC_CROPCAP, &cropcap)) {
-		crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-		crop.c = cropcap.defrect; /* reset to default */
-
-		if (-1 == xioctl (cam, VIDIOC_S_CROP, &crop)) {
-			if (EINVAL == errno) {
-				/* Cropping not supported (ignored) */
-			} else {
-				/* Errors ignored. */
-			}
-		}
-	} else {
-		/* Errors ignored. */
-	}
-
-	CLEAR (fmt);
-	/* The order of preference of formats... */
-	if (-1 == set_format(cam, &fmt, V4L2_PIX_FMT_RGB24, w, h))
-	  if (-1 == set_format(cam, &fmt, V4L2_PIX_FMT_YUYV, w, h))
-		if (-1 == set_format(cam, &fmt, V4L2_PIX_FMT_RGB565, w, h))
-		  if (-1 == set_format(cam, &fmt, V4L2_PIX_FMT_RGB444, w, h))
-			return -1;
-		
-	/* For reference:
-		V4L2_PIX_FMT_RGB24 : 3 bytes == 1 dst pixel
-		V4L2_PIX_FMT_RGB565: 2 bytes == 1 dst pixel
-		V4L2_PIX_FMT_RGB444: 2 bytes == 1 dst pixel
-		V4L2_PIX_FMT_YUYV  : 4 bytes == 2 dst pixels
-	*/
-	
-	switch (fmt.fmt.pix.pixelformat) {
-	  case V4L2_PIX_FMT_RGB24: /* printf("V4L2_PIX_FMT_RGB24\n"); */
-		bpp = 3; 
-		break;
-	  case V4L2_PIX_FMT_RGB565: /* printf("V4L2_PIX_FMT_RGB565\n"); */
-		bpp = 2; 
-		break;
-	  case V4L2_PIX_FMT_RGB444: /* printf("V4L2_PIX_FMT_RGB444\n"); */
-		bpp = 2;
-		break;
-	  case V4L2_PIX_FMT_YUYV: /* printf("V4L2_PIX_FMT_YUYV\n"); */
-		bpp = 4; 
-		break;
-	}
-	
-	/* Buggy driver paranoia >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> */	
-	min = fmt.fmt.pix.width * bpp;
-	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;
-	/* <<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<< */
-	
-	if (0 > init_mmap(cam)) return -1;
-	if (0 > queue_buffers(cam)) return -1;
-
-	/* cache returned dims (make fmt a global?) */
-	cam->bmWidth = fmt.fmt.pix.width;
-	cam->bmHeight = fmt.fmt.pix.height;
-	cam->sqPixels = cam->bmWidth * cam->bmHeight;
-	cam->sqBufferBytes = cam->sqPixels * 4; /* Bytes to tx to Squeak (always RGB32) */
-
-	return 0;
-}
-
-
-static int 
-close_device (camPtr cam) 
-{
-	if (-1 == vd_close (cam->fileDesc)) return -1;
-	cam->fileDesc = -1;
-	return 0;
-}
-
-
-static int 
-open_device (camPtr cam) 
-{
-	char deviceName[12];
-	struct stat st;
-
-	strcpy(deviceName, videoDevName0);
-	deviceName[10] = cam->devNum + '0';
-
-	if (-1 == stat (deviceName, &st)) return -1;
-	if (!S_ISCHR (st.st_mode)) return -1;
-
-	cam->fileDesc = vd_open (deviceName, O_RDWR /* required */ | O_NONBLOCK, 0);
-
-	if (camIsClosed(cam)) return -1;
-
-	return 0;
-}
-
-
-int 
-InitCamera(camPtr cam, int w, int h) 
-{
-    cam->read_buf.type 	= V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    cam->read_buf.memory = V4L2_MEMORY_MMAP;
-	cam->ioMethod		= IO_METHOD_MMAP;
-
-    if (0 > open_device(cam)) return -1;
-
-    if (0 > init_device(cam, w, h)) {
-        close_device(cam);
-        return -1;
-    }
-
-    if (0 > stream_on(cam)) {
-        uninit_device(cam);
-        close_device(cam);
-        return -1;
-    }
-
-    return 0;
-}
-
-
-
-/* ============================================= SCRATCH I/F ==================================================== */
-
-
-sqInt 
-CameraGetParam(int camNum, int paramNum) 
-{
-	camPtr cam = &camInfo[camNum-1];
-	
-	return 0;
-}
-
-/*
-	"Copy a camera frame into the given Bitmap. The Bitmap should be for a Form 
-	of depth 32 that is the same width and height as the current camera frame. 
-	Fail if the camera is not open or if the bitmap is not the right size. If 
-	successful, answer the number of frames received from the camera since the 
-	last call. If this is zero, then there has been no change."
-	
-	???
-*/
-sqInt 
-CameraGetFrame(int camNum, unsigned char* buf, int pixelCount) 
-{
-	camPtr cam = &camInfo[camNum-1];
-	
-	if (camIsClosed(cam)) return false;
-	if (pixelCount != cam->sqPixels) return false;
-	cam->sqBuffer = (void *)buf;
-	if (0 != getFrame(cam)) return 0;
-	return 1;
-}
-
-
-sqInt 
-CameraExtent(int camNum) 
-{
-	camPtr cam = &camInfo[camNum-1];
-	
-	if (camIsClosed(cam)) return 0;
-	return (cam->bmWidth << 16) + cam->bmHeight;
-}
-
-
-char* 
-CameraName(int camNum) 
-{
-	camPtr cam = &camInfo[camNum-1];
-	
-	if (camIsClosed(cam)) return "camera not open";
-	return "default camera";
-}
-
-
-void 
-CameraClose(int camNum) 
-{
-	camPtr cam = &camInfo[camNum-1];
-	
-	if (camIsClosed(cam)) return;
-	stream_off(cam);
-	uninit_device(cam);
-	close_device(cam);
-}
-
-
-sqInt 
-CameraOpen(int camNum, int frameWidth, int frameHeight) 
-{
-	camPtr cam = &camInfo[camNum-1];
-	
-	if (camIsOpen(cam)) return false;
-	if (0 != InitCamera(cam, frameWidth, frameHeight)) return false;
-	return true;
-}
-



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