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

/*攝像頭開關*/

//#define XXXX_150


/*攝像頭引數id列表*/
#define BRIGHTNESS_ID 0x00980900
#define CONTRAST_ID 0x00980901
#define SATURATION_ID 0x00980902
#define HUE_ID 0x00980903
#define WHITE_BALANCE_TEMP_AUTO_ID 0x0098090c
#define GAMMA_ID 0x00980910
#define POWER_LINE_FREQUENCY_ID 0x00980918
#define WHITE_BALANCE_TEMP_ID 0x0098091a
#define SHARPNESS_ID 0x0098091b
#define BACKLIGHT_COMPENSATION_ID 0x0098091c
#define EXPOSURE_AUTO_ID 0x009a0901
#define EXPOSURE_ABSOLUTE_ID 0x009a0902
#define EXPOSURE_AUTO_PRIORITY_ID 0x009a0903


struct v4l2_capability cap;
struct v4l2_queryctrl qctrl;
struct v4l2_control ctrl;
struct v4l2_format Format;
struct v4l2_streamparm Stream_Parm;


void get_v4l2_info(int fd)
{
    printf("************************Get format info********************************\n");
    Format.type= V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if(ioctl(fd,VIDIOC_G_FMT,&Format)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[width:%d]\t[pixelformat:%d]\n",Format.fmt.pix.width,Format.fmt.pix.height);
    printf(">:[format:%d]\t[field:%d]\n",Format.fmt.pix.pixelformat,Format.fmt.pix.field);
    printf(">:[bytesperline:%d]\t[sizeimage:%d]\n",Format.fmt.pix.bytesperline,Format.fmt.pix.sizeimage);
    printf(">:[colorspace:%d]\n",Format.fmt.pix.colorspace);
    printf("***********************************************************************\n");
    printf("\n");
    
    printf("************************Get Stream_Parm********************************\n");
    Stream_Parm.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
    if(ioctl(fd,VIDIOC_G_PARM,&Stream_Parm)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Frame rate:%u] [%u]\n",Stream_Parm.parm.capture.timeperframe.numerator,Stream_Parm.parm.capture.timeperframe.denominator);
    printf(">:[capability:%d] [capturemode:%d]\n",Stream_Parm.parm.capture.capability,Stream_Parm.parm.capture.capturemode);
    printf(">:[extendemode:%d] [readbuffers:%d]\n",Stream_Parm.parm.capture.extendedmode,Stream_Parm.parm.capture.readbuffers);
    printf("***********************************************************************\n");
    printf("\n");

    printf("*************************Get Exposure Auto*****************************\n");
    ctrl.id=EXPOSURE_AUTO_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:Get Exposure Auto:[%d]\n",ctrl.value);    
    printf("***********************************************************************\n");
    printf("\n");

    printf("*************************Get Exposure Absolute*****************************\n");
    ctrl.id=EXPOSURE_ABSOLUTE_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:Get Exposure Absolute:[%d]\n",ctrl.value);    
    printf("***********************************************************************\n");
    printf("\n");
    
    printf("***************************Get Exposure Auto Priority************************\n");
    ctrl.id=EXPOSURE_AUTO_PRIORITY_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get Exposure Auto Priority:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");
#ifdef XXXX_150    
    printf("***************************Get Gain value************************\n");
    ctrl.id=0x00980913;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get Gain value:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");
#endif
    printf("***************************Get white balance auto value************************\n");
    ctrl.id=WHITE_BALANCE_TEMP_AUTO_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get white balance auto value:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");

    printf("***************************Get white balance value************************\n");
    ctrl.id=WHITE_BALANCE_TEMP_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get white balance value:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");

    printf("***************************Get brightness value************************\n");
    ctrl.id=BRIGHTNESS_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get brightness value:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");

    printf("***************************Get contrast value************************\n");
    ctrl.id=CONTRAST_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get contrast value:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");

        
    printf("***************************Get saturation value************************\n");
    ctrl.id=SATURATION_ID;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf(">:[Get saturation value:%d] \n",ctrl.value);
    printf("***********************************************************************\n");
    printf("\n");

}

void set_v4l2_para(fd,value)
{
    
    printf("Set format………………………\n");
    memset(&Format,0,sizeof(struct v4l2_format));
    Format.type= V4L2_BUF_TYPE_VIDEO_CAPTURE;
    Format.fmt.pix.width =  320;
    Format.fmt.pix.height = 240;
    Format.fmt.pix.pixelformat= V4L2_PIX_FMT_YUYV;
    Format.fmt.pix.field = (enum v4l2_field)1;
    if(ioctl(fd,VIDIOC_S_FMT,&Format)==-1)
    {    
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
    
    printf("Set Stream_Parm……………………\n");
    Stream_Parm.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
    Stream_Parm.parm.capture.timeperframe.denominator =30;
    Stream_Parm.parm.capture.timeperframe.numerator =1;
    if(ioctl(fd,VIDIOC_S_PARM,&Stream_Parm)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
#if 0
    printf("Set Exposure Auto Type…………………\n");
    ctrl.id=0x009a0901;
    ctrl.value=3;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
#endif
#if 0
    printf("Set Exposure value………………\n");
    ctrl.id=0x009a0902;
    ctrl.value=312;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
#endif
#if 1
    printf("Set Exposure Auto Priority ………………\n");
    ctrl.id=0x009a0903;
    ctrl.value=2;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
#endif
#ifdef XXXX_150
    printf("Set Gain value……………………\n");
    ctrl.id=0x00980913;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
#endif
#if 1
    printf("Set white balance Temperature Auto……………………\n");
    ctrl.id=WHITE_BALANCE_TEMP_AUTO_ID;
    ctrl.value=value;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");    
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
#endif
    printf("Set white balance Temperature……………………\n");
    ctrl.id=WHITE_BALANCE_TEMP_ID;
    ctrl.value=value;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");

    printf("Set brightness value……………………\n");
    ctrl.id=BRIGHTNESS_ID;
    ctrl.value=value;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");

    printf("Set contrast value………………\n");
    ctrl.id=CONTRAST_ID;
    ctrl.value=value;
    if(ioctl(fd,VIDIOC_S_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");

    printf("Set saturation value…………………\n");
    ctrl.id=SATURATION_ID;
    ctrl.value=value;
    if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    sleep(1);
    printf("\n");
    printf("**********************All Set Success*********************\n");
}

void main()
{
    int fd=-1;
    int rel=-1;
    int i;
    fd= open("/dev/video0",O_RDWR,0);
    if(fd==-1)
    {
        perror("fd");
        exit(EXIT_FAILURE);
    }
    rel= ioctl(fd,VIDIOC_QUERYCAP,&cap);
    if(rel==-1)
    {
        perror("ioctl");
        exit(EXIT_FAILURE);
    }
    printf("*********************Querycap Success**************************\n");
    if(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)
        printf("*****************capture is on*****************************\n");
    if(cap.capabilities & V4L2_CAP_STREAMING)
        printf("*****************Stream is on******************************\n");
    printf("\n");
    printf("\n");
    printf("*************************Capabilities**************************\n");
    printf(">:[Driver:%s]\n>:[card:%s]\n>:[bus_info:%s]\n>:[version:%d]\n",
                             cap.driver,cap.card,cap.bus_info,cap.version);
    printf("**************************************************************\n");
    printf("\n");
    printf("\n");
    for(i=V4L2_CID_BASE;i<V4L2_CID_LASTP1;i++)
    {
        qctrl.id=i;
        if(ioctl(fd,VIDIOC_QUERYCTRL,&qctrl)==0)
        {
            ctrl.id=qctrl.id;
            if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)<0)
                perror("**********************get ctrl failed**************\n");
            printf(">:[name:%s]\t[id:%08x]\n",qctrl.name,qctrl.id);
            printf(">:[type:%d]\n",qctrl.type);
            printf(">:[min:%d]\t[max:%d]\n",qctrl.minimum,qctrl.maximum);
            printf(">:[value:%d]\t[stp:%d]\n",ctrl.value,qctrl.step);
            printf(">:[default_value:%d]\n",qctrl.default_value);
            printf("\n");
        }
    }
    printf("------------------------------------------------------------------\n");
    printf(">:0x%08x\n",V4L2_CID_LASTP1);
    for(i=0x009a0900;i<0x009a091a;i++)
    {
        qctrl.id=i;
        if(ioctl(fd,VIDIOC_QUERYCTRL,&qctrl)==0)
        {
            ctrl.id=qctrl.id;
            if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)<0)
                perror("**********************get ctrl failed**************\n");
            printf(">:[name:%s]\t[id:%08x]\n",qctrl.name,qctrl.id);
            printf(">:[type:%d]\n",qctrl.type);
            printf(">:[min:%d]\t[max:%d]\n",qctrl.minimum,qctrl.maximum);
            printf(">:[value:%d]\t[stp:%d]\n",ctrl.value,qctrl.step);
            printf(">:[default_value:%d]\n",qctrl.default_value);
            printf("\n");
        }
    }
    #if 0
    printf("---------------------------------2--------------------------------\n");
    for(i=0x08000000;i<0x08000010;i++)
    {
        qctrl.id=i;
        if(ioctl(fd,VIDIOC_QUERYCTRL,&qctrl)==0)
        {
            ctrl.id=qctrl.id;
            if(ioctl(fd,VIDIOC_G_CTRL,&ctrl)<0)
                perror("**********************get ctrl failed**************\n");
            printf(">:[name:%s]\t[id:%08x]\n",qctrl.name,qctrl.id);
            printf(">:[type:%d]\n",qctrl.type);
            printf(">:[min:%d]\t[max:%d]\n",qctrl.minimum,qctrl.maximum);
            printf(">:[value:%d]\t[stp:%d]\n",ctrl.value,qctrl.step);
            printf(">:[default_value:%d]\n",qctrl.default_value);
            printf("\n");
        }
    }
    #endif

    get_v4l2_info(fd);
    
    set_v4l2_para(fd,30);

}
 

設定攝像頭引數調參，提高演算法準確性。