video streaming using websocket. but,streaming is very slower than 0.1fps.
Dependencies: BaseUsbHost EthernetInterface WebSocketClient mbed-rtos mbed
Fork of BaseUsbHost_example by
UvcCam/UvcCam.cpp
- Committer:
- va009039
- Date:
- 2012-12-11
- Revision:
- 2:c10029b87439
- Child:
- 5:495f7536897b
File content as of revision 2:c10029b87439:
// UvcCam.cpp 2012/12/9 #include "mbed.h" #include "rtos.h" #include "BaseUsbHost.h" #define DEBUG #include "BaseUsbHostDebug.h" #define TEST #include "BaseUsbHostTest.h" #include "UvcCam.h" UvcCam::UvcCam(int formatIndex, int frameIndex, uint32_t interval, ControlEp* ctlEp) { uint8_t buf[34]; int rc; int alt; int cfg2; if (ctlEp == NULL) { // root hub DBG_OHCI(LPC_USB->HcRhPortStatus1); TEST_ASSERT_FALSE(LPC_USB->HcRhPortStatus1 & 0x200); ctlEp = new ControlEp(); TEST_ASSERT_TRUE(ctlEp); } bool r = check(ctlEp); TEST_ASSERT(r); m_ctlEp = ctlEp; UvcCfg* cfg = new UvcCfg(formatIndex, frameIndex, ctlEp); TEST_ASSERT(cfg); int param_len = 34; TEST_ASSERT(cfg->bcdUVC >= 0x0100); if (cfg->bcdUVC == 0x0100) { // UVC ver. 1.0 param_len = 26; } int addr = m_ctlEp->GetAddr(); m_isoEp = new IsochronousEp(addr, cfg->bEndpointAddress, cfg->wMaxPacketSize); TEST_ASSERT_TRUE(m_isoEp); //#define USE_PROBE #ifdef USE_PROBE rc = Control(GET_INFO, VS_PROBE_CONTROL, 1, buf, 1); TEST_ASSERT(rc == USB_OK); DBG_BYTES("GET_INFO Prob", buf, 1); rc = Control(GET_DEF, VS_PROBE_CONTROL, 1, buf, param_len); TEST_ASSERT(rc == USB_OK); DBG_BYTES("GET_DEF Probe", buf, param_len); rc = Control(GET_MIN, VS_PROBE_CONTROL, 1, buf, param_len); TEST_ASSERT(rc == USB_OK); DBG_BYTES("GET_MIN Probe", buf, param_len); rc = Control(GET_MAX, VS_PROBE_CONTROL, 1, buf, param_len); TEST_ASSERT(rc == USB_OK); DBG_BYTES("GET_MAX Probe", buf, param_len); rc = Control(GET_CUR, VS_PROBE_CONTROL, 1, buf, param_len); TEST_ASSERT(rc == USB_OK); DBG_BYTES("GET_CUR Probe", buf, param_len); #endif // USE_PROBE rc = Control(GET_INFO, VS_COMMIT_CONTROL, 1, buf, 1); TEST_ASSERT(rc == USB_OK); DBG_BYTES("GET_INFO Commit", buf, 1); memset(buf, 0, param_len); buf[2] = cfg->FormatIndex; buf[3] = cfg->FrameIndex; *reinterpret_cast<uint32_t*>(buf+4) = interval; DBG_BYTES("SET_CUR Commit", buf, param_len); rc = Control(SET_CUR, VS_COMMIT_CONTROL, 1, buf, param_len); TEST_ASSERT(rc == USB_OK); rc = Control(GET_CUR, VS_COMMIT_CONTROL, 1, buf, param_len); TEST_ASSERT(rc == USB_OK); TEST_ASSERT_EQUAL(buf[2], cfg->FormatIndex); TEST_ASSERT_EQUAL(buf[3], cfg->FrameIndex); TEST_ASSERT_EQUAL(*reinterpret_cast<uint32_t*>(buf+4), interval); DBG_BYTES("GET_CUR Commit", buf, param_len); rc = m_ctlEp->GetConfiguration(&cfg2); TEST_ASSERT_EQUAL(rc, USB_OK); DBG("config: %d\n", cfg2); rc = m_ctlEp->SetConfiguration(1); TEST_ASSERT_EQUAL(rc, USB_OK); rc = m_ctlEp->GetConfiguration(&cfg2); TEST_ASSERT_EQUAL(rc, USB_OK); DBG("config: %d\n", cfg2); TEST_ASSERT_EQUAL(cfg2, 1); rc = m_ctlEp->GetInterface(cfg->bInterface, &alt); TEST_ASSERT_EQUAL(rc, USB_OK); DBG("alt: %d\n", alt); rc = m_ctlEp->SetInterfaceAlternate(cfg->bInterface, cfg->bAlternate); TEST_ASSERT_EQUAL(rc, USB_OK); rc = m_ctlEp->GetInterface(cfg->bInterface, &alt); TEST_ASSERT_EQUAL(rc, USB_OK); DBG("alt: %d\n", alt); TEST_ASSERT_EQUAL(alt, cfg->bAlternate); delete cfg; for(int i = 0; i < 16; i++) { report_cc_count[i] = 0; report_ps_cc_count[i] = 0; } LPC_USB->HcControl |= OR_CONTROL_PLE; // PeriodicListEnable LPC_USB->HcControl |= OR_CONTROL_IE; // IsochronousEnable } bool UvcCam::check(ControlEp* ctlEp) { if (ctlEp == NULL) { return false; } uint8_t buf[18]; int r = ctlEp->GetDescriptor(1, 0, buf, 8); if (r != USB_OK) { return false; } DBG_HEX(buf, 8); const uint8_t desc[] = {0x12,0x01,0x00,0x02,0xef,0x02,0x01}; if (memcmp(buf, desc, sizeof(desc)) != 0) { return false; } r = ctlEp->GetDescriptor(1, 0, buf, 18); if (r != USB_OK) { return false; } DBG_HEX(buf, 18); return true; } #define DESCRIPTOR_TYPE_DEVICE 1 #define DESCRIPTOR_TYPE_CONFIGURATION 2 #define DESCRIPTOR_TYPE_STRING 3 #define DESCRIPTOR_TYPE_INTERFACE 4 #define DESCRIPTOR_TYPE_ENDPOINT 5 #define DESCRIPTOR_TYPE_INTERFACE_ASSOCIATION 0x0b #define DESCRIPTOR_TYPE_HID 0x21 #define DESCRIPTOR_TYPE_REPORT 0x22 #define DESCRIPTOR_TYPE_PHYSICAL 0x23 #define DESCRIPTOR_TYPE_CS_INTERFACE 0x24 #define DESCRIPTOR_TYPE_CS_ENDPOINT 0x25 #define DESCRIPTOR_TYPE_HUB 0x29 #define CLASS_AUDIO 0x02 #define CLASS_HUB 0x09 #define IF_EQ_THEN_PRINTF(A,B) if (A == B) {VERBOSE("%s\n", #A); #define ENDIF } #define CC_AUDIO 0x01 #define SC_AUDIOCONTROL 0x01 #define SC_AUDIOSTREAMING 0x02 #define AC_HEADER 0x01 #define AC_INPUT_TERMINAL 0x02 #define AC_OUTPUT_TERMINAL 0x03 #define AC_FEATURE_UNIT 0x06 // Input Terminal Types #define ITT_CAMERA 0x0201 static int LE16(const uint8_t* d) { return d[0] | (d[1] << 8); } static int LE24(const uint8_t* d) { return d[0] | (d[1]<<8) | (d[2] << 16); } static int LE32(const uint8_t* d) { return d[0] |(d[1]<<8) | (d[2] << 16) |(d[3] << 24) ; } UvcCfg::UvcCfg(int formatIndex, int frameIndex, ControlEp* ctlEp):wMaxPacketSize(0) { TEST_ASSERT(ctlEp); switch(formatIndex) { case UVC_MJPEG: _payload = UVC_MJPEG; break; case UVC_YUY2: _payload = UVC_YUY2; break; default: _payload = UVC_MJPEG; break; } switch(frameIndex) { case UVC_160x120: _width = 160; _height = 120; break; case UVC_176x144: _width = 176; _height = 144; break; case UVC_320x176: _width = 320; _height = 176; break; case UVC_320x240: _width = 320; _height = 240; break; case UVC_352x288: _width = 352; _height = 288; break; case UVC_432x240: _width = 432; _height = 240; break; case UVC_640x480: _width = 640; _height = 480; break; case UVC_544x288: _width = 544; _height = 288; break; case UVC_640x360: _width = 640; _height = 360; break; case UVC_752x416: _width = 752; _height = 416; break; case UVC_800x448: _width = 800; _height = 448; break; case UVC_800x600: _width = 800; _height = 600; break; default: _width = 160; _height = 120; break; } int index = 0; uint8_t temp[4]; int rc = ctlEp->GetDescriptor(USB_DESCRIPTOR_TYPE_CONFIGURATION, index, temp, sizeof(temp)); TEST_ASSERT(rc == USB_OK); DBG_BYTES("Config Descriptor 4bytes", temp, sizeof(temp)); TEST_ASSERT(temp[0] == 9); TEST_ASSERT(temp[1] == 0x02); int TotalLength = LE16(temp+2); DBG("TotalLength: %d\n", TotalLength); uint8_t* buf = new uint8_t[TotalLength]; TEST_ASSERT(buf); rc = ctlEp->GetDescriptor(USB_DESCRIPTOR_TYPE_CONFIGURATION, index, buf, TotalLength); TEST_ASSERT(rc == USB_OK); if (rc != USB_OK) { delete[] buf; return; } _parserConfigurationDescriptor(buf, TotalLength); delete[] buf; } void UvcCfg::_parserAudioControl(uint8_t* buf, int len) { int subtype = buf[2]; IF_EQ_THEN_PRINTF(AC_HEADER, subtype) VERBOSE("ADC: %04x\n", LE16(buf+3)); VERBOSE("TotalLength: %d\n", LE16(buf+5)); VERBOSE("InCollection: %d\n", buf[7]); for (int n = 1; n <= buf[7]; n++) { VERBOSE("aInterfaceNr(%d): %d\n", n, buf[8+n-1]); } ENDIF IF_EQ_THEN_PRINTF(AC_INPUT_TERMINAL, subtype) VERBOSE("TerminalID: %d\n", buf[3]); VERBOSE("TerminalType: %04X\n", LE16(buf+4)); VERBOSE("AssocTermianl: %d\n", buf[6]); VERBOSE("NrChannels: %d\n", buf[7]); ENDIF IF_EQ_THEN_PRINTF(AC_OUTPUT_TERMINAL, subtype) VERBOSE("TerminalID: %d\n", buf[3]); VERBOSE("TerminalType: %04X\n", LE16(buf+4)); VERBOSE("AssocTermianl: %d\n", buf[6]); ENDIF IF_EQ_THEN_PRINTF(AC_FEATURE_UNIT, subtype) VERBOSE("UnitID: %d\n", buf[3]); VERBOSE("SourceID: %d\n", buf[4]); VERBOSE("ControlSize: %d\n", buf[5]); ENDIF } #define AS_GENERAL 0x01 #define AS_FORMAT_TYPE 0x02 void UvcCfg::_parserAudioStream(uint8_t* buf, int len) { int subtype = buf[2]; IF_EQ_THEN_PRINTF(AS_GENERAL, subtype) VERBOSE("TerminalLink: %d\n", buf[3]); VERBOSE("Delay: %d\n", buf[4]); VERBOSE("FormatTag: %04x\n", LE16(buf+5)); ENDIF IF_EQ_THEN_PRINTF(AS_FORMAT_TYPE, subtype) VERBOSE("FormatType: %d\n", buf[3]); VERBOSE("NrChannels: %d\n", buf[4]); VERBOSE("SubFrameSize: %d\n", buf[5]); VERBOSE("BitResolution: %d\n", buf[6]); VERBOSE("SamFreqType: %d\n", buf[7]); VERBOSE("SamFreq(1): %d\n", LE24(buf+8)); ENDIF } #define CC_VIDEO 0x0e #define SC_VIDEOCONTROL 0x01 #define SC_VIDEOSTREAMING 0x02 #define VC_HEADER 0x01 #define VC_INPUT_TERMINAL 0x02 #define VC_OUTPUT_TERMINAL 0x03 #define VC_SELECTOR_UNIT 0x04 #define VC_PROCESSING_UNIT 0x05 #define VC_EXTENSION_UNIT 0x06 void UvcCfg::_parserVideoControl(uint8_t* buf, int len) { int subtype = buf[2]; IF_EQ_THEN_PRINTF(VC_HEADER, subtype) bcdUVC = LE16(buf+3); VERBOSE("UVC: %04x\n", bcdUVC); VERBOSE("TotalLength: %d\n", LE16(buf+5)); VERBOSE("ClockFrequency: %d\n", LE32(buf+7)); VERBOSE("InCollection: %d\n", buf[11]); VERBOSE("aInterfaceNr(1): %d\n", buf[12]); ENDIF IF_EQ_THEN_PRINTF(VC_INPUT_TERMINAL, subtype) VERBOSE("TerminalID: %d\n", buf[3]); uint16_t tt = LE16(buf+4); VERBOSE("TerminalType: %04X\n", tt); VERBOSE("AssocTerminal: %d\n", buf[6]); VERBOSE("Terminal: %d\n", buf[7]); if (tt == ITT_CAMERA) { // camera int bControlSize = buf[14]; VERBOSE("ControlSize: %d\n", bControlSize); for(int i = 0; i < bControlSize; i++) { uint8_t bControls = buf[15+i]; VERBOSE("Controls(%d): %02X\n", i, bControls); } } ENDIF IF_EQ_THEN_PRINTF(VC_OUTPUT_TERMINAL, subtype) VERBOSE("TerminalID: %d\n", buf[3]); VERBOSE("TerminalType: %04X\n", LE16(buf+4)); VERBOSE("AssocTerminal: %d\n", buf[6]); VERBOSE("SourceID: %d\n", buf[7]); VERBOSE("Terminal: %d\n", buf[8]); ENDIF IF_EQ_THEN_PRINTF(VC_SELECTOR_UNIT, subtype) VERBOSE("UnitID: %d\n", buf[3]); ENDIF IF_EQ_THEN_PRINTF(VC_PROCESSING_UNIT, subtype) VERBOSE("UnitID: %d\n", buf[3]); VERBOSE("SourceID: %d\n", buf[4]); VERBOSE("MaxMultiplier: %d\n", LE16(buf+5)); VERBOSE("ControlSize: %d\n", buf[7]); int pos = 8; for (int n = 1; n <= buf[7]; n++) { VERBOSE("Controls(%d): %02X\n", n , buf[pos]); pos++; } VERBOSE("Processing: %d\n", buf[pos]); pos++; VERBOSE("VideoStanders: %02X\n", buf[pos]); ENDIF IF_EQ_THEN_PRINTF(VC_EXTENSION_UNIT, subtype) VERBOSE("UnitID: %d\n", buf[3]); ENDIF } #define VS_INPUT_HEADER 0x01 #define VS_STILL_FRAME 0x03 #define VS_FORMAT_UNCOMPRESSED 0x04 #define VS_FRAME_UNCOMPRESSED 0x05 #define VS_FORMAT_MJPEG 0x06 #define VS_FRAME_MJPEG 0x07 #define VS_COLOR_FORMAT 0x0d void UvcCfg::_parserVideoStream(uint8_t* buf, int len) { int subtype = buf[2]; IF_EQ_THEN_PRINTF(VS_INPUT_HEADER, subtype) VERBOSE("NumFormats: %d\n", buf[3]); VERBOSE("TotalLength: %d\n", LE16(buf+4)); VERBOSE("EndpointAddress: %02X\n", buf[6]); VERBOSE("Info: %02X\n", buf[7]); VERBOSE("TerminalLink: %d\n", buf[8]); VERBOSE("StillCaptureMethod: %d\n", buf[9]); VERBOSE("TriggerSupport: %d\n", buf[10]); VERBOSE("TriggerUsage: %d\n", buf[11]); VERBOSE("ControlSize: %d\n", buf[12]); int pos = 13; for (int n = 1; n <= buf[12]; n++) { VERBOSE("Controls(%d): %02X\n", n, buf[pos]); pos++; } bEndpointAddress = buf[6]; ENDIF IF_EQ_THEN_PRINTF(VS_STILL_FRAME, subtype) VERBOSE("EndpointAdress: %02X\n", buf[3]); VERBOSE("NumImageSizePatterns: %d\n", buf[4]); int ptn = buf[4]; int pos = 5; for (int n = 1; n <= ptn; n++) { VERBOSE("Width(%d): %d\n", n, LE16(buf+pos)); VERBOSE("Height(%d): %d\n", n, LE16(buf+pos+2)); pos += 4; } VERBOSE("NumCompressPtn: %d\n", buf[pos]); ptn = buf[pos++]; for (int n = 1; n <= ptn; n++) { VERBOSE("Compress(%d): %d\n", n, buf[pos]); pos++; } ENDIF IF_EQ_THEN_PRINTF(VS_FORMAT_UNCOMPRESSED, subtype) VERBOSE("FormatIndex: %d\n", buf[3]); VERBOSE("NumFrameDescriptors: %d\n", buf[4]); uint32_t guid = LE32(buf+5); if (guid == 0x32595559) { VERBOSE("GUID: YUY2\n"); } else if (guid == 0x3231564e) { VERBOSE("GUID: NV12\n"); } else { VERBOSE("GUID: %08x\n", guid); } VERBOSE("DefaultFrameIndex: %d\n", buf[22]); if (_payload == UVC_YUY2) { FormatIndex = buf[3]; } ENDIF IF_EQ_THEN_PRINTF(VS_FRAME_UNCOMPRESSED, subtype) VERBOSE("FrameIndex: %d\n", buf[3]); VERBOSE("Capabilites: %d\n", buf[4]); VERBOSE("Width: %d\n", LE16(buf+5)); VERBOSE("Height: %d\n", LE16(buf+7)); VERBOSE("MinBitRate: %d\n", LE32(buf+9)); VERBOSE("MaxBitRate: %d\n", LE32(buf+13)); VERBOSE("MaxVideoFrameBufferSize: %d\n", LE32(buf+17)); VERBOSE("DefaultFrameInterval: %d\n", LE32(buf+21)); VERBOSE("FrameIntervalType: %d\n", buf[25]); int it = buf[25]; uint32_t max_fi = 333333; // 30.0fps if (it == 0) { VERBOSE("FrameMinInterval: %d\n", buf[26]); VERBOSE("FrameMaxInterval: %d\n", buf[30]); VERBOSE("FrameIntervalStep: %d\n", buf[34]); } else { int pos = 26; for (int n = 1; n <= it; n++) { uint32_t fi = LE32(buf+pos); if (fi >= max_fi) { max_fi = fi; } float fps = 1e+7 / fi; VERBOSE("FrameInterval(%u): %d (%.1f fps)\n", n, fi, fps); pos += 4; } } if (_payload == UVC_YUY2) { if (_width == LE16(buf+5) && _height == LE16(buf+7)) { FrameIndex = buf[3]; } if (dwFrameInterval == 0) { dwFrameInterval = max_fi; } } ENDIF IF_EQ_THEN_PRINTF(VS_FORMAT_MJPEG, subtype) VERBOSE("FormatIndex: %d\n", buf[3]); VERBOSE("NumFrameDescriptors: %d\n", buf[4]); VERBOSE("Flags: %d\n", buf[5]); VERBOSE("DefaultFrameIndex: %d\n", buf[6]); if (_payload == UVC_MJPEG) { FormatIndex = buf[3]; } ENDIF IF_EQ_THEN_PRINTF(VS_FRAME_MJPEG, subtype) VERBOSE("FrameIndex: %d\n", buf[3]); VERBOSE("Capabilites: %d\n", buf[4]); VERBOSE("Width: %d\n", LE16(buf+5)); VERBOSE("Height: %d\n", LE16(buf+7)); VERBOSE("MinBitRate: %d\n", LE32(buf+9)); VERBOSE("MaxBitRate: %d\n", LE32(buf+13)); VERBOSE("MaxVideoFrameBufferSize: %d\n", LE32(buf+17)); VERBOSE("DefaultFrameInterval: %d\n", LE32(buf+21)); VERBOSE("FrameIntervalType: %d\n", buf[25]); int it = buf[25]; uint32_t max_fi = 333333; // 30.0fps if (it == 0) { VERBOSE("FrameMinInterval: %d\n", buf[26]); VERBOSE("FrameMaxInterval: %d\n", buf[30]); VERBOSE("FrameIntervalStep: %d\n", buf[34]); } else { int pos = 26; for (int n = 1; n <= it; n++) { uint32_t fi = LE32(buf+pos); if (fi >= max_fi) { max_fi = fi; } float fps = 1e+7 / fi; VERBOSE("FrameInterval(%u): %d (%.1f fps)\n", n, fi, fps); pos += 4; } } if (_payload == UVC_MJPEG) { if (_width == LE16(buf+5) && _height == LE16(buf+7)) { FrameIndex = buf[3]; } if (dwFrameInterval == 0) { dwFrameInterval = max_fi; } } ENDIF IF_EQ_THEN_PRINTF(VS_COLOR_FORMAT, subtype) ENDIF } void UvcCfg::_parserConfigurationDescriptor(uint8_t* buf, int len) { int pos = 0; _IfClass = 0; _IfSubClass = 0; while (pos < len) { int type = buf[pos+1]; //DBG_BYTES(TYPE_Str(type), buf+pos, buf[pos]); IF_EQ_THEN_PRINTF(DESCRIPTOR_TYPE_CONFIGURATION, type) VERBOSE("NumInterfaces: %d\n", buf[pos+4]); ENDIF IF_EQ_THEN_PRINTF(DESCRIPTOR_TYPE_INTERFACE_ASSOCIATION, type) VERBOSE("FirstInterface: %d\n", buf[pos+2]); VERBOSE("InterfaceCount: %d\n", buf[pos+3]); VERBOSE("FunctionClass: %02X\n", buf[pos+4]); VERBOSE("FunctionSubClass: %02X\n", buf[pos+5]); VERBOSE("FunctionProtocol: %02X\n", buf[pos+6]); VERBOSE("Function: %d\n", buf[pos+7]); ENDIF IF_EQ_THEN_PRINTF(DESCRIPTOR_TYPE_INTERFACE,type) VERBOSE("InterfaceNumber: %d\n", buf[pos+2]); VERBOSE("AlternateSetting: %d\n", buf[pos+3]); VERBOSE("NumEndpoint: %d\n", buf[pos+4]); VERBOSE("InterfaceClass: %02X\n", buf[pos+5]); VERBOSE("InterfaceSubClass: %02X\n", buf[pos+6]); VERBOSE("InterfaceProtocol: %02X\n", buf[pos+7]); VERBOSE("Interface: %d\n", buf[pos+8]); _If = buf[pos+2]; _Ifalt = buf[pos+3]; _IfClass = buf[pos+5]; _IfSubClass = buf[pos+6]; ENDIF IF_EQ_THEN_PRINTF(DESCRIPTOR_TYPE_ENDPOINT, type) VERBOSE("EndpointAddress: %02X\n", buf[pos+2]); VERBOSE("Attributes: %02X\n", buf[pos+3]); VERBOSE("MaxPacketSize: %d\n", LE16(buf+pos+4)); VERBOSE("Interval: %d\n", buf[pos+6]); if (_IfClass == CC_VIDEO && _IfSubClass == SC_VIDEOSTREAMING) { if (bEndpointAddress == buf[pos+2]) { if (wMaxPacketSize == 0) { wMaxPacketSize = LE16(buf+pos+4); } if (wMaxPacketSize == LE16(buf+pos+4)) { bInterface = _If; bAlternate = _Ifalt; } } } ENDIF IF_EQ_THEN_PRINTF(DESCRIPTOR_TYPE_CS_INTERFACE, type) IF_EQ_THEN_PRINTF(CC_VIDEO, _IfClass) IF_EQ_THEN_PRINTF(SC_VIDEOCONTROL, _IfSubClass) _parserVideoControl(buf+pos, buf[pos]); ENDIF IF_EQ_THEN_PRINTF(SC_VIDEOSTREAMING, _IfSubClass) _parserVideoStream(buf+pos, buf[pos]); ENDIF ENDIF IF_EQ_THEN_PRINTF(CC_AUDIO, _IfClass) IF_EQ_THEN_PRINTF(SC_AUDIOCONTROL, _IfSubClass) _parserAudioControl(buf+pos, buf[pos]); ENDIF IF_EQ_THEN_PRINTF(SC_AUDIOSTREAMING, _IfSubClass) _parserAudioStream(buf+pos, buf[pos]); ENDIF ENDIF ENDIF IF_EQ_THEN_PRINTF(DESCRIPTOR_TYPE_HUB, type) ENDIF pos += buf[pos]; } }