add webcam for unix

ThomasFarstrike · ThomasFarstrike · commit 35303d3a6b18 · 2025-05-13T15:53:25.000+02:00
diff --git a/c_mpos/micropython.mk b/c_mpos/micropython.mk
@@ -11,10 +11,13 @@ endif
 
 SRC_USERMOD_C += $(MOD_DIR)/src/hello_world.c
 SRC_USERMOD_C += $(MOD_DIR)/src/quirc_decode.c
+SRC_USERMOD_C += $(MOD_DIR)/src/webcam.c
 
 SRC_USERMOD_C += $(MOD_DIR)/quirc/lib/identify.c
 SRC_USERMOD_C += $(MOD_DIR)/quirc/lib/version_db.c
 SRC_USERMOD_C += $(MOD_DIR)/quirc/lib/decode.c
 SRC_USERMOD_C += $(MOD_DIR)/quirc/lib/quirc.c
 #SRC_USERMOD_C += $(MOD_DIR)/quirc/openmv/collections.c
 
+CFLAGS+= -I/usr/include
+LDFLAGS+= -lv4l2
diff --git a/c_mpos/src/webcam.c b/c_mpos/src/webcam.c
@@ -0,0 +1,147 @@
+//#include <Python.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <linux/videodev2.h>
+#include <sys/mman.h>
+#include <string.h>
+
+#include "py/obj.h"
+#include "py/runtime.h"
+#include "py/mperrno.h"
+
+// Module name
+#define MODULE_NAME "webcam"
+
+// Default webcam device
+#define VIDEO_DEVICE "/dev/video0"
+#define WIDTH 640
+#define HEIGHT 480
+
+// Structure to hold webcam state
+typedef struct {
+    int fd; // File descriptor for the webcam
+    void *buffer; // Memory-mapped buffer
+    size_t buffer_length; // Length of the buffer
+} webcam_t;
+
+// Convert YUYV to grayscale (extract Y component)
+static void yuyv_to_grayscale(uint8_t *src, uint8_t *dst, size_t width, size_t height) {
+    for (size_t i = 0; i < width * height * 2; i += 2) {
+        dst[i / 2] = src[i]; // Y component is every other byte
+    }
+}
+
+// Function to capture a grayscale image
+static mp_obj_t webcam_capture_grayscale(void) {
+    webcam_t cam = { .fd = -1, .buffer = NULL, .buffer_length = 0 };
+    struct v4l2_format fmt = {0};
+    struct v4l2_buffer buf = {0};
+    struct v4l2_requestbuffers req = {0};
+
+    // Open the webcam device
+    cam.fd = open(VIDEO_DEVICE, O_RDWR);
+    if (cam.fd < 0) {
+        mp_raise_OSError(errno);
+    }
+
+    // Set format to YUYV
+    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    fmt.fmt.pix.width = WIDTH;
+    fmt.fmt.pix.height = HEIGHT;
+    fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
+    fmt.fmt.pix.field = V4L2_FIELD_ANY;
+    if (ioctl(cam.fd, VIDIOC_S_FMT, &fmt) < 0) {
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    // Request one buffer
+    req.count = 1;
+    req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    req.memory = V4L2_MEMORY_MMAP;
+    if (ioctl(cam.fd, VIDIOC_REQBUFS, &req) < 0) {
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    // Query and map the buffer
+    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    buf.memory = V4L2_MEMORY_MMAP;
+    buf.index = 0;
+    if (ioctl(cam.fd, VIDIOC_QUERYBUF, &buf) < 0) {
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    cam.buffer_length = buf.length;
+    cam.buffer = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, cam.fd, buf.m.offset);
+    if (cam.buffer == MAP_FAILED) {
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    // Queue the buffer
+    if (ioctl(cam.fd, VIDIOC_QBUF, &buf) < 0) {
+        munmap(cam.buffer, cam.buffer_length);
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    // Start streaming
+    enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    if (ioctl(cam.fd, VIDIOC_STREAMON, &type) < 0) {
+        munmap(cam.buffer, cam.buffer_length);
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    // Dequeue the buffer (capture frame)
+    if (ioctl(cam.fd, VIDIOC_DQBUF, &buf) < 0) {
+        ioctl(cam.fd, VIDIOC_STREAMOFF, &type);
+        munmap(cam.buffer, cam.buffer_length);
+        close(cam.fd);
+        mp_raise_OSError(errno);
+    }
+
+    // Convert YUYV to grayscale
+    size_t grayscale_size = WIDTH * HEIGHT;
+    uint8_t *grayscale_buf = (uint8_t *)malloc(grayscale_size);
+    if (!grayscale_buf) {
+        ioctl(cam.fd, VIDIOC_STREAMOFF, &type);
+        munmap(cam.buffer, cam.buffer_length);
+        close(cam.fd);
+        mp_raise_OSError(ENOMEM);
+    }
+    yuyv_to_grayscale((uint8_t *)cam.buffer, grayscale_buf, WIDTH, HEIGHT);
+
+    // Create MicroPython bytes object
+    mp_obj_t result = mp_obj_new_bytes(grayscale_buf, grayscale_size);
+
+    // Clean up
+    free(grayscale_buf);
+    ioctl(cam.fd, VIDIOC_STREAMOFF, &type);
+    munmap(cam.buffer, cam.buffer_length);
+    close(cam.fd);
+
+    return result;
+}
+MP_DEFINE_CONST_FUN_OBJ_0(webcam_capture_grayscale_obj, webcam_capture_grayscale);
+
+// Module definition
+static const mp_rom_map_elem_t webcam_module_globals_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_webcam) },
+    { MP_ROM_QSTR(MP_QSTR_capture_grayscale), MP_ROM_PTR(&webcam_capture_grayscale_obj) },
+};
+static MP_DEFINE_CONST_DICT(webcam_module_globals, webcam_module_globals_table);
+
+const mp_obj_module_t webcam_user_cmodule = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_dict_t *)&webcam_module_globals,
+};
+
+// Register the module
+MP_REGISTER_MODULE(MP_QSTR_webcam, webcam_user_cmodule);
+
