install go2rtc on bob

2026-04-04 19:36:14 +02:00
parent f0b56e63d1
commit ccf88187b8
537 changed files with 69213 additions and 0 deletions
@@ -0,0 +1,252 @@
+//go:build linux
+
+package device
+
+import (
+	"bytes"
+	"errors"
+	"fmt"
+	"syscall"
+	"unsafe"
+)
+
+type Device struct {
+	fd     int
+	bufs   [][]byte
+	pixFmt uint32
+}
+
+func Open(path string) (*Device, error) {
+	fd, err := syscall.Open(path, syscall.O_RDWR|syscall.O_CLOEXEC, 0)
+	if err != nil {
+		return nil, err
+	}
+	return &Device{fd: fd}, nil
+}
+
+const buffersCount = 2
+
+type Capability struct {
+	Driver  string
+	Card    string
+	BusInfo string
+	Version string
+}
+
+func (d *Device) Capability() (*Capability, error) {
+	c := v4l2_capability{}
+	if err := ioctl(d.fd, VIDIOC_QUERYCAP, unsafe.Pointer(&c)); err != nil {
+		return nil, err
+	}
+	return &Capability{
+		Driver:  str(c.driver[:]),
+		Card:    str(c.card[:]),
+		BusInfo: str(c.bus_info[:]),
+		Version: fmt.Sprintf("%d.%d.%d", byte(c.version>>16), byte(c.version>>8), byte(c.version)),
+	}, nil
+}
+
+func (d *Device) ListFormats() ([]uint32, error) {
+	var items []uint32
+
+	for i := uint32(0); ; i++ {
+		fd := v4l2_fmtdesc{
+			index: i,
+			typ:   V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		}
+		if err := ioctl(d.fd, VIDIOC_ENUM_FMT, unsafe.Pointer(&fd)); err != nil {
+			if !errors.Is(err, syscall.EINVAL) {
+				return nil, err
+			}
+			break
+		}
+
+		items = append(items, fd.pixelformat)
+	}
+
+	return items, nil
+}
+
+func (d *Device) ListSizes(pixFmt uint32) ([][2]uint32, error) {
+	var items [][2]uint32
+
+	for i := uint32(0); ; i++ {
+		fs := v4l2_frmsizeenum{
+			index:        i,
+			pixel_format: pixFmt,
+		}
+		if err := ioctl(d.fd, VIDIOC_ENUM_FRAMESIZES, unsafe.Pointer(&fs)); err != nil {
+			if !errors.Is(err, syscall.EINVAL) {
+				return nil, err
+			}
+			break
+		}
+
+		if fs.typ != V4L2_FRMSIZE_TYPE_DISCRETE {
+			continue
+		}
+
+		items = append(items, [2]uint32{fs.discrete.width, fs.discrete.height})
+	}
+
+	return items, nil
+}
+
+func (d *Device) ListFrameRates(pixFmt, width, height uint32) ([]uint32, error) {
+	var items []uint32
+
+	for i := uint32(0); ; i++ {
+		fi := v4l2_frmivalenum{
+			index:        i,
+			pixel_format: pixFmt,
+			width:        width,
+			height:       height,
+		}
+		if err := ioctl(d.fd, VIDIOC_ENUM_FRAMEINTERVALS, unsafe.Pointer(&fi)); err != nil {
+			if !errors.Is(err, syscall.EINVAL) {
+				return nil, err
+			}
+			break
+		}
+
+		if fi.typ != V4L2_FRMIVAL_TYPE_DISCRETE || fi.discrete.numerator != 1 {
+			continue
+		}
+
+		items = append(items, fi.discrete.denominator)
+	}
+
+	return items, nil
+}
+
+func (d *Device) SetFormat(width, height, pixFmt uint32) error {
+	d.pixFmt = pixFmt
+
+	f := v4l2_format{
+		typ: V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		pix: v4l2_pix_format{
+			width:       width,
+			height:      height,
+			pixelformat: pixFmt,
+			field:       V4L2_FIELD_NONE,
+			colorspace:  V4L2_COLORSPACE_DEFAULT,
+		},
+	}
+	return ioctl(d.fd, VIDIOC_S_FMT, unsafe.Pointer(&f))
+}
+
+func (d *Device) SetParam(fps uint32) error {
+	p := v4l2_streamparm{
+		typ: V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		capture: v4l2_captureparm{
+			timeperframe: v4l2_fract{numerator: 1, denominator: fps},
+		},
+	}
+	return ioctl(d.fd, VIDIOC_S_PARM, unsafe.Pointer(&p))
+}
+
+func (d *Device) StreamOn() (err error) {
+	rb := v4l2_requestbuffers{
+		count:  buffersCount,
+		typ:    V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		memory: V4L2_MEMORY_MMAP,
+	}
+	if err = ioctl(d.fd, VIDIOC_REQBUFS, unsafe.Pointer(&rb)); err != nil {
+		return err
+	}
+
+	d.bufs = make([][]byte, buffersCount)
+	for i := uint32(0); i < buffersCount; i++ {
+		qb := v4l2_buffer{
+			index:  i,
+			typ:    V4L2_BUF_TYPE_VIDEO_CAPTURE,
+			memory: V4L2_MEMORY_MMAP,
+		}
+		if err = ioctl(d.fd, VIDIOC_QUERYBUF, unsafe.Pointer(&qb)); err != nil {
+			return err
+		}
+
+		if d.bufs[i], err = syscall.Mmap(
+			d.fd, int64(qb.offset), int(qb.length), syscall.PROT_READ, syscall.MAP_SHARED,
+		); nil != err {
+			return err
+		}
+
+		if err = ioctl(d.fd, VIDIOC_QBUF, unsafe.Pointer(&qb)); err != nil {
+			return err
+		}
+	}
+
+	typ := uint32(V4L2_BUF_TYPE_VIDEO_CAPTURE)
+	return ioctl(d.fd, VIDIOC_STREAMON, unsafe.Pointer(&typ))
+}
+
+func (d *Device) StreamOff() (err error) {
+	typ := uint32(V4L2_BUF_TYPE_VIDEO_CAPTURE)
+	if err = ioctl(d.fd, VIDIOC_STREAMOFF, unsafe.Pointer(&typ)); err != nil {
+		return err
+	}
+
+	for i := range d.bufs {
+		_ = syscall.Munmap(d.bufs[i])
+	}
+
+	rb := v4l2_requestbuffers{
+		count:  0,
+		typ:    V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		memory: V4L2_MEMORY_MMAP,
+	}
+	return ioctl(d.fd, VIDIOC_REQBUFS, unsafe.Pointer(&rb))
+}
+
+func (d *Device) Capture() ([]byte, error) {
+	dec := v4l2_buffer{
+		typ:    V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		memory: V4L2_MEMORY_MMAP,
+	}
+	if err := ioctl(d.fd, VIDIOC_DQBUF, unsafe.Pointer(&dec)); err != nil {
+		return nil, err
+	}
+
+	src := d.bufs[dec.index][:dec.bytesused]
+	dst := make([]byte, dec.bytesused)
+
+	switch d.pixFmt {
+	case V4L2_PIX_FMT_YUYV:
+		YUYVtoYUV(dst, src)
+	case V4L2_PIX_FMT_NV12:
+		NV12toYUV(dst, src)
+	default:
+		copy(dst, d.bufs[dec.index][:dec.bytesused])
+	}
+
+	enc := v4l2_buffer{
+		typ:    V4L2_BUF_TYPE_VIDEO_CAPTURE,
+		memory: V4L2_MEMORY_MMAP,
+		index:  dec.index,
+	}
+	if err := ioctl(d.fd, VIDIOC_QBUF, unsafe.Pointer(&enc)); err != nil {
+		return nil, err
+	}
+
+	return dst, nil
+}
+
+func (d *Device) Close() error {
+	return syscall.Close(d.fd)
+}
+
+func ioctl(fd int, req uint, arg unsafe.Pointer) error {
+	_, _, err := syscall.Syscall(syscall.SYS_IOCTL, uintptr(fd), uintptr(req), uintptr(arg))
+	if err != 0 {
+		return err
+	}
+	return nil
+}
+
+func str(b []byte) string {
+	if i := bytes.IndexByte(b, 0); i >= 0 {
+		return string(b[:i])
+	}
+	return string(b)
+}