/* @module camera @summary 摄像头 @version 1.0 @date 2022.01.11 @demo camera @tag LUAT_USE_CAMERA */ #include "luat_base.h" #include "luat_camera.h" #include "luat_msgbus.h" #include "luat_fs.h" #include "luat_mem.h" #include "luat_uart.h" #include "luat_zbuff.h" #define LUAT_LOG_TAG "camera" #include "luat_log.h" #define MAX_DEVICE_COUNT 2 #define MAX_USB_DEVICE_COUNT 1 typedef struct luat_camera_cb { int scanned; } luat_camera_cb_t; static luat_camera_cb_t camera_cbs[MAX_DEVICE_COUNT + MAX_USB_DEVICE_COUNT]; static uint64_t camera_idp = 0; int l_camera_handler(lua_State *L, void* ptr) { rtos_msg_t* msg = (rtos_msg_t*)lua_topointer(L, -1); lua_pop(L, 1); int camera_id = msg->arg1; if (camera_id >= LUAT_CAMERA_TYPE_USB) { camera_id = MAX_DEVICE_COUNT + camera_id - LUAT_CAMERA_TYPE_USB; } #if (defined TYPE_EC718) || (defined TYPE_EC718M) if (camera_cbs[0].scanned) { camera_id = 0; } else if (camera_cbs[1].scanned) { camera_id = 1; } #endif if (camera_cbs[camera_id].scanned) { lua_geti(L, LUA_REGISTRYINDEX, camera_cbs[camera_id].scanned); if (lua_isfunction(L, -1)) { lua_pushinteger(L, camera_id); if (msg->ptr) { lua_pushlstring(L, (char *)msg->ptr,msg->arg2); } else if (msg->arg2 > 1) { lua_pushinteger(L, msg->arg2); } else { lua_pushboolean(L, msg->arg2); } lua_call(L, 2, 0); } } lua_pushinteger(L, 0); return 1; } /* 初始化摄像头 @api camera.init(InitReg_or_cspi_id, cspi_speed, mode, is_msb, rx_bit, seq_type, is_ddr, only_y, scan_mode, w, h) @table/integer 如果是table,则是DVP摄像头的配置见demo/camera/dvp_camera,同时忽略后续参数;如果是数字,则是camera spi总线序号 @int camera spi总线速度 @int camera spi模式,0~3 @int 字节的bit顺序是否是msb,0否1是 @int 同时接收bit数,1,2,4 @int byte序列,0~1 @int 双边沿采样配置,0不启用,其他值根据实际SOC决定 @int 只接收Y分量，0不启用，1启用，扫码必须启用，否则会失败 @int 工作模式，camera.AUTO自动,camera.SCAN扫码 @int 摄像头宽度 @int 摄像头高度 @return int/false 成功返回camera_id，失败返回false @usage camera_id = camera.init(GC032A_InitReg)--屏幕输出rgb图像 --初始化后需要start才开始输出/扫码 camera.start(camera_id)--开始指定的camera */ static int l_camera_init(lua_State *L){ int result; if (lua_istable(L, 1)) { luat_camera_conf_t conf = {0}; conf.lcd_conf = luat_lcd_get_default(); conf.stream = 1; lua_pushliteral(L, "zbar_scan"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.zbar_scan = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "draw_lcd"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.draw_lcd = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "i2c_id"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.i2c_id = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "i2c_addr"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.i2c_addr = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "pwm_id"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.pwm_id = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "pwm_period"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.pwm_period = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "pwm_pulse"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.pwm_pulse = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "sensor_width"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.sensor_width = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "sensor_height"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.sensor_height = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "color_bit"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.color_bit = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "id_reg"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.id_reg = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "id_value"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.id_value = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "id"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.id = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "usb_port"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.usb_port = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "stream"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.stream = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "async"); lua_gettable(L, 1); if (lua_isinteger(L, -1)) { conf.async = luaL_checkinteger(L, -1); } lua_pop(L, 1); lua_pushliteral(L, "init_cmd"); lua_gettable(L, 1); if (lua_istable(L, -1)) { conf.init_cmd_size = lua_rawlen(L, -1); conf.init_cmd = luat_heap_malloc(conf.init_cmd_size * sizeof(uint8_t)); for (size_t i = 1; i <= conf.init_cmd_size; i++){ lua_geti(L, -1, i); conf.init_cmd[i-1] = luaL_checkinteger(L, -1); lua_pop(L, 1); } }else if(lua_isstring(L, -1)){ size_t len; int cmd; const char *fail_name = luaL_checklstring(L, -1, &len); FILE* fd = luat_fs_fopen(fail_name, "rb"); conf.init_cmd_size = 0; if (fd){ #define INITCMD_BUFF_SIZE 128 char init_cmd_buff[INITCMD_BUFF_SIZE] ; conf.init_cmd = luat_heap_malloc(sizeof(uint8_t)); while (1) { memset(init_cmd_buff, 0, INITCMD_BUFF_SIZE); int readline_len = luat_fs_readline(init_cmd_buff, INITCMD_BUFF_SIZE-1, fd); if (readline_len < 1) break; if (memcmp(init_cmd_buff, "#", 1)==0){ continue; } char *token = strtok(init_cmd_buff, ","); if (sscanf(token,"%x",&cmd) < 1){ continue; } conf.init_cmd_size = conf.init_cmd_size + 1; conf.init_cmd = luat_heap_realloc(conf.init_cmd,conf.init_cmd_size * sizeof(uint8_t)); conf.init_cmd[conf.init_cmd_size-1]=cmd; while( token != NULL ) { token = strtok(NULL, ","); if (sscanf(token,"%x",&cmd) < 1){ break; } conf.init_cmd_size = conf.init_cmd_size + 1; conf.init_cmd = luat_heap_realloc(conf.init_cmd,conf.init_cmd_size * sizeof(uint8_t)); conf.init_cmd[conf.init_cmd_size-1]=cmd; } } conf.init_cmd[conf.init_cmd_size]= 0; luat_fs_fclose(fd); }else{ LLOGE("init_cmd fail open error"); } } lua_pop(L, 1); result = luat_camera_init(&conf); if (result < 0) { if (conf.async) { camera_idp = luat_pushcwait(L); lua_pushboolean(L, 0); luat_pushcwait_error(L,1); } else { lua_pushboolean(L, 0); } } else { if (conf.async) { camera_idp = luat_pushcwait(L); } else { lua_pushinteger(L, result); } } } else if (lua_isinteger(L, 1)) { luat_spi_camera_t conf = {0}; conf.lcd_conf = luat_lcd_get_default(); int cspi_id = lua_tointeger(L, 1); int default_value = 24000000; conf.camera_speed = lua_tointegerx(L, 2, &default_value); default_value = 0; conf.spi_mode = lua_tointegerx(L, 3, &default_value); conf.is_msb = lua_tointegerx(L, 4, &default_value); conf.is_two_line_rx = lua_tointegerx(L, 5, &default_value) - 1; conf.seq_type = lua_tointegerx(L, 6, &default_value); result = lua_tointegerx(L, 7, &default_value); memcpy(conf.plat_param, &result, 4); conf.only_y = lua_tointegerx(L, 8, &default_value); int mode = lua_tointegerx(L, 9, &default_value); default_value = 240; conf.sensor_width = lua_tointegerx(L, 10, &default_value); default_value = 320; conf.sensor_height = lua_tointegerx(L, 11, &default_value); luat_camera_init(NULL); luat_camera_work_mode(cspi_id, mode); result = luat_camera_setup(cspi_id, &conf, NULL, 0); if (result < 0) { lua_pushboolean(L, 0); } else { lua_pushinteger(L, result); } } else { lua_pushboolean(L, 0); } return 1; } /** 注册摄像头事件回调 @api camera.on(id, event, func) @int camera id, camera 0写0, camera 1写1 @string 事件名称 @function 回调方法 @return nil 无返回值 @usage camera.on(0, "scanned", function(id, event) --id int camera id --event 多种类型，详见下表 print(id, event) end) --[[ event可能出现的值有 boolean型 false 摄像头没有正常工作，检查硬件和软件配置 boolean型 true 拍照模式下拍照成功并保存完成，可以读取照片文件数据进一步处理，比如读出数据上传 int型 原始图像大小 RAW模式下，采集完一帧图像后回调，回调值为图像数据大小，可以对传入的zbuff做进一步处理，比如读出数据上传 string型 扫码结果 扫码模式下扫码成功一次，并且回调解码值，可以对回调值做进一步处理，比如打印到LCD上 ]] */ static int l_camera_on(lua_State *L) { int camera_id = luaL_checkinteger(L, 1); const char* event = luaL_checkstring(L, 2); if (camera_id >= LUAT_CAMERA_TYPE_USB) { camera_id = MAX_DEVICE_COUNT + camera_id - LUAT_CAMERA_TYPE_USB; } if (!strcmp("scanned", event)) { if (camera_cbs[camera_id].scanned != 0) { luaL_unref(L, LUA_REGISTRYINDEX, camera_cbs[camera_id].scanned); camera_cbs[camera_id].scanned = 0; } if (lua_isfunction(L, 3)) { lua_pushvalue(L, 3); camera_cbs[camera_id].scanned = luaL_ref(L, LUA_REGISTRYINDEX); } } return 0; } /** 开始指定的camera @api camera.start(id) @int camera id,例如0 @return boolean 成功返回true,否则返回false @usage camera.start(0) */ static int l_camera_start(lua_State *L) { int id = luaL_checkinteger(L, 1); lua_pushboolean(L, luat_camera_start(id) == 0 ? 1 : 0); return 1; } /** 停止指定的camera @api camera.stop(id) @int camera id,例如0 @return boolean 成功返回true,否则返回false @usage camera.stop(0) */ static int l_camera_stop(lua_State *L) { int id = luaL_checkinteger(L, 1); lua_pushboolean(L, luat_camera_stop(id) == 0 ? 1 : 0); return 1; } /** 关闭指定的camera，释放相应的IO资源 @api camera.close(id) @int camera id,例如0 @return boolean 成功返回true,否则返回false @usage camera.close(0) */ static int l_camera_close(lua_State *L) { int id = luaL_checkinteger(L, 1); lua_pushboolean(L, luat_camera_close(id) == 0 ? 1 : 0); return 1; } LUAT_WEAK int luat_camera_setup(int id, luat_spi_camera_t *conf, void * callback, void *param) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_capture(int id, uint8_t quality, const char *path) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_capture_config(int id, uint16_t start_x, uint16_t start_y, uint16_t new_w, uint16_t new_h) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_capture_in_ram(int id, uint8_t quality, void *buffer) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_get_raw_start(int id, int w, int h, uint8_t *data, uint32_t max_len) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_get_raw_again(int id) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_video(int id, int w, int h, uint8_t uart_id) { LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_preview(int id, uint8_t on_off){ LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_work_mode(int id, int mode){ LLOGD("not support yet"); return -1; } LUAT_WEAK int luat_camera_config(int id, int key, int value) { LLOGD("not support yet"); return -1; } LUAT_WEAK void luat_camera_pwdn_pin(int id, uint8_t level) { LLOGD("not support yet"); return; } LUAT_WEAK void luat_camera_reset_pin(int id, uint8_t level) { LLOGD("not support yet"); return; } /** camera拍照 @api camera.capture(id, save_path, quality, x, y, w, h) @int camera id,例如0 @string/zbuff/nil save_path,文件保存路径，空则写在上次路径里，默认是/capture.jpg，如果是zbuff，则将图片保存在buff内不写入文件系统 @int quality, jpeg压缩质量, 见下面的使用说明 @int x, 裁剪起始横坐标，从x列开始 @int y, 裁剪起始纵坐标，从y行开始 @int w, 裁剪后的宽度 @int h, 裁剪后的高度 @return boolean 成功返回true,否则返回false,真正完成后通过camera.on设置的回调函数回调接收到的长度 @usage -- 保存到文件,质量为80 camera.capture(0, "/capture.jpg", 80) -- 保存到内存文件系统 camera.capture(0, "/ram/123.jpg", 80) -- 保存到zbuff,质量为80 camera.capture(0, buff, 80) -- jpeg压缩质量,请使用 50 - 95 之间的数值 -- 为保持兼容性, 质量值1/2/3, 分别对应 90/95/99 */ static int l_camera_capture(lua_State *L) { int id = luaL_checkinteger(L, 1); int quality = luaL_optinteger(L, 3, 1); if (luat_camera_capture_config(id, luaL_optinteger(L, 4, 0), luaL_optinteger(L, 5, 0), luaL_optinteger(L, 6, 0), luaL_optinteger(L, 7, 0))) { lua_pushboolean(L, 0); return 1; } if (lua_isstring(L, 2)){ const char* save_path = luaL_checkstring(L, 2); lua_pushboolean(L, !luat_camera_capture(id, quality, save_path)); } else { luat_zbuff_t *buff = luaL_checkudata(L, 2, LUAT_ZBUFF_TYPE); lua_pushboolean(L, !luat_camera_capture_in_ram(id, quality, buff)); } return 1; } /** camera输出视频流到USB @api camera.video(id, w, h, out_path) @int camera id,例如0 @int 宽度 @int 高度 @int 输出路径，目前只能用虚拟串口0 @return boolean 成功返回true,否则返回false @usage camera.video(0, 320, 240, uart.VUART_0) */ static int l_camera_video(lua_State *L) { int id = luaL_checkinteger(L, 1); int w = luaL_optinteger(L, 2, 320); int h = luaL_optinteger(L, 3, 240); int param = luaL_optinteger(L, 4, LUAT_VUART_ID_0); lua_pushboolean(L, !luat_camera_video(id, w, h, param)); return 1; } /** 启动camera输出原始数据到用户的zbuff缓存区，输出1fps后会停止，并通过camera.on设置的回调函数回调接收到的长度，如果需要再次输出，请调用camera.getRaw @api camera.startRaw(id, w, h, buff) @int camera id,例如0 @int 宽度 @int 高度 @zbuff 用于存放数据的缓存区，大小必须不小于w X h X 2 byte @return boolean 成功返回true,否则返回false @usage camera.startRaw(0, 320, 240, buff) */ static int l_camera_start_raw(lua_State *L) { int id = luaL_checkinteger(L, 1); int w = luaL_optinteger(L, 2, 320); int h = luaL_optinteger(L, 3, 240); luat_zbuff_t *buff = luaL_checkudata(L, 4, LUAT_ZBUFF_TYPE); lua_pushboolean(L, !luat_camera_get_raw_start(id, w, h, buff->addr, buff->len)); return 1; } /** 再次启动camera输出原始数据到用户的zbuff缓存区，输出1fps后会停止，并通过camera.on设置的回调函数回调接收到的长度，如果需要再次输出，请继续调用本API @api camera.getRaw(id) @int camera id,例如0 @return boolean 成功返回true,否则返回false @usage camera.getRaw(0) */ static int l_camera_get_raw(lua_State *L) { int id = luaL_checkinteger(L, 1); lua_pushboolean(L, !luat_camera_get_raw_again(id)); return 1; } /** 启停camera预览功能，直接输出到LCD上，只有硬件支持的SOC可以运行，启动预览前必须调用lcd.int等api初始化LCD，预览时自动选择已经初始化过的lcd。 @api camera.preview(id, onoff) @int camera id,例如0 @boolean true开启，false停止 @return boolean 成功返回true,否则返回false @usage camera.preview(1, true) */ static int l_camera_preview(lua_State *L) { int id = luaL_checkinteger(L, 1); uint8_t onoff = lua_toboolean(L, 2); lua_pushboolean(L, !luat_camera_preview(id, onoff)); return 1; } /** 配置摄像头参数 @api camera.config(id, key, value) @int camera id,例如0 @int 配置项的id @int 配置项的值 @return nil 当前无返回值 @usage -- 本函数于 2025.3.17 新增, 当前仅Air8101可用 camera.config(0, camera.CONF_H264_QP_INIT, 16) camera.config(0, camera.CONF_H264_QP_I_MAX, 16) camera.config(0, camera.CONF_H264_QP_P_MAX, 8) camera.config(0, camera.CONF_H264_IMB_BITS, 3) camera.config(0, camera.CONF_H264_PMB_BITS, 1) */ static int l_camera_config(lua_State *L) { int id = luaL_checkinteger(L, 1); int key = luaL_checkinteger(L, 2); int value = luaL_checkinteger(L, 3); int ret = luat_camera_config(id, key, value); lua_pushinteger(L, ret); return 1; } /* 对于无法用GPIO控制camera pwdn脚的平台，手动控制camera pwdn脚拉高或者拉低,2025/9/6启用 @api camera.pwdn_pin(id, level) @int camera id,例如0 @int pwdn脚电平，1高电平，0低电平 @usage -- camera pwdn脚低电平 camera.pwdn_pin(camera_id, 0) */ static int l_camera_set_pwdn_pin(lua_State* L) { luat_camera_pwdn_pin(luaL_checkinteger(L, 1), luaL_optinteger(L, 2, 0)); return 0; } /* 对于无法用GPIO控制camera reset脚的平台，手动控制camera reset脚拉高或者拉低,2025/9/6启用 @api camera.reset_pin(level) @int camera id,例如0 @int reset脚电平，1高电平，0低电平 @usage -- camera reset脚高电平 camera.reset_pin(camera_id, 1) */ static int l_camera_set_reset_pin(lua_State* L) { luat_camera_reset_pin(luaL_checkinteger(L, 1), luaL_optinteger(L, 2, 1)); return 0; } #include "rotable2.h" static const rotable_Reg_t reg_camera[] = { { "init" , ROREG_FUNC(l_camera_init )}, { "start" , ROREG_FUNC(l_camera_start )}, { "preview", ROREG_FUNC(l_camera_preview)}, { "stop" , ROREG_FUNC(l_camera_stop)}, { "capture", ROREG_FUNC(l_camera_capture)}, { "video", ROREG_FUNC(l_camera_video)}, { "startRaw", ROREG_FUNC(l_camera_start_raw)}, { "getRaw", ROREG_FUNC(l_camera_get_raw)}, { "close", ROREG_FUNC(l_camera_close)}, { "on", ROREG_FUNC(l_camera_on)}, { "config", ROREG_FUNC(l_camera_config)}, { "pwdn_pin", ROREG_FUNC(l_camera_set_pwdn_pin)}, { "reset_pin", ROREG_FUNC(l_camera_set_reset_pin)}, //@const AUTO number 摄像头工作在自动模式 { "AUTO", ROREG_INT(LUAT_CAMERA_MODE_AUTO)}, //@const SCAN number 摄像头工作在扫码模式，只输出Y分量 { "SCAN", ROREG_INT(LUAT_CAMERA_MODE_SCAN)}, //@const USB number 摄像头类型，USB { "USB", ROREG_INT(LUAT_CAMERA_TYPE_USB)}, //@const DVP number 摄像头类型，DVP { "DVP", ROREG_INT(LUAT_CAMERA_TYPE_DVP)}, //@const ROTATE_0 number 摄像头预览，画面不旋转 { "ROTATE_0", ROREG_INT(LUAT_CAMERA_PREVIEW_ROTATE_0)}, //@const ROTATE_90 number 摄像头预览，画面旋转90度 { "ROTATE_90", ROREG_INT(LUAT_CAMERA_PREVIEW_ROTATE_90)}, //@const ROTATE_270 number 摄像头预览，画面旋转270度 { "ROTATE_270", ROREG_INT(LUAT_CAMERA_PREVIEW_ROTATE_270)}, //@const CONF_H264_QP_INIT number H264编码器初始化QP值 { "CONF_H264_QP_INIT", ROREG_INT(LUAT_CAMERA_CONF_H264_QP_INIT)}, //@const CONF_H264_QP_I_MAX number H264编码器I的最大QP值 { "CONF_H264_QP_I_MAX", ROREG_INT(LUAT_CAMERA_CONF_H264_QP_I_MAX)}, //@const CONF_H264_QP_P_MAX number H264编码器P的最大QP值 { "CONF_H264_QP_P_MAX", ROREG_INT(LUAT_CAMERA_CONF_H264_QP_P_MAX)}, //@const CONF_H264_IMB_BITS number H264编码器IMB_BITS值 { "CONF_H264_IMB_BITS", ROREG_INT(LUAT_CAMERA_CONF_H264_IMB_BITS)}, //@const CONF_H264_PMB_BITS number H264编码器PMB_BITS值 { "CONF_H264_PMB_BITS", ROREG_INT(LUAT_CAMERA_CONF_H264_PMB_BITS)}, //@const CONF_PREVIEW_ENABLE number 是否启动摄像头预览功能，默认开启 { "CONF_PREVIEW_ENABLE", ROREG_INT(LUAT_CAMERA_CONF_PREVIEW_ENABLE)}, //@const CONF_PREVIEW_ROTATE number 摄像头预览画面的旋转角度 { "CONF_PREVIEW_ROTATE", ROREG_INT(LUAT_CAMERA_CONF_PREVIEW_ROTATE)}, { NULL, ROREG_INT(0)} }; LUAMOD_API int luaopen_camera( lua_State *L ) { luat_newlib2(L, reg_camera); return 1; } //------------------------------------------------------ static int32_t l_camera_callback(lua_State *L, void* ptr) { rtos_msg_t *msg = (rtos_msg_t *)lua_topointer(L, -1); if (camera_idp) { if (msg->arg1 < 0) { lua_pushinteger(L, 0); } else { lua_pushinteger(L, msg->arg1); } luat_cbcwait(L, camera_idp, 1); camera_idp = 0; } return 0; } void luat_camera_async_init_result(int result) { rtos_msg_t msg = {0}; msg.handler = l_camera_callback; msg.arg1 = result; luat_msgbus_put(&msg, 0); }