#include?
#include?
#include?
#include?
#include??????????????/*?getopt_long（）?*/
#include???????????????/*?low-level?i/o?*/
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include???????????/*?for?videodev2.h?*/
#include?
#include?“camera.h“

int?c_camera_type?=?0;

Camera::Camera（char?*DEV_NAME?int?w?int?h?int?camera_type）
{
????memcpy（dev_nameDEV_NAMEstrlen（DEV_NAME））;
????io?=?IO_METHOD_MMAP;//IO_METHOD_READ;//IO_METHOD_MMAP;
????cap_image_size=0;
????width=w;
????height=h;

	if（1?==?camera_type）
	{
		c_camera_type?=?1;
	}
}

Camera::~Camera（）{

}

unsigned?int?Camera::getImageSize（）{
????return?cap_image_size;
}

void?Camera::CloseDevice（）?{
????stop_capturing（）;
????uninit_device（）;
????close_device（）;
}

void?Camera::errno_exit（const?char?*?s）?{
????fprintf（stderr?“%s?error?%d?%s\n“?s?errno?strerror（errno））;
????exit（EXIT_FAILURE）;
}
int?Camera::xioctl（int?fd?int?request?void?*?arg）?{
????int?r;
????do
????????r?=?ioctl（fd?request?arg）;
????while?（-1?==?r?&&?EINTR?==?errno）;
????return?r;
}

int?Camera::read_frame（unsigned?char?*image）?{
????struct?v4l2_buffer?buf;

????CLEAR?（buf）;
????buf.type?=?V4L2_BUF_TYPE_VIDEO_CAPTURE;
????buf.memory?=?V4L2_MEMORY_MMAP;
????if?（-1?==?xioctl（fd?VIDIOC_DQBUF?&buf））?{
????????switch?（errno）?{
????????case?EAGAIN:
		printf（“**************?%s?line?=?%d\n“?__FUNCTION__?__LINE__）;
????????????return?0;
????????case?EIO:
		printf（“**************?%s?line?=?%d\n“?__FUNCTION__?__LINE__）;
????????????/*?Could?ignore?EIO?see?spec.?*/
????????????/*?fall?through?*/
????????default:
		printf（“**************?%s?line?=?%d\n“?__FUNCTION__?__LINE__）;
????????????errno_exit（“VIDIOC_DQBUF“）;
????????}
????}
	printf（“**************?%s?line?=?%d\n“?__FUNCTION__?__LINE__）;
????assert（buf.index?	printf（“**************?%s?line?=?%d\n“?__FUNCTION__?__LINE__）;
????memcpy（imagebuffers[0].startcap_image_size）;
????if?（-1?==?xioctl（fd?VIDIOC_QBUF?&buf））
????????errno_exit（“VIDIOC_QBUF“）;

????return?1;
}
void?Camera::stop_capturing（void）?{
????enum?v4l2_buf_type?type;
????switch?（io）?{
????case?IO_METHOD_READ:
????????/*?Nothing?to?do.?*/
????????break;
????case?IO_METHOD_MMAP:
????case?IO_METHOD_USERPTR:
????????type?=?V4L2_BUF_TYPE_VIDEO_CAPTURE;
????????if?（-1?==?xioctl（fd?VIDIOC_STREAMOFF?&type））
????????????errno_exit（“VIDIOC_STREAMOFF“）;
????????break;
????}
}
bool?Camera::start_capturing（void）?{
????unsigned?int?i;
????enum?v4l2_buf_type?type;
	printf（“**************?%s?line?=?%d\n“?__FUNCTION__?__LINE__）;
????for?（i?=?0;?i?????????struct?v4l2_buffer?buf;
????????CLEAR?（buf）;
????????buf.type?=?V4L2_BUF_TYPE_VIDEO_CAPTURE;
????????buf.memory?=?V4L2_MEMOR