Update doxygen documentation (28233c9b) · Commits · Elphel / elphel-apps-camogm

camogm.c

+160 −177

Original line number	Original line	Diff line number	Diff line
	/!**************************************************************************		/** @file camogm.c
	*! FILE NAME : camogm.c		* @brief Program to write captured video (and audio) to camera file system
	*! DESCRIPTION: Program to write captured video (and audio) to camera file system		* using Ogg container.
	*! using Ogg container.		* @copyright Copyright (C) 2016 Elphel, Inc.
	*! Original implementation will copy package data to a buffer to use library calls?		*
	*! Copyright (C) 2007 Elphel, Inc.		* @par <b>License</b>
	! -----------------------------------------------------------------------------*		* This program is free software: you can redistribute it and/or modify
	*! This program is free software: you can redistribute it and/or modify		* it under the terms of the GNU General Public License as published by
	*! it under the terms of the GNU General Public License as published by		* the Free Software Foundation, either version 3 of the License, or
	*! the Free Software Foundation, either version 3 of the License, or		* (at your option) any later version.
	*! (at your option) any later version.		* This program is distributed in the hope that it will be useful,
	*!		* but WITHOUT ANY WARRANTY; without even the implied warranty of
	*! This program is distributed in the hope that it will be useful,		* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
	*! but WITHOUT ANY WARRANTY; without even the implied warranty of		* GNU General Public License for more details.
	*! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the		* You should have received a copy of the GNU General Public License
	*! GNU General Public License for more details.		* along with this program. If not, see <http://www.gnu.org/licenses/>.
	*!
	*! You should have received a copy of the GNU General Public License
	*! along with this program. If not, see <http://www.gnu.org/licenses/>.
	! -----------------------------------------------------------------------------*
	*!
	*! $Log: camogm.c,v $
	*! Revision 1.13 2011/04/22 22:38:30 elphel
	*! added "greedy" and "ignore_fps" options
	*!
	*! Revision 1.12 2010/08/16 17:10:59 elphel
	*! typo
	*!
	*! Revision 1.11 2010/08/08 21:14:04 elphel
	*! 8.0.8.38
	*!
	*! Revision 1.10 2010/08/07 23:38:01 elphel
	*! fixed skipping (sometimes) frames at start recording
	*!
	*! Revision 1.9 2010/08/03 06:19:57 elphel
	*! more debug for debug-level>=3
	*!
	*! Revision 1.8 2010/08/02 01:26:42 elphel
	*! error tracking
	*!
	*! Revision 1.7 2010/08/01 19:30:24 elphel
	*! new readonly parameter FRAME_SIZE and it support in the applications
	*!
	*! Revision 1.6 2010/07/18 16:59:09 elphel
	*! 8.0.8.31 - added parameters to camogm (one is to start at certain absolute time, helps to synchronize multiple cameras)
	*!
	*! Revision 1.5 2010/07/04 19:06:02 elphel
	*! moved acknowledge earlier
	*!
	*! Revision 1.4 2010/06/22 18:27:26 elphel
	*! bug fix
	*!
	*! Revision 1.3 2010/06/22 16:53:30 elphel
	*! camogm acknowledges received command by copying G_THIS_FRAME value to G_DAEMON_ERR+3 (default number for camogm)
	*!
	*! Revision 1.2 2009/02/25 17:50:02 spectr_rain
	*! removed deprecated dependency
	*!
	*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
	*!
	*!
	*! Revision 1.6 2008/11/21 01:52:53 elphel
	*! updated for 8.0
	*!
	*! Revision 1.5 2008/11/20 23:21:32 elphel
	*! Put FIXME notes and removed parameters that are not used anymore
	*!
	*! Revision 1.4 2008/10/29 04:18:28 elphel
	*! v.8.0.alpha10 made a separate structure for global parameters (not related to particular frames in a frame queue)
	*!
	*! Revision 1.3 2008/10/13 16:55:53 elphel
	! removed (some) obsolete P_ parameters, renamed CIRCLSEEK to LSEEK_CIRC constants (same as other similar)
	*!
	*! Revision 1.2 2008/09/07 19:48:08 elphel
	*! snapshot
	*!
	*! Revision 1.9 2008/04/13 21:05:19 elphel
	*! Fixing KML generation
	*!
	*! Revision 1.8 2008/04/11 23:09:33 elphel
	*! modified to handle kml generation
	*!
	*! Revision 1.7 2008/04/07 09:13:34 elphel
	*! Changes related to new Exif generation/processing
	*!
	*! Revision 1.6 2008/01/14 22:59:00 elphel
	*! 7.1.7.4 - added timelapse mode to camogm
	*!
	*! Revision 1.5 2007/12/03 08:28:45 elphel
	*! Multiple changes, mostly cleanup
	*!
	*! Revision 1.4 2007/11/29 00:38:57 elphel
	*! fixed timescale bug
	*!
	*! Revision 1.3 2007/11/19 05:07:19 elphel
	*! fixed 2 typos
	*!
	*! Revision 1.2 2007/11/19 03:23:21 elphel
	! 7.1.5.5 Added support for .mov files in camogm.
	*!
	*! Revision 1.1 2007/11/16 08:49:56 elphel
	*! Initial release of camogm - program to record video/image to the camera hard drive (or other storage)
	*!
	*/		*/
			#include <unistd.h>
	#include <stdio.h>		#include <stdio.h>
	#include <stdlib.h>		#include <stdlib.h>
	#include <fcntl.h>		#include <fcntl.h>
	@@ -110,18 +24,40 @@
	#include <linux/fs.h>		#include <linux/fs.h>
	#include <sys/mman.h>		#include <sys/mman.h>
	#include <sys/ioctl.h>		#include <sys/ioctl.h>
			#include <string.h>

	#include "camogm_ogm.h"		#include "camogm_ogm.h"
	#include "camogm_jpeg.h"		#include "camogm_jpeg.h"
	#include "camogm_mov.h"		#include "camogm_mov.h"
	#include "camogm_kml.h"		#include "camogm_kml.h"
	#include "camogm_read.h"		#include "camogm_read.h"
	#include "camogm.h"

			/** @brief Time interval (in microseconds) for processing commands */
	#define COMMAND_LOOP_DELAY 500000 //0.5sec		#define COMMAND_LOOP_DELAY 500000 //0.5sec
			/** @brief Default debug level */
	#define DEFAULT_DEBUG_LVL 6		#define DEFAULT_DEBUG_LVL 6
			/** @brief JPEG trailer syze in bytes */
	#define TRAILER_SIZE 0x02		#define TRAILER_SIZE 0x02
	#define MAP_OPTIONS MAP_FILE \| MAP_PRIVATE		/** @brief Default segment duration in seconds */
			#define DEFAULT_DURATION 600
			/** @brief Default segment length in bytes */
			#define DEFAULT_LENGTH 1073741824
			/** @brief Behavior for the files: 0 clean buffer, 1 - save as much as possible */
			#define DEFAULT_GREEDY 0
			/** @brief 0 - restartf file if fps changed, 1 - ignore variable fps (and skip less frames) */
			#define DEFAULT_IGNORE_FPS 0
			/** @brief Maximal number of frames in file segment (each need 4* (1 + 1/frames_per_chunk) bytes for the frame index.
			* This parameter is mostrly for Quicktime */
			#define DEFAULT_FRAMES 16384
			/** @brief Second sparse index - for Quicktime fast forward */
			#define DEFAULT_FRAMES_PER_CHUNK 10
			/** @brief Use Exif */
			#define DEFAULT_EXIF 1
			/** @brief Bit mask indicating all 4 sensor port channels are active */
			#define ALL_CHN_ACTIVE 0x0f
			/** @brief Bit mask indicating all 4 sensor port channels are inactive */
			#define ALL_CHN_INACTIVE 0x00
			/** @brief This is a basic helper macro for processing all sensor ports at a time */
	#define FOR_EACH_PORT(indtype, indvar) for (indtype indvar = 0; indvar < SENSOR_PORTS; indvar++)		#define FOR_EACH_PORT(indtype, indvar) for (indtype indvar = 0; indvar < SENSOR_PORTS; indvar++)

	char trailer[TRAILER_SIZE] = { 0xff, 0xd9 };		char trailer[TRAILER_SIZE] = { 0xff, 0xd9 };
	@@ -139,33 +75,25 @@ const char *ctlFileNames[] = { "/dev/frameparsall0", "/dev/frameparsall1",
	const char *circbufFileNames[] = {"/dev/circbuf0", "/dev/circbuf1",		const char *circbufFileNames[] = {"/dev/circbuf0", "/dev/circbuf1",
	"/dev/circbuf2", "/dev/circbuf3"		"/dev/circbuf2", "/dev/circbuf3"
	};		};
	unsigned long * ccam_dma_buf[SENSOR_PORTS]; /* mmapped arrays */

	int lastDaemonBit[SENSOR_PORTS] = {DAEMON_BIT_CAMOGM};		int lastDaemonBit[SENSOR_PORTS] = {DAEMON_BIT_CAMOGM};
	struct framepars_all_t *frameParsAll[SENSOR_PORTS];		struct framepars_all_t *frameParsAll[SENSOR_PORTS];
	struct framepars_t *framePars[SENSOR_PORTS];		struct framepars_t *framePars[SENSOR_PORTS];
	unsigned long *aglobalPars[SENSOR_PORTS]; /// parameters that are not frame-related, their changes do not initiate any actions		/** @brief Parameters that are not frame-related, their changes do not initiate any actions */
			unsigned long *aglobalPars[SENSOR_PORTS];
	#define DEFAULT_DURATION 600 /!default segment duration (seconds) /		/** @brief Global structure containing current state of the running program */
	#define DEFAULT_LENGTH 1073741824 /!default segment length (B) /
	#define DEFAULT_GREEDY 0 /!behavior for the files: 0 clean buffer, 1 - save as much as possible /
	#define DEFAULT_IGNORE_FPS 0 /!0 restartf file if fps changed, 1 - ignore variable fps (and skip less frames) /

	/** @brief Bit mask indicating all 4 sensor port channels are active */
	#define ALL_CHN_ACTIVE 0x0f
	/** @brief Bit mask indicating all 4 sensor port channels are inactive */
	#define ALL_CHN_INACTIVE 0x00


	//!Next 2 for Quicktime (mostly)
	#define DEFAULT_FRAMES 16384 /* Maximal number of frames in file segment (each need 4* (1 + 1/frames_per_chunk) bytes for the frame index */
	#define DEFAULT_FRAMES_PER_CHUNK 10 /second sparse index - for Quicktime fast forward /

	#define DEFAULT_EXIF 1 /* use Exif */

	camogm_state sstate;		camogm_state sstate;
	//camogm_state * state;		/** @brief Memory mapped circular buffer arrays */
			unsigned long * ccam_dma_buf[SENSOR_PORTS];

			/**
			* @enum path_type
			* @brief Define the path type passed to a function
			* @var path_type::RAW_PATH
			* The path specified is a path to raw device buffer and it starts with /dev
			* @var path_type::FILE_PATH
			* The path specified is a regular path
			*/
	typedef enum {		typedef enum {
	RAW_PATH,		RAW_PATH,
	FILE_PATH		FILE_PATH
	@@ -174,10 +102,10 @@ typedef enum {
	int debug_level;		int debug_level;
	FILE* debug_file;		FILE* debug_file;

	void camogm_init(camogm_state state, unsigned int port, char pipe_name);		void camogm_init(camogm_state state, char pipe_name);
	int camogm_start(camogm_state *state);		int camogm_start(camogm_state *state);
	int camogm_stop(camogm_state *state);		int camogm_stop(camogm_state *state);
	int camogm_reset(camogm_state *state); //! reset circbuf read pointer		void camogm_reset(camogm_state *state);
	int camogm_debug(camogm_state state, const char fname);		int camogm_debug(camogm_state state, const char fname);
	int camogm_debug_level(int d);		int camogm_debug_level(int d);
	void camogm_set_segment_duration(camogm_state *state, int sd);		void camogm_set_segment_duration(camogm_state *state, int sd);
	@@ -217,7 +145,6 @@ unsigned int select_port(camogm_state *states);
	inline void set_chn_state(camogm_state *s, unsigned int port, unsigned int new_state);		inline void set_chn_state(camogm_state *s, unsigned int port, unsigned int new_state);
	inline int is_chn_active(camogm_state *s, unsigned int port);		inline int is_chn_active(camogm_state *s, unsigned int port);

	//!======================================================================================================
	void put_uint16(void *buf, u_int16_t val)		void put_uint16(void *buf, u_int16_t val)
	{		{
	unsigned char *tmp;		unsigned char *tmp;
	@@ -257,68 +184,55 @@ void put_uint64(void *buf, u_int64_t val)
	}		}

	/**		/**
	* @brief Initialize state for a particular sensor port.		* @brief Initialize the state of the program
	* @param[in] state pointer to #camogm_state structure for a particular sensor channel		* @param[in] state pointer to #camogm_state structure containing program state
	* @param[in] port sensor port number
	* @param[in] pipe_name pointer to command pipe name string		* @param[in] pipe_name pointer to command pipe name string
	* @return none		* @return none
	*/		*/
	void camogm_init(camogm_state state, unsigned int port, char pipe_name)		void camogm_init(camogm_state state, char pipe_name)
	{		{
	const char sserial[] = "elp0";		const char sserial[] = "elp0";
	int * ipser = (int*)sserial;		int * ipser = (int*)sserial;

	memset(state, 0, sizeof(camogm_state));		memset(state, 0, sizeof(camogm_state));
	// state->running = 0; // mo
	// state->starting = 0; // mo
	// state->vf = NULL;
	camogm_set_segment_duration(state, DEFAULT_DURATION);		camogm_set_segment_duration(state, DEFAULT_DURATION);
	camogm_set_segment_length(state, DEFAULT_LENGTH);		camogm_set_segment_length(state, DEFAULT_LENGTH);
	camogm_set_greedy(state, DEFAULT_GREEDY);		camogm_set_greedy(state, DEFAULT_GREEDY);
	camogm_set_ignore_fps(state, DEFAULT_IGNORE_FPS);		camogm_set_ignore_fps(state, DEFAULT_IGNORE_FPS);
	camogm_set_max_frames(state, DEFAULT_FRAMES);		camogm_set_max_frames(state, DEFAULT_FRAMES);
	camogm_set_frames_per_chunk(state, DEFAULT_FRAMES_PER_CHUNK);		camogm_set_frames_per_chunk(state, DEFAULT_FRAMES_PER_CHUNK);
	// camogm_set_start_after_timestamp(state, 0.0); // start any time
	// camogm_set_prefix(state, "\0", FILE_PATH);
	// camogm_set_save_gp(state, 0);
	camogm_reset(state); // sets state->buf_overruns =- 1		camogm_reset(state); // sets state->buf_overruns =- 1
	state->serialno = ipser[0];		state->serialno = ipser[0];
	// state->last = 0;
	debug_file = stderr;		debug_file = stderr;
	camogm_debug_level(DEFAULT_DEBUG_LVL);		camogm_debug_level(DEFAULT_DEBUG_LVL);
	strcpy(state->debug_name, "stderr");		strcpy(state->debug_name, "stderr");
	camogm_set_timescale(state, 1.0);		camogm_set_timescale(state, 1.0);
	camogm_set_frames_skip(state, 0); // don't skip		camogm_set_frames_skip(state, 0); // don't skip
	camogm_set_format(state, CAMOGM_FORMAT_MOV);		camogm_set_format(state, CAMOGM_FORMAT_MOV);
	// FOR_EACH_PORT(int, chn) {state->exifSize[chn] = 0;}
	state->exif = DEFAULT_EXIF;		state->exif = DEFAULT_EXIF;
	state->frame_lengths = NULL;		state->frame_lengths = NULL;
	// state->frameno = 0;
	// state->formats = 0;
	// state->last_error_code = 0;

	// kml stuff		// kml stuff
	// camogm_kml_set_enable(state, 0);
	// state->kml_file = NULL;
	camogm_kml_set_horHalfFov(state, 20.0);		camogm_kml_set_horHalfFov(state, 20.0);
	camogm_kml_set_vertHalfFov(state, 15.0);		camogm_kml_set_vertHalfFov(state, 15.0);
	camogm_kml_set_height_mode(state, 0);		camogm_kml_set_height_mode(state, 0);
	camogm_kml_set_height(state, 10.0);		camogm_kml_set_height(state, 10.0);
	camogm_kml_set_period(state, 2); // 2 sec		camogm_kml_set_period(state, 2); // 2 sec
	camogm_kml_set_near(state, 40.0); // 40 m (distance to PhotoOverlay)		camogm_kml_set_near(state, 40.0); // 40 m (distance to PhotoOverlay)
	// state->kml_path[0] = '\0';

	state->port_num = port;
	state->pipe_name = pipe_name;		state->pipe_name = pipe_name;
	state->rawdev.start_pos = RAWDEV_START_OFFSET;		state->rawdev.start_pos = RAWDEV_START_OFFSET;
	state->rawdev.end_pos = state->rawdev.start_pos;		state->rawdev.end_pos = state->rawdev.start_pos;
	state->rawdev.curr_pos = state->rawdev.start_pos;		state->rawdev.curr_pos = state->rawdev.start_pos;
	// state->rawdev.overrun = 0;
	// state->rawdev_op = 0;
	state->active_chn = ALL_CHN_ACTIVE;		state->active_chn = ALL_CHN_ACTIVE;
	}		}

			/**
			* @brief Set debug output file
			* @param[in] state a pointer to a structure containing current state
			* @param[in] fname file used for debug output
			* @return 0 if the file was opened successfully and negative error code otherwise
			*/
	int camogm_debug(camogm_state state, const char fname)		int camogm_debug(camogm_state state, const char fname)
	{		{
	int none = 1;		int none = 1;
	@@ -341,12 +255,18 @@ int camogm_debug(camogm_state state, const char fname)
	return 0;		return 0;
	}		}

			/** @brief Set current debug level */
	int camogm_debug_level(int d)		int camogm_debug_level(int d)
	{		{
	debug_level = d;		debug_level = d;
	return 0;		return 0;
	}		}

			/**
			* @brief Start recording for each active sensor port
			* @param[in] state a pointer to a structure containing current state
			* @return 0 if the recording finished successfully and negative error code otherwise
			*/
	int camogm_start(camogm_state *state)		int camogm_start(camogm_state *state)
	{		{
	int timestamp_start;		int timestamp_start;
	@@ -533,6 +453,11 @@ int camogm_start(camogm_state *state)
	return 0;		return 0;
	}		}

			/**
			* @brief Save a single image from circular buffer to a file.
			* @param[in] state a pointer to a structure containing current state
			* @return 0 if the image was successfully saved and negative error code otherwise
			*/
	int sendImageFrame(camogm_state *state)		int sendImageFrame(camogm_state *state)
	{		{
	int rslt;		int rslt;
	@@ -712,6 +637,12 @@ int sendImageFrame(camogm_state *state)
	return 0;		return 0;
	}		}

			/**
			* @brief Stop current recording. If recording was not started, this function has no effect. This function
			* calls @e camogm_end_* for the current file format.
			* @param[in] state a pointer to a structure containing current state
			* @return 0 if the operation was stopped successfully and negative error code otherwise
			*/
	int camogm_stop(camogm_state *state)		int camogm_stop(camogm_state *state)
	{		{
	int rslt = 0;		int rslt = 0;
	@@ -745,13 +676,15 @@ int camogm_stop(camogm_state *state)
	return 0;		return 0;
	}		}

			/**
			* @brief Free all file format handlers that were used. @e camogm_free_* for
			* each format used will be called.
			* @param[in] state a pointer to a structure containing current state
			* @return None
			*/
	void camogm_free(camogm_state *state)		void camogm_free(camogm_state *state)
	{		{
	int f;		for (int f = 0; f < 31; f++) {

	//! free all file format handlers that were used
	//add kml when needed
	for (f = 0; f < 31; f++) {
	if (state->formats & ( 1 << (state->format))) {		if (state->formats & ( 1 << (state->format))) {
	switch (f) {		switch (f) {
	case CAMOGM_FORMAT_NONE: break;		case CAMOGM_FORMAT_NONE: break;
	@@ -764,43 +697,52 @@ void camogm_free(camogm_state *state)
	state->formats = 0;		state->formats = 0;
	}		}

	int camogm_reset(camogm_state *state) //! reset circbuf read pointer		/**
			* @brief Reset read pointer and overruns counter for each sensor port
			* @param[in] state a pointer to a structure containing current state
			* @return None
			*/
			void camogm_reset(camogm_state *state)
	{		{
	FOR_EACH_PORT(int, chn) {		FOR_EACH_PORT(int, chn) {
	state->port_num = chn;		state->cirbuf_rp[chn] = -1;
	state->cirbuf_rp[state->port_num] = -1;		state->buf_overruns[chn] = -1; // first overrun will not count
	state->buf_overruns[state->port_num] = -1; //!first will not count
	}		}
	return 0;
	}		}

	///kml stuff		/** @brief kml parameter setter */
	void camogm_kml_set_enable(camogm_state *state, int d)		void camogm_kml_set_enable(camogm_state *state, int d)
	{		{
	state->kml_enable = d;		state->kml_enable = d;
	}		}
			/** @brief kml parameter setter */
	void camogm_kml_set_horHalfFov(camogm_state *state, double dd)		void camogm_kml_set_horHalfFov(camogm_state *state, double dd)
	{		{
	state->kml_horHalfFov = dd;		state->kml_horHalfFov = dd;
	}		}
			/** @brief kml parameter setter */
	void camogm_kml_set_vertHalfFov(camogm_state *state, double dd)		void camogm_kml_set_vertHalfFov(camogm_state *state, double dd)
	{		{
	state->kml_vertHalfFov = dd;		state->kml_vertHalfFov = dd;
	}		}
			/** @brief kml parameter setter */
	void camogm_kml_set_height_mode(camogm_state *state, int d)		void camogm_kml_set_height_mode(camogm_state *state, int d)
	{		{
	state->kml_height_mode = d;		state->kml_height_mode = d;
	}		}
			/** @brief kml parameter setter */
	void camogm_kml_set_height(camogm_state *state, double dd)		void camogm_kml_set_height(camogm_state *state, double dd)
	{		{
	state->kml_height = dd;		state->kml_height = dd;
	}		}
			/** @brief kml parameter setter */
	void camogm_kml_set_period(camogm_state *state, int d)		void camogm_kml_set_period(camogm_state *state, int d)
	{		{
	state->kml_period = d;		state->kml_period = d;
	state->kml_last_ts = 0;		state->kml_last_ts = 0;
	state->kml_last_uts = 0;		state->kml_last_uts = 0;
	}		}
			/** @brief kml parameter setter */
	void camogm_kml_set_near(camogm_state *state, double dd) // distance to PhotoOverlay		void camogm_kml_set_near(camogm_state *state, double dd) // distance to PhotoOverlay
	{		{
	state->kml_near = dd;		state->kml_near = dd;
	@@ -824,7 +766,6 @@ void camogm_set_exif(camogm_state *state, int d)
	state->exif = d;		state->exif = d;
	}		}


	void camogm_set_greedy(camogm_state *state, int d)		void camogm_set_greedy(camogm_state *state, int d)
	{		{
	state->greedy = d ? 1 : 0;		state->greedy = d ? 1 : 0;
	@@ -834,6 +775,13 @@ void camogm_set_ignore_fps(camogm_state *state, int d)
	state->ignore_fps = d ? 1 : 0;		state->ignore_fps = d ? 1 : 0;
	}		}

			/**
			* @brief Set file name prefix or raw device file name.
			* @param[in] state a pointer to a structure containing current state
			* @param[in] p a pointer to the prefix string. The string is prepended to
			* the file name as is.
			* @param[in] type the type of prefix, can be one of #path_type
			*/
	void camogm_set_prefix(camogm_state state, const char p, path_type type)		void camogm_set_prefix(camogm_state state, const char p, path_type type)
	{		{
	if (type == FILE_PATH) {		if (type == FILE_PATH) {
	@@ -858,6 +806,7 @@ void camogm_set_prefix(camogm_state state, const char p, path_type type)
	}		}
	}		}

			/** @brief Set timescale @e d */
	void camogm_set_timescale(camogm_state *state, double d) //! set timescale, default=1,000,000		void camogm_set_timescale(camogm_state *state, double d) //! set timescale, default=1,000,000
	{		{
	state->set_timescale = d;		state->set_timescale = d;
	@@ -866,6 +815,7 @@ void camogm_set_timescale(camogm_state *state, double d) //! set timescale, d
	}		}
	}		}

			/** @brief Set the number of frames @e d to be skipped during recording. This values is common for each sensor port */
	void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to skip (for time lapse)		void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to skip (for time lapse)
	{		{
	state->set_frames_skip = d;		state->set_frames_skip = d;
	@@ -875,7 +825,8 @@ void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to ski
	}		}
	}		}

			/** @brief Set file format @e d the images will be recorded to. This function calls corresponding @e camogm_init_*
			* function for the format selected.*/
	void camogm_set_format(camogm_state *state, int d)		void camogm_set_format(camogm_state *state, int d)
	{		{
	int rslt = 0;		int rslt = 0;
	@@ -895,22 +846,35 @@ void camogm_set_format(camogm_state *state, int d)
	state->formats \|= 1 << (state->format);		state->formats \|= 1 << (state->format);
	}		}
	}		}
	//! needed for Quicktime - maybe something else?
			/** @brief Set max number of frames @e d */
	void camogm_set_max_frames(camogm_state *state, int d)		void camogm_set_max_frames(camogm_state *state, int d)
	{		{
	state->set_max_frames = d;		state->set_max_frames = d;
	if ((state->running == 0) && (state->starting == 0)) state->max_frames = d;		if ((state->running == 0) && (state->starting == 0)) state->max_frames = d;
	}		}

			/** @brief Set the number of frames @e d recorded per chunk */
	void camogm_set_frames_per_chunk(camogm_state *state, int d)		void camogm_set_frames_per_chunk(camogm_state *state, int d)
	{		{
	state->set_frames_per_chunk = d;		state->set_frames_per_chunk = d;
	if ((state->running == 0) && (state->starting == 0)) state->frames_per_chunk = d;		if ((state->running == 0) && (state->starting == 0)) state->frames_per_chunk = d;
	}		}

			/** @brief Set the time stamp @e d when recording should be started */
	void camogm_set_start_after_timestamp(camogm_state *state, double d)		void camogm_set_start_after_timestamp(camogm_state *state, double d)
	{		{
	state->start_after_timestamp = d;		state->start_after_timestamp = d;
	}		}

			/**
			* @brief Print current status either as plain text or in xml format
			* @param[in] state to a structure containing current state
			* @param[in] fn a pointer to a file name which will be used for output. Can be NULL or 'stdout' for
			* output to stdout, 'stderr' for output to stderr and a file name for output to a file
			* @param[in] xml flag indicating that the output should be in xml format
			* @return None
			*/
	void camogm_status(camogm_state state, char fn, int xml)		void camogm_status(camogm_state state, char fn, int xml)
	{		{
	int _len = 0;		int _len = 0;
	@@ -1126,7 +1090,11 @@ void camogm_status(camogm_state state, char fn, int xml)
	FOR_EACH_PORT(int, chn) {state->buf_min[chn] = _b_free[chn];}		FOR_EACH_PORT(int, chn) {state->buf_min[chn] = _b_free[chn];}
	}		}

	//! will read from pipe, return pointer to null terminated string if available, NULL otherwise		/**
			* @brief Read from a single command from pipe
			* @param[in] npipe pointer to command pipe
			* @return Pointer to null terminated string if a command is available or NULL otherwise
			*/
	char * getLineFromPipe(FILE* npipe)		char * getLineFromPipe(FILE* npipe)
	{		{
	int fl;		int fl;
	@@ -1162,6 +1130,13 @@ char * getLineFromPipe(FILE* npipe)
	}		}
	}		}

			/**
			* @brief Read and execute commands sent over command pipe
			* @param state pointer to a structure containing current state
			* @param npipe pointer to command pipe
			* @return 0 if pipe was empty, positive value corresponding to a command processed or
			* -1 in case of an error
			*/
	int parse_cmd(camogm_state state, FILE npipe)		int parse_cmd(camogm_state state, FILE npipe)
	{		{
	char * cmd;		char * cmd;
	@@ -1170,7 +1145,6 @@ int parse_cmd(camogm_state state, FILE npipe)
	int d;		int d;
	double dd;		double dd;

	// if (!((cmd=getLineFromPipe(npipe)))) return 0; //! nothing in the pipe
	//!skip empty commands		//!skip empty commands
	while (((cmd = getLineFromPipe(npipe))) && !cmd[0]) ;		while (((cmd = getLineFromPipe(npipe))) && !cmd[0]) ;
	if (!cmd) return 0; //! nothing in the pipe		if (!cmd) return 0; //! nothing in the pipe
	@@ -1338,7 +1312,7 @@ int parse_cmd(camogm_state state, FILE npipe)
	/**		/**
	* @brief This function closes open files and deletes allocated memory.		* @brief This function closes open files and deletes allocated memory.
	* @param[in] state pointer to #camogm_state structure for a particular sensor channel		* @param[in] state pointer to #camogm_state structure for a particular sensor channel
	* return none		* return None
	*/		*/
	void clean_up(camogm_state *state)		void clean_up(camogm_state *state)
	{		{
	@@ -1358,10 +1332,10 @@ void clean_up(camogm_state *state)
	* @brief Main processing loop		* @brief Main processing loop
	*		*
	* If recording is on, this function will check for new commands in command pipe after each frame. If recording is		* If recording is on, this function will check for new commands in command pipe after each frame. If recording is
	* turn off, it will poll command pipe each #COMMAND_LOOP_DELAYS microseconds and then sleep.		* turn off, it will poll command pipe each #COMMAND_LOOP_DELAY microseconds and then sleep.
	* @param[in] state #camogm_state structure associated with a single port		* @param[in] state #camogm_state structure associated with a single port
	* @return normally this function loops indefinitely processing commands but will return negative exit code in case		* @return normally this function loops indefinitely processing commands but will return negative exit code in case
	* of error and \e EXIT_SUCCESS it eventually terminates in normal way.		* of error and @e EXIT_SUCCESS it eventually terminates in normal way.
	*/		*/
	int listener_loop(camogm_state *state)		int listener_loop(camogm_state *state)
	{		{
	@@ -1490,7 +1464,7 @@ int listener_loop(camogm_state *state)
	}		}

	/**		/**
	* @brief Return disk size in bytes		* @brief Return total disk size in bytes
	*		*
	* This function reads disk size using ioctl call and returns it in bytes.		* This function reads disk size using ioctl call and returns it in bytes.
	* @param name pointer to disk name string		* @param name pointer to disk name string
	@@ -1544,6 +1518,12 @@ unsigned int select_port(camogm_state *state)
	return chn;		return chn;
	}		}

			/**
			* @brief Check if channel is enabled or disabled
			* @param[in] s a pointer to a structure containing current state
			* @param[in] port a port which should be checked
			* @return 0 if the channel is disabled and 1 otherwise
			*/
	inline int is_chn_active(camogm_state *s, unsigned int port)		inline int is_chn_active(camogm_state *s, unsigned int port)
	{		{
	return (s->active_chn >> port) & 0x1;		return (s->active_chn >> port) & 0x1;
	@@ -1667,7 +1647,7 @@ int main(int argc, char *argv[])
	return EXIT_SUCCESS;		return EXIT_SUCCESS;
	}		}

	camogm_init(&sstate, 0, argv[1]);		camogm_init(&sstate, argv[1]);
	ret = open_files(&sstate);		ret = open_files(&sstate);
	if (ret < 0)		if (ret < 0)
	return ret;		return ret;
	@@ -1696,9 +1676,10 @@ unsigned long getGPValue(unsigned int port, unsigned long GPNumber)

	/**		/**
	* @brief Set value of the specified global (G_*) parameter		* @brief Set value of the specified global (G_*) parameter
			* @param[in] port sensor port number
	* @param[in] GNumber parameter number (as defined in c313a.h)		* @param[in] GNumber parameter number (as defined in c313a.h)
	* @param[in] value value to set		* @param[in] value value to set
	* @return none		* @return None
	*/		*/
	void setGValue(unsigned int port, unsigned long GNumber, unsigned long value)		void setGValue(unsigned int port, unsigned long GNumber, unsigned long value)
	{		{
	@@ -1708,6 +1689,7 @@ void setGValue(unsigned int port, unsigned long GNumber, unsigned long value)
	/**		/**
	* @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN), if not -		* @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN), if not -
	* and wait until enabled (return false when enabled)		* and wait until enabled (return false when enabled)
			* @param[in] port sensor port number
	* @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter		* @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter
	* @return (after possible waiting) true if there was no waiting, false if there was waiting		* @return (after possible waiting) true if there was no waiting, false if there was waiting
	*/		*/
	@@ -1725,6 +1707,7 @@ int waitDaemonEnabled(unsigned int port, int daemonBit) // <0 - use default

	/**		/**
	* @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN)		* @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN)
			* @param[in] port sensor port number
	* @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter		* @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter
	* @return (after possible waiting) true if there was no waiting, false if there was waiting		* @return (after possible waiting) true if there was no waiting, false if there was waiting
	*/		*/

Admin message