added pdp_dc1394

svn path=/trunk/externals/pidip/; revision=12457

6 files changed, 489 insertions, 4 deletions

diff --git a/Makefile.in b/Makefile.in
index 1041b8f..0e59869 100644
--- a/Makefile.in
+++ b/Makefile.in
@@ -6,6 +6,7 @@ PDP_PIDIP_LIBS = @PDP_PIDIP_LIBS@
 IMLIB_CFLAGS = @IMLIB_CFLAGS@
 IMLIB_LIBS = @IMLIB_LIBS@
 THEORA_LIBS = @THEORA_LIBS@
+DC1394_LIBS = @DC1394_LIBS@
 PDP_PIDIP_INCLUDES =  @PDP_PIDIP_INCLUDES@
 PDP_PIDIP_VERSION = @PDP_PIDIP_VERSION@
 MPEG4IP_CFLAGS = @MPEG4IP_CFLAGS@
@@ -40,12 +41,12 @@ pdp_pidip_all:
 
 pidip.pd_darwin: pdp_pidip_all
 	rm -f pidip.pd_darwin
-	g++ -bundle -undefined dynamic_lookup -headerpad_max_install_names -o pidip.pd_darwin modules/*.o system/*.o -L/sw/lib $(THEORA_LIBS) $(PDP_PIDIP_LIBS) $(IMLIB_LIBS)
+	g++ -bundle -undefined dynamic_lookup -headerpad_max_install_names -o pidip.pd_darwin modules/*.o system/*.o -L/sw/lib $(THEORA_LIBS) $(DC1394_LIBS) $(PDP_PIDIP_LIBS) $(IMLIB_LIBS)
 	strip -x pidip.pd_darwin
 
 pidip.pd_linux: pdp_pidip_all
-	rm -f pidip.pd_linux
-	g++ -Wl,--export-dynamic -shared -o pidip.pd_linux modules/*.o system/*.o $(THEORA_LIBS) $(PDP_PIDIP_LIBS) $(IMLIB_LIBS)
+	rm -f pidip.pd_linu
+	g++ -export_dynamic -shared -o pidip.pd_linux modules/*.o system/*.o $(THEORA_LIBS) $(PDP_PIDIP_LIBS) $(IMLIB_LIBS) $(DC1394_LIBS)
 	strip --strip-unneeded pidip.pd_linux
 
 clean:
diff --git a/configure.ac b/configure.ac
index 76af1fe..15c293a 100644
--- a/configure.ac
+++ b/configure.ac
@@ -11,11 +11,13 @@ FFMPEG_SOURCE_DIR=/SOURCES/ffmpeg
 MPEG4IP_SOURCE_DIR=/SOURCES/mpeg4ip
 PDP_STREAMING_OBJECTS=
 PDP_CAPTURE_OBJECT=
+PDP_DC1394_OBJECT
 IMLIB_LIBS=
 IMLIB_CFLAGS=
 MAGIC_LIBS=
 MAGIC_CFLAGS=
 THEORA_LIBS=
+DC1394_LIBS=
 enable_ffmpeg=no
 enable_mpeg4ip=no
 enable_lcapture=no
@@ -130,6 +132,11 @@ AC_CHECK_LIB(Magick, XWindowByProperty,
               echo "Image Magick not found : not building pdp_capture", 
               -I/usr/X11R6/include -L/usr/X11R6/lib )
 
+AC_CHECK_LIB(dc1394, dc1394_camera_enumerate, 
+              [ PDP_DC1394_OBJECT="pdp_dc1394.o"
+              DC1394_LIBS="-ldc1394 -lraw1394"],
+              echo "dc1394 not found : not building pdp_dc1394", )
+
 AC_CHECK_LIB(bz2, BZ2_bzBuffToBuffCompress, , AC_MSG_ERROR(streaming requires bz2 library!!))
 AC_CHECK_LIB(z, deflate, , AC_MSG_ERROR(streaming requires compress library!!))
 AC_CHECK_LIB(dl, dlopen, , AC_MSG_ERROR(streaming requires dynamic loader library!!))
@@ -139,6 +146,7 @@ AC_CHECK_LIB(vorbis, vorbis_analysis_init, , AC_MSG_ERROR(streaming requires vor
 AC_CHECK_LIB(vorbisenc, vorbis_encode_setup_init, , AC_MSG_ERROR(streaming requires vorbis encoder library!!), -lm)
 AC_CHECK_LIB(theora, theora_encode_init, , AC_MSG_ERROR(theora library needed! sorry...), -lm)
 AC_CHECK_LIB(quicktime, lqt_decode_video, , AC_MSG_ERROR(libquicktime not found) )
+AC_CHECK_LIB(dc1394, dc1394_camera_enumerate, , AC_MSG_ERROR(dc1394 not found) )
 
 qt_minor_version="`lqt-config --version | cut -f3 -d'.'`"
 qt_major_version="`lqt-config --version | cut -f1 -d'.'`"
@@ -286,8 +294,10 @@ AC_SUBST(PDP_PIDIP_VERSION)
 AC_SUBST(IMLIB_LIBS)
 AC_SUBST(IMLIB_CFLAGS)
 AC_SUBST(THEORA_LIBS)
+AC_SUBST(DC1394_LIBS)
 AC_SUBST(PDP_STREAMING_OBJECTS)
 AC_SUBST(PDP_CAPTURE_OBJECT)
+AC_SUBST(PDP_DC1394_OBJECT)
 AC_SUBST(PDP_PIDIP_LIBS)
 AC_SUBST(PDP_PIDIP_INCLUDES)
 
diff --git a/doc/pdp_dc1394-help.pd b/doc/pdp_dc1394-help.pd
new file mode 100644
index 0000000..8f1b4c8
--- /dev/null
+++ b/doc/pdp_dc1394-help.pd
@@ -0,0 +1,16 @@
+#N canvas 0 0 1039 352 10;
+#X obj -81 101 pdp_dc1394;
+#X obj -79 50 bng 15 250 50 0 empty empty empty 17 7 0 10 -262144 -1
+-1;
+#X obj -81 177 pdp_xv;
+#X obj -18 57 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X obj 5 73 metro 20;
+#X text 141 24 pdp_dc1394 is a first implementation of using DC1394
+cameras in pdp. For now its only tested with a Monochrome camera but
+there is lot of work to do :: handling errors \, adding control messages
+and to suport other colorspaces.;
+#X connect 0 0 2 0;
+#X connect 1 0 0 0;
+#X connect 3 0 4 0;
+#X connect 4 0 0 0;
diff --git a/modules/Makefile.in b/modules/Makefile.in
index 5b3df36..4e408a5 100644
--- a/modules/Makefile.in
+++ b/modules/Makefile.in
@@ -21,6 +21,6 @@ OBJECTS = pdp_intrusion.o  pdp_yqt.o  pdp_simura.o  pdp_underwatch.o  \
           pdp_theorout~.o pdp_cropper.o pdp_background.o \
           pdp_mapper.o pdp_theonice~.o pdp_icedthe~.o\
           pdp_fdiff.o pdp_hue.o pdp_dot.o pdp_qtext.o\
-         @PDP_CAPTURE_OBJECT@ @PDP_STREAMING_OBJECTS@ # pdp_xcanvas.o pdp_aa.o
+         @PDP_CAPTURE_OBJECT@ @PDP_STREAMING_OBJECTS@ @PDP_DC1394_OBJECT@ # pdp_xcanvas.o pdp_aa.o
 
 all_modules: $(OBJECTS) 
diff --git a/modules/pdp_dc1394.c b/modules/pdp_dc1394.c
new file mode 100755
index 0000000..6930fe6
--- /dev/null
+++ b/modules/pdp_dc1394.c
@@ -0,0 +1,456 @@
+/*
+ *   PiDiP module
+ *   Authors : Yves Degoyon ( ydegoyon@free.fr ) and Lluis Gomez i Bigorda
+ *
+ *   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
+ *   the Free Software Foundation; either version 2 of the License, or
+ *   (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
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with this program; if not, write to the Free Software
+ *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ */
+
+/*  This object is a video 4 linux 2 driver wrapper,
+ *  inspired by pdp_v4l by Tom Schouten
+ *  and some driver code from xawtv ( thanks to Gerd Knorr <kraxel@bytesex.org> )
+ */
+
+
+#include "pdp_config.h"
+#include "pdp.h"
+#include "pdp_llconv.h"
+#include "pdp_imageproc.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <string.h>
+#include <ctype.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/time.h>
+#include <linux/types.h>
+#include <sys/mman.h>
+#include <sched.h>
+#include <pthread.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <dc1394/dc1394.h>
+
+// dont open any more after a set number 
+// of failed attempts
+// this is to prevent locks on auto-open
+// is reset when manually opened or closed
+#define PDP_XV_RETRIES 10
+
+
+#define DEVICENO 0
+#define NBUF 2
+#define COMPOSITEIN 1
+#define WANTED_BUFFERS 2
+#define MAX_INPUT   16
+#define MAX_NORM    16
+#define MAX_FORMAT  32
+#define MAX_CTRL    32
+
+#define IMAGE_FILE_NAME "image.pgm"
+/*-----------------------------------------------------------------------
+ *  Releases the cameras and exits
+ *-----------------------------------------------------------------------*/
+void cleanup_and_exit(dc1394camera_t *camera)
+{
+    dc1394_video_set_transmission(camera, DC1394_OFF);
+    dc1394_capture_stop(camera);
+    dc1394_camera_free(camera);
+    exit(1);
+}
+
+
+
+typedef struct pdp_dc1394_struct
+{
+  t_object x_obj;
+  t_float x_f;
+  
+  t_outlet *x_outlet0;
+
+  bool x_initialized;
+  bool x_auto_open;
+
+  unsigned int x_width;
+  unsigned int x_height;
+
+  int x_curinput;
+  int x_curstandard;
+  int x_curformat;
+  int x_freq;
+
+  // video 4 linux 2 structures
+  int x_ninputs;
+  int x_nstandards;
+  int x_nformats;
+
+  unsigned char *x_pdp_buf[WANTED_BUFFERS];
+ 
+  int x_tvfd;
+  int x_frame;
+  int x_skipnext;
+  int x_mytopmargin, x_mybottommargin;
+  int x_myleftmargin, x_myrightmargin;
+
+  t_symbol *x_device;
+
+  pthread_t x_thread_id;
+  int x_continue_thread;
+  int x_frame_ready;
+  int x_only_new_frames;
+  int x_last_frame;
+
+  int x_open_retry;
+
+  u32 x_minwidth;
+  u32 x_maxwidth;
+  u32 x_minheight;
+  u32 x_maxheight;
+
+  int x_debug;
+
+
+    dc1394camera_t *camera;
+    int i;
+    dc1394featureset_t features;
+    dc1394framerates_t framerates;
+    dc1394video_modes_t video_modes;
+    dc1394framerate_t framerate;
+    dc1394video_mode_t video_mode;
+    dc1394color_coding_t coding;
+    unsigned int width, height;
+    dc1394video_frame_t *frame;
+    dc1394_t * d;
+    dc1394camera_list_t * list;
+
+    dc1394error_t err;
+
+} t_pdp_dc1394;
+
+static void pdp_dc1394_close(t_pdp_dc1394 *x)
+{
+
+}
+
+static void pdp_dc1394_close_manual(t_pdp_dc1394 *x)
+{
+}
+
+static void pdp_dc1394_close_error(t_pdp_dc1394 *x)
+{
+}
+
+static int pdp_dc1394_capture_frame(t_pdp_dc1394* x)
+{
+    return 0;
+} 
+
+static void pdp_dc1394_wait_frame(t_pdp_dc1394* x)
+{
+}
+
+static int pdp_dc1394_start_capturing(t_pdp_dc1394 *x)
+{
+    return 0;
+}
+
+static int pdp_dc1394_stop_capturing(t_pdp_dc1394 *x)
+{
+    return 0;
+}
+
+static void *pdp_dc1394_thread(void *voidx)
+{
+    return 0;
+}
+
+static void pdp_dc1394_setlegaldim(t_pdp_dc1394 *x, int xx, int yy);
+
+static int pdp_dc1394_set_format(t_pdp_dc1394 *x, t_int index)
+{
+    return 0;
+}
+
+static int pdp_dc1394_init_mmap(t_pdp_dc1394 *x)
+{
+    return 0;
+}
+
+static void pdp_dc1394_open(t_pdp_dc1394 *x, t_symbol *name)
+{
+
+}
+
+static void pdp_dc1394_open_manual(t_pdp_dc1394 *x, t_symbol *name)
+{
+}
+
+
+
+static void pdp_dc1394_standard(t_pdp_dc1394 *x, t_float f)
+{
+}
+
+static void pdp_dc1394_format(t_pdp_dc1394 *x, t_float f)
+{
+}
+
+static void pdp_dc1394_freq(t_pdp_dc1394 *x, t_float f)
+{
+}
+
+static void pdp_dc1394_freqMHz(t_pdp_dc1394 *x, t_float f)
+{
+}
+
+
+static void pdp_dc1394_bang(t_pdp_dc1394 *x)
+{
+   
+  /* if initialized, grab a frame and output it */
+
+  unsigned int w,h,nbpixels,packet_size,plane1,plane2;
+  unsigned char *newimage=NULL;
+  int pdp_packt,length,pos,i,encoding;
+  t_pdp* header;
+  t_image* image;
+  unsigned char * data;
+
+  static short int gain[4] = {0x7fff, 0x7fff, 0x7fff, 0x7fff};
+
+    /*-----------------------------------------------------------------------
+     *  capture one frame
+     *-----------------------------------------------------------------------*/
+    //x->err=dc1394_capture_dequeue(x->camera, DC1394_CAPTURE_POLICY_WAIT, &x->frame);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not capture a frame");
+    //post("Could not capture a frame");
+    if (x->err=dc1394_capture_dequeue(x->camera, DC1394_CAPTURE_POLICY_WAIT, &x->frame)!=DC1394_SUCCESS) {
+        post("Failed to capture from camera %d", x->err);
+	return;
+    }
+
+    /* create new packet */
+    dc1394_get_image_size_from_video_mode(x->camera, x->video_mode, &x->width, &x->height);
+
+    pdp_packt = pdp_packet_new_bitmap_rgb(x->width, x->height);
+    header = pdp_packet_header(pdp_packt);
+    //image = pdp_packet_image_info(pdp_packt);
+
+    if (!header){
+	post("pdp_dc1394: ERROR: can't allocate packet");
+	return;
+    }
+
+    data = ( unsigned char *) pdp_packet_data(pdp_packt);
+    int j;
+
+    for (i=0; i<x->width; i++)	
+      for (j=0; j<x->height; j++) {
+	data[(j*x->width+i)*3] = x->frame->image[j*x->width+i];
+	data[(j*x->width+i)*3+1] = x->frame->image[j*x->width+i];
+	data[(j*x->width+i)*3+2] = x->frame->image[j*x->width+i];
+    }
+
+    //memcpy( data, x->frame->image, x->width*x->height*sizeof( unsigned char) );
+
+    /*FILE* imagefile=fopen(IMAGE_FILE_NAME, "wb");
+
+    if( imagefile == NULL) {
+        perror( "Can't create '" IMAGE_FILE_NAME "'");
+        cleanup_and_exit(x->camera);
+    }
+
+    fprintf(imagefile,"P5\n%u %u 255\n", x->width, x->height);
+    fwrite(x->frame->image, 1, x->height*x->width, imagefile);
+    fclose(imagefile);
+    fprintf(stderr,"wrote: " IMAGE_FILE_NAME "\n");*/
+
+    if (x->frame)
+                dc1394_capture_enqueue (x->camera, x->frame);
+
+    pdp_packet_pass_if_valid(x->x_outlet0, &pdp_packt);
+
+}
+
+
+static void pdp_dc1394_setlegaldim(t_pdp_dc1394 *x, int xx, int yy)
+{
+
+    unsigned int w,h;
+
+    w  = pdp_imageproc_legalwidth((int)xx);
+    h  = pdp_imageproc_legalheight((int)yy);
+    
+    w = (w < x->x_maxwidth) ? w : x->x_maxwidth;
+    w = (w > x->x_minwidth) ? w : x->x_minwidth;
+
+    h = (h < x->x_maxheight) ? h : x->x_maxheight;
+    h = (h > x->x_minheight) ? h : x->x_minheight;
+
+    x->x_width = w;
+    x->x_height = h;
+}
+
+static void pdp_dc1394_dim(t_pdp_dc1394 *x, t_floatarg xx, t_floatarg yy)
+{
+    if (!x->x_initialized){
+       post( "pdp_dc1394 : cannot set dim : no device opened ");
+       return;
+    }
+    if (x->x_initialized){
+        pdp_dc1394_close(x);
+        pdp_dc1394_setlegaldim(x, (int)xx, (int)yy);
+        pdp_dc1394_open(x, x->x_device);
+    }
+}
+
+static void pdp_dc1394_free(t_pdp_dc1394 *x)
+{
+    dc1394_video_set_transmission(x->camera, DC1394_OFF);
+    dc1394_capture_stop(x->camera);
+    dc1394_camera_free(x->camera);
+    dc1394_free (x->d);
+}
+
+t_class *pdp_dc1394_class;
+
+void *pdp_dc1394_new(t_symbol *vdef)
+{
+    t_pdp_dc1394 *x = (t_pdp_dc1394 *)pd_new(pdp_dc1394_class);
+
+    x->x_outlet0 = outlet_new(&x->x_obj, &s_anything);
+
+    x->d = dc1394_new ();
+    x->err=dc1394_camera_enumerate (x->d, &x->list);
+    //DC1394_ERR_RTN(x->err,"Failed to enumerate cameras");
+    //post("Failed to enumerate cameras");
+
+    if (x->list->num == 0) {
+        dc1394_log_error("No cameras found");
+        return 1;
+    }
+
+    x->camera = dc1394_camera_new (x->d, x->list->ids[0].guid);
+    if (!x->camera) {
+        //dc1394_log_error("Failed to initialize camera with guid %"PRIx64, list->ids[0].guid);
+        return 1;
+    }
+    dc1394_camera_free_list (x->list);
+
+    //printf("Using camera with GUID %"PRIx64"\n", camera->guid);
+
+    /*-----------------------------------------------------------------------
+     *  get the best video mode and highest framerate. This can be skipped
+     *  if you already know which mode/framerate you want...
+     *-----------------------------------------------------------------------*/
+    // get video modes:
+    x->err=dc1394_video_get_supported_modes(x->camera,&x->video_modes);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Can't get video modes");
+
+    // select highest res mode:
+    for (x->i=x->video_modes.num-1;x->i>=0;x->i--) {
+        if (!dc1394_is_video_mode_scalable(x->video_modes.modes[x->i])) {
+            dc1394_get_color_coding_from_video_mode(x->camera,x->video_modes.modes[x->i], &x->coding);
+            if (x->coding==DC1394_COLOR_CODING_MONO8) {
+                x->video_mode=x->video_modes.modes[x->i];
+		fprintf(stderr,"video_mode %d: %d\n",x->i,x->video_modes.modes[x->i]);
+                break;
+            }
+        }
+    }
+    if (x->i < 0) {
+        dc1394_log_error("Could not get a valid MONO8 mode");
+        cleanup_and_exit(x->camera);
+    }
+
+    x->err=dc1394_get_color_coding_from_video_mode(x->camera, x->video_mode,&x->coding);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not get color coding");
+    fprintf(stderr,"color_coding : %d\n",x->coding);
+
+    // get highest framerate
+    x->err=dc1394_video_get_supported_framerates(x->camera,x->video_mode,&x->framerates);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not get framrates");
+    x->framerate=x->framerates.framerates[x->framerates.num-1];
+    fprintf(stderr,"framerate : %d\n",x->framerate);
+
+    /*-----------------------------------------------------------------------
+     *  setup capture
+     *-----------------------------------------------------------------------*/
+
+    x->err=dc1394_video_set_iso_speed(x->camera, DC1394_ISO_SPEED_400);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not set iso speed");
+
+    x->err=dc1394_video_set_mode(x->camera, x->video_mode);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not set video mode");
+
+    x->err=dc1394_video_set_framerate(x->camera, x->framerate);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not set framerate");
+
+    x->err=dc1394_capture_setup(x->camera,4, DC1394_CAPTURE_FLAGS_DEFAULT);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not setup camera-\nmake sure that the video mode and framerate are\nsupported by your camera");
+
+    /*-----------------------------------------------------------------------
+     *  report camera's features
+     *-----------------------------------------------------------------------*/
+    x->err=dc1394_feature_get_all(x->camera,&x->features);
+    if (x->err!=DC1394_SUCCESS) {
+        dc1394_log_warning("Could not get feature set");
+    }
+    else {
+        dc1394_feature_print_all(&x->features, stdout);
+    }
+
+    /*-----------------------------------------------------------------------
+     *  have the camera start sending us data
+     *-----------------------------------------------------------------------*/
+    x->err=dc1394_video_set_transmission(x->camera, DC1394_ON);
+    //DC1394_ERR_CLN_RTN(x->err,cleanup_and_exit(x->camera),"Could not start camera iso transmission");
+
+
+
+    x->x_initialized = true;
+
+
+    return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_dc1394_setup(void)
+{
+    pdp_dc1394_class = class_new(gensym("pdp_dc1394"), (t_newmethod)pdp_dc1394_new,
+    	(t_method)pdp_dc1394_free, sizeof(t_pdp_dc1394), 0, A_DEFSYMBOL, A_DEFSYMBOL, A_NULL);
+
+    class_addmethod(pdp_dc1394_class, (t_method)pdp_dc1394_close_manual, gensym("close"), A_NULL);
+    class_addmethod(pdp_dc1394_class, (t_method)pdp_dc1394_open_manual, gensym("open"), A_SYMBOL, A_NULL);
+    class_addmethod(pdp_dc1394_class, (t_method)pdp_dc1394_format, gensym("format"), A_FLOAT, A_NULL);
+    class_addmethod(pdp_dc1394_class, (t_method)pdp_dc1394_standard, gensym("standard"), A_FLOAT, A_NULL);
+    class_addmethod(pdp_dc1394_class, (t_method)pdp_dc1394_dim, gensym("dim"), A_FLOAT, A_FLOAT, A_NULL);
+    class_addmethod(pdp_dc1394_class, (t_method)pdp_dc1394_bang, gensym("bang"), A_NULL);
+
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/system/pidip.c b/system/pidip.c
index 78dec9c..c6514a2 100644
--- a/system/pidip.c
+++ b/system/pidip.c
@@ -80,6 +80,7 @@ extern "C"
     void pdp_fdiff_setup(void);
     void pdp_hue_setup(void);
     void pdp_dot_setup(void);
+    void pdp_dc1394_setup(void);
 
 #ifdef HAVE_V4L2
     void pdp_v4l2_setup(void);
@@ -183,6 +184,7 @@ void pidip_setup(void){
     pdp_fdiff_setup();
     pdp_hue_setup();
     pdp_dot_setup();
+    pdp_dc1394_setup();
 
 #ifdef HAVE_V4L2
     pdp_v4l2_setup();