#include	"u.h"#include	"lib.h"#include	"dat.h"#include	"fns.h"#include	"error.h" #include <camera/NdkCameraDevice.h>#include <camera/NdkCameraManager.h>#include <media/NdkImageReader.h>#include <android/log.h> enum{    Qdir		= 0,    Qcam,};#define QID(p, c, y) 	(((p)<<16) | ((c)<<4) | (y)) typedef struct {    uchar *data;    int len;} CAux; static int Ncameras = 0;static ACameraDevice **devices = NULL;static AImageReader **readers = NULL;static ANativeWindow **windows = NULL;static ACameraCaptureSession **sessions = NULL;static ACaptureRequest **requests = NULL;static AImage **images = NULL;static CAux **datas = NULL;static ACameraManager *manager;static ACaptureSessionOutputContainer **container = NULL;static ACaptureSessionOutput **output = NULL;static ACameraOutputTarget **target = NULL; static void androidinit(void); static voidreinitialize(){    int i;    for (i = 0; i < Ncameras; i++) {        ACaptureSessionOutputContainer_free(container[i]);        ACaptureSessionOutput_free(output[i]);        ACameraCaptureSession_close(sessions[i]);        ACameraOutputTarget_free(target[i]);        ACaptureRequest_free(requests[i]);        AImageReader_delete(readers[i]);        AImage_delete(images[i]);        if ((int)datas[i] > Ncameras) {            free(datas[i]->data);            free(datas[i]);        }        ACameraDevice_close(devices[i]);    }    ACameraManager_delete(manager);     free(devices);    free(readers);    free(windows);    free(sessions);    free(requests);    free(images);    free(datas);    free(container);    free(output);    free(target);     androidinit();} static voidonDisconnected(void *context, ACameraDevice *device1){} static voidonError(void *context, ACameraDevice *device1, int error){    reinitialize();} static voidonImageAvailable(void *context, AImageReader *reader){    int i = (int)context;    uchar *data;    int len;    CAux *aux; //    qlock(&androidlk);    __android_log_print(ANDROID_LOG_VERBOSE, "DRAWTERM", "onImageAvailable");    if (images[i] != NULL)        AImage_delete(images[i]);    AImageReader_acquireLatestImage(reader, &images[i]);    aux = malloc(sizeof(CAux));//    qlock(&androidlk);    AImage_getPlaneData(images[i], 0, &data, &len);    aux->data = malloc(len);    memcpy(aux->data, data, len);    aux->len = len;    if (datas[i] != NULL) {        free(datas[i]->data);        free(datas[i]);    }    datas[i] = aux;//    qunlock(&androidlk);}  static voidandroidinit(void){    ACameraDevice_StateCallbacks SCBs = {            .context = NULL,            .onDisconnected = onDisconnected,            .onError = onError,    };    ACameraIdList *cameras = NULL;    ACameraCaptureSession_stateCallbacks CSSCBs = {            .context = NULL,    };     manager = ACameraManager_create();    ACameraManager_getCameraIdList(manager, &cameras);    Ncameras = cameras->numCameras;    devices = malloc(sizeof(ACameraDevice*) * Ncameras);    readers = malloc(sizeof(AImageReader*) * Ncameras);    windows = malloc(sizeof(ANativeWindow*) * Ncameras);    sessions = malloc(sizeof(ACameraCaptureSession*) * Ncameras);    requests = malloc(sizeof(ACaptureRequest*) * Ncameras);    images = malloc(sizeof(AImage*) * Ncameras);    datas = malloc(sizeof(CAux*) * Ncameras);    container = malloc(sizeof(ACaptureSessionOutputContainer*) * Ncameras);    output = malloc(sizeof(ACaptureSessionOutput*) * Ncameras);    target = malloc(sizeof(ACameraOutputTarget*) * Ncameras);    for (int i = 0; i < Ncameras; i++) {        images[i] = NULL;        AImageReader_ImageListener ALs = {                .context = (void*)i,                .onImageAvailable = onImageAvailable,        };        ACameraManager_openCamera(manager, cameras->cameraIds[i], &SCBs, &devices[i]);        media_status_t r = AImageReader_new(640, 480, AIMAGE_FORMAT_JPEG, 4, &readers[i]);        AImageReader_setImageListener(readers[i], &ALs);        AImageReader_getWindow(readers[i], &windows[i]);        ACaptureSessionOutput_create(windows[i], &output[i]);        ACaptureSessionOutputContainer_create(&container[i]);        ACaptureSessionOutputContainer_add(container[i], output[i]);        ACameraDevice_createCaptureSession(devices[i], container[i], &CSSCBs, &sessions[i]);        ACameraOutputTarget_create(windows[i], &target[i]);        ACameraDevice_createCaptureRequest(devices[i], TEMPLATE_ZERO_SHUTTER_LAG, &requests[i]);        ACaptureRequest_addTarget(requests[i], target[i]);    }    ACameraManager_deleteCameraIdList(cameras);} static Chan*androidattach(char *param){    Chan *c;     c = devattach('N', param);    c->qid.path = QID(0, 0, Qdir);    c->qid.type = QTDIR;    c->qid.vers = 0;     return c;} static intandroidgen(Chan *c, char *n, Dirtab *d, int nd, int s, Dir *dp){    Qid q;    int path;     if (s == DEVDOTDOT) {        mkqid(&q, Qdir, 0, QTDIR);        devdir(c, q, "#N", 0, eve, 0555, dp);        return 1;    }    if (s < Ncameras) {        sprintf(up->genbuf, "cam%d.jpg", s);        mkqid(&q, (s << 4) | Qcam, 0, QTFILE);        devdir(c, q, up->genbuf, 0, eve, 444, dp);        return 1;    }    return -1;} static Walkqid*androidwalk(Chan *c, Chan *nc, char **name, int nname){    return devwalk(c, nc, name, nname, 0, 0, androidgen);} static intandroidstat(Chan *c, uchar *db, int n){    return devstat(c, db, n, 0, 0, androidgen);} static voidonCaptureCompleted(void *context, ACameraCaptureSession *session,                   ACaptureRequest *request, const ACameraMetadata *result){} static voidonCaptureFailed(void *context, ACameraCaptureSession *session,                ACaptureRequest *request, ACameraCaptureFailure *failure){    reinitialize();} static Chan*androidopen(Chan *c, int omode){    p9_uvlong s;    int i;     c = devopen(c, omode, 0, 0, androidgen);     ACameraCaptureSession_captureCallbacks CBs = {            .context = (void*)c,            .onCaptureCompleted = onCaptureCompleted,            .onCaptureFailed = onCaptureFailed,    };     if (c->qid.path & Qcam) {        s = c->qid.path >> 4;        c->aux = (void*)s;        ACameraCaptureSession_capture(sessions[s], &CBs, 1, &requests[s], &i);//        while(images[i] == NULL)  //          usleep(10 * 1000);    }    c->mode = openmode(omode);    c->flag |= COPEN;    c->offset = 0;    c->iounit = 8192;     return c;} static voidandroidclose(Chan *c){    if (datas[(int)c->aux] == NULL)        return;    CAux *aux = datas[(int)c->aux];    free(aux->data);    free(aux);    datas[(int)c->aux] = NULL;} static longandroidread(Chan *c, void *v, long n, vlong off){    char *a = v;    CAux *aux;    long l;    int i = c->qid.path >> 4;     switch((ulong)c->qid.path & 0xF) {        default:            error(Eperm);            return -1;         case Qcam:            while (datas[i] == NULL)                usleep(10 * 1000);            aux = datas[i];            l = aux->len - off;            if (l == 0) {                free(aux->data);                free(aux);                datas[i] = NULL;                return l;            }            if (l > n)                l = n;            memcpy(a, &aux->data[off], l);            return l;        case Qdir:            return devdirread(c, a, n, 0, 0, androidgen);    }} static longandroidwrite(Chan *c, void *vp, long n, vlong off){    error(Eperm);    return -1;} Dev androiddevtab = {        'N',        "android",         devreset,        androidinit,        devshutdown,        androidattach,        androidwalk,        androidstat,        androidopen,        devcreate,        androidclose,        androidread,        devbread,        androidwrite,        devbwrite,        devremove,        devwstat,};