camcv2.c

/*
Copyright (c) 2012, Broadcom Europe Ltd
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the copyright holder nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

/////////////////////////////////////////////////////////////
//
// This file has been modified by Pierre Raufast - mai 2013
// to work with OpenCV 2.3
// visit thinkrpi.wordpress.com
// Enjoy !
// This file display camera movie using many snapshots
//
/////////////////////////////////////////////////////////////

// We use some GNU extensions (asprintf)
#define _GNU_SOURCE

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <memory.h>

#include "bcm_host.h"
#include "interface/vcos/vcos.h"

#include "interface/mmal/mmal.h"
#include "interface/mmal/mmal_logging.h"
#include "interface/mmal/mmal_buffer.h"
#include "interface/mmal/util/mmal_util.h"
#include "interface/mmal/util/mmal_util_params.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"


#include "RaspiCamControl.h"
#include "RaspiPreview.h"
#include "RaspiCLI.h"

// *** PR : ADDED for OPENCV
#include <cv.h>
#include <highgui.h>
#include <semaphore.h>

/// Camera number to use - we only have one camera, indexed from 0.
#define CAMERA_NUMBER 0

// Standard port setting for the camera component
#define MMAL_CAMERA_PREVIEW_PORT 0
#define MMAL_CAMERA_VIDEO_PORT 1
#define MMAL_CAMERA_CAPTURE_PORT 2


// Stills format information
#define STILLS_FRAME_RATE_NUM 3
#define STILLS_FRAME_RATE_DEN 1

/// Video render needs at least 2 buffers.
#define VIDEO_OUTPUT_BUFFERS_NUM 3

#define MAX_USER_EXIF_TAGS      32
#define MAX_EXIF_PAYLOAD_LENGTH 128

int mmal_status_to_int(MMAL_STATUS_T status);

/** Structure containing all state information for the current run
 */
typedef struct
{
   int timeout;                        /// Time taken before frame is grabbed and app then shuts down. Units are milliseconds
   int width;                          /// Requested width of image
   int height;                         /// requested height of image
   int quality;                        /// JPEG quality setting (1-100)
   int wantRAW;                        /// Flag for whether the JPEG metadata also contains the RAW bayer image
   char *filename;                     /// filename of output file
   MMAL_PARAM_THUMBNAIL_CONFIG_T thumbnailConfig;
   int verbose;                        /// !0 if want detailed run information
   int demoMode;                       /// Run app in demo mode
   int demoInterval;                   /// Interval between camera settings changes
   MMAL_FOURCC_T encoding;             /// Encoding to use for the output file.
   const char *exifTags[MAX_USER_EXIF_TAGS]; /// Array of pointers to tags supplied from the command line
   int numExifTags;                    /// Number of supplied tags
   int timelapse;                      /// Delay between each picture in timelapse mode. If 0, disable timelapse

   RASPIPREVIEW_PARAMETERS preview_parameters;    /// Preview setup parameters
   RASPICAM_CAMERA_PARAMETERS camera_parameters; /// Camera setup parameters

   MMAL_COMPONENT_T *camera_component;    /// Pointer to the camera component
   MMAL_COMPONENT_T *encoder_component;   /// Pointer to the encoder component
   MMAL_CONNECTION_T *preview_connection; /// Pointer to the connection from camera to preview
   MMAL_CONNECTION_T *encoder_connection; /// Pointer to the connection from camera to encoder

   MMAL_POOL_T *encoder_pool; /// Pointer to the pool of buffers used by encoder output port

} RASPISTILL_STATE;


// for OpenCV
CvMat* buf;
IplImage *img ;
int nbFrames=0;

/** Struct used to pass information in encoder port userdata to callback
 */
typedef struct
{
   FILE *file_handle;                   /// File handle to write buffer data to.
   VCOS_SEMAPHORE_T complete_semaphore; /// semaphore which is posted when we reach end of frame (indicates end of capture or fault)
   RASPISTILL_STATE *pstate;            /// pointer to our state in case required in callback
} PORT_USERDATA;

static void display_valid_parameters();
static void store_exif_tag(RASPISTILL_STATE *state, const char *exif_tag);

static struct
{
   char *format;
   MMAL_FOURCC_T encoding;
} encoding_xref[] =
{
   {"jpg", MMAL_ENCODING_JPEG},
   {"bmp", MMAL_ENCODING_BMP},
   {"gif", MMAL_ENCODING_GIF},
   {"png", MMAL_ENCODING_PNG}
};

static int encoding_xref_size = sizeof(encoding_xref) / sizeof(encoding_xref[0]);
/**
 * Assign a default set of parameters to the state passed in
 *
 * @param state Pointer to state structure to assign defaults to
 */
static void default_status(RASPISTILL_STATE *state)
{
   if (!state)
   {
      vcos_assert(0);
      return;
   }
	
	// *** PR : modif for demo purpose : smaller image
   state->timeout = 0;
   state->width = 320;
   state->height = 200;
   state->quality = 85;
   state->wantRAW = 0;
   state->filename = NULL;
   state->verbose = 0;
   state->thumbnailConfig.enable = 0;
   state->thumbnailConfig.width = 64;
   state->thumbnailConfig.height = 48;
   state->thumbnailConfig.quality = 35;
   state->demoMode = 0;
   state->demoInterval = 250; // ms
   state->camera_component = NULL;
   state->encoder_component = NULL;
   state->preview_connection = NULL;
   state->encoder_connection = NULL;
   state->encoder_pool = NULL;
   state->encoding = MMAL_ENCODING_JPEG;
   state->numExifTags = 0;
   state->timelapse = 0;

   // Setup preview window defaults
   raspipreview_set_defaults(&state->preview_parameters);

   // Set up the camera_parameters to default
   raspicamcontrol_set_defaults(&state->camera_parameters);
   
   //pr
   //state->camera_parameters.awbMode=MMAL_PARAM_AWBMODE_AUTO;
   
}


/**
 *  buffer header callback function for camera control
 *
 *  No actions taken in current version
 *
 * @param port Pointer to port from which callback originated
 * @param buffer mmal buffer header pointer
 */
static void camera_control_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
   if (buffer->cmd == MMAL_EVENT_PARAMETER_CHANGED)
   {
   }
   else
   {
      vcos_log_error("Received unexpected camera control callback event, 0x%08x", buffer->cmd);
   }

   mmal_buffer_header_release(buffer);
}

/**
 *  buffer header callback function for encoder
 *
 *  Callback will dump buffer data to the specific file
 *
 * @param port Pointer to port from which callback originated
 * @param buffer mmal buffer header pointer
 */
static void encoder_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer)
{
   int complete = 0;

   // We pass our file handle and other stuff in via the userdata field.

   PORT_USERDATA *pData = (PORT_USERDATA *)port->userdata;

   if (pData)
   {
      if (buffer->length)
      {
         mmal_buffer_header_mem_lock(buffer);

		//
		// *** PR : OPEN CV Stuff here !
		//
		// create a CvMat empty structure, with size of the buffer. 
		buf = cvCreateMat(1,buffer->length,CV_8UC1);
		// copy buffer from cam to CvMat
		buf->data.ptr = buffer->data;
		// decode image (interpret jpg)
		img = cvDecodeImage(buf, CV_LOAD_IMAGE_COLOR);
		
		// or display it 
		cvShowImage("camcvWin", img );
		cvWaitKey(1);
		nbFrames = nbFrames +1;
  		
        mmal_buffer_header_mem_unlock(buffer);
      }

      // Now flag if we have completed
      if (buffer->flags & (MMAL_BUFFER_HEADER_FLAG_FRAME_END | MMAL_BUFFER_HEADER_FLAG_TRANSMISSION_FAILED))
         complete = 1;
   }
   else
   {
      vcos_log_error("Received a encoder buffer callback with no state");
   }

   // release buffer back to the pool
   mmal_buffer_header_release(buffer);

   // and send one back to the port (if still open)
   if (port->is_enabled)
   {
      MMAL_STATUS_T status;
      MMAL_BUFFER_HEADER_T *new_buffer;

      new_buffer = mmal_queue_get(pData->pstate->encoder_pool->queue);

      if (new_buffer)
      {
         status = mmal_port_send_buffer(port, new_buffer);
      }
      if (!new_buffer || status != MMAL_SUCCESS)
         vcos_log_error("Unable to return a buffer to the encoder port");
   }

   if (complete)
      vcos_semaphore_post(&(pData->complete_semaphore));

}


/**
 * Create the camera component, set up its ports
 *
 * @param state Pointer to state control struct
 *
 * @return 0 if failed, pointer to component if successful
 *
 */
static MMAL_COMPONENT_T *create_camera_component(RASPISTILL_STATE *state)
{
   MMAL_COMPONENT_T *camera = 0;
   MMAL_ES_FORMAT_T *format;
   MMAL_PORT_T *preview_port = NULL, *video_port = NULL, *still_port = NULL;
   MMAL_STATUS_T status;

   /* Create the component */
   status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);

   if (status != MMAL_SUCCESS)
   {
      vcos_log_error("Failed to create camera component");
      goto error;
   }

   if (!camera->output_num)
   {
      vcos_log_error("Camera doesn't have output ports");
      goto error;
   }

   preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
   video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
   still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];


   // Enable the camera, and tell it its control callback function
   status = mmal_port_enable(camera->control, camera_control_callback);

   if (status)
   {
      vcos_log_error("Unable to enable control port : error %d", status);
      goto error;
   }

   //  set up the camera configuration
   {
      MMAL_PARAMETER_CAMERA_CONFIG_T cam_config =
      {
         { MMAL_PARAMETER_CAMERA_CONFIG, sizeof(cam_config) },
         .max_stills_w = state->width,
         .max_stills_h = state->height,
         .stills_yuv422 = 0,
         .one_shot_stills = 1,
         .max_preview_video_w = state->preview_parameters.previewWindow.width,
         .max_preview_video_h = state->preview_parameters.previewWindow.height,
         .num_preview_video_frames = 3,
         .stills_capture_circular_buffer_height = 0,
         .fast_preview_resume = 0,
         .use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
      };
      mmal_port_parameter_set(camera->control, &cam_config.hdr);
   }

   raspicamcontrol_set_all_parameters(camera, &state->camera_parameters);

   // Now set up the port formats

   format = preview_port->format;

   format->encoding = MMAL_ENCODING_OPAQUE;
   format->encoding_variant = MMAL_ENCODING_I420;

   format->es->video.width = state->preview_parameters.previewWindow.width;
   format->es->video.height = state->preview_parameters.previewWindow.height;
   format->es->video.crop.x = 0;
   format->es->video.crop.y = 0;
   format->es->video.crop.width = state->preview_parameters.previewWindow.width;
   format->es->video.crop.height =state->preview_parameters.previewWindow.height;
   format->es->video.frame_rate.num = PREVIEW_FRAME_RATE_NUM;
   format->es->video.frame_rate.den = PREVIEW_FRAME_RATE_DEN;
	
   status = mmal_port_format_commit(preview_port);

   if (status)
   {
      vcos_log_error("camera viewfinder format couldn't be set");
      goto error;
   }

   // Set the same format on the video  port (which we dont use here)
   mmal_format_full_copy(video_port->format, format);
   status = mmal_port_format_commit(video_port);

   if (status)
   {
      vcos_log_error("camera video format couldn't be set");
      goto error;
   }

   // Ensure there are enough buffers to avoid dropping frames
   if (video_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
      video_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;

   format = still_port->format;

   // Set our stills format on the stills (for encoder) port
   format->encoding = MMAL_ENCODING_OPAQUE;
   format->es->video.width = state->width;
   format->es->video.height = state->height;
   format->es->video.crop.x = 0;
   format->es->video.crop.y = 0;
   format->es->video.crop.width = state->width;
   format->es->video.crop.height = state->height;
   format->es->video.frame_rate.num = STILLS_FRAME_RATE_NUM;
   format->es->video.frame_rate.den = STILLS_FRAME_RATE_DEN;

   status = mmal_port_format_commit(still_port);

   if (status)
   {
      vcos_log_error("camera still format couldn't be set");
      goto error;
   }

   /* Ensure there are enough buffers to avoid dropping frames */
   if (still_port->buffer_num < VIDEO_OUTPUT_BUFFERS_NUM)
      still_port->buffer_num = VIDEO_OUTPUT_BUFFERS_NUM;

   /* Enable component */
   status = mmal_component_enable(camera);

   if (status)
   {
      vcos_log_error("camera component couldn't be enabled");
      goto error;
   }

   if (state->wantRAW)
   {
      if (mmal_port_parameter_set_boolean(still_port, MMAL_PARAMETER_ENABLE_RAW_CAPTURE, 1) != MMAL_SUCCESS)
      {
         vcos_log_error("RAW was requested, but failed to enable");

         // Continue on and take picture without.
      }
   }

   state->camera_component = camera;

   if (state->verbose)
      fprintf(stderr, "Camera component done\n");

   return camera;

error:

   if (camera)
      mmal_component_destroy(camera);

   return 0;
}

/**
 * Destroy the camera component
 *
 * @param state Pointer to state control struct
 *
 */
static void destroy_camera_component(RASPISTILL_STATE *state)
{
   if (state->camera_component)
   {
      mmal_component_destroy(state->camera_component);
      state->camera_component = NULL;
   }
}



/**
 * Create the encoder component, set up its ports
 *
 * @param state Pointer to state control struct
 *
 * @return 0 if failed, pointer to component if successful
 *
 */
static MMAL_COMPONENT_T *create_encoder_component(RASPISTILL_STATE *state)
{
   MMAL_COMPONENT_T *encoder = 0;
   MMAL_PORT_T *encoder_input = NULL, *encoder_output = NULL;
   MMAL_STATUS_T status;
   MMAL_POOL_T *pool;

   status = mmal_component_create(MMAL_COMPONENT_DEFAULT_IMAGE_ENCODER, &encoder);

   if (status != MMAL_SUCCESS)
   {
      vcos_log_error("Unable to create JPEG encoder component");
      goto error;
   }

   if (!encoder->input_num || !encoder->output_num)
   {
      vcos_log_error("JPEG encoder doesn't have input/output ports");
      goto error;
   }

   encoder_input = encoder->input[0];
   encoder_output = encoder->output[0];

   // We want same format on input and output
   mmal_format_copy(encoder_output->format, encoder_input->format);

   // Specify out output format
   encoder_output->format->encoding = state->encoding;

   encoder_output->buffer_size = encoder_output->buffer_size_recommended;

   if (encoder_output->buffer_size < encoder_output->buffer_size_min)
      encoder_output->buffer_size = encoder_output->buffer_size_min;

   encoder_output->buffer_num = encoder_output->buffer_num_recommended;

   if (encoder_output->buffer_num < encoder_output->buffer_num_min)
      encoder_output->buffer_num = encoder_output->buffer_num_min;

   // Commit the port changes to the output port
   status = mmal_port_format_commit(encoder_output);

   if (status != MMAL_SUCCESS)
   {
      vcos_log_error("Unable to set format on video encoder output port");
      goto error;
   }

   // Set the JPEG quality level
   status = mmal_port_parameter_set_uint32(encoder_output, MMAL_PARAMETER_JPEG_Q_FACTOR, state->quality);

   if (status != MMAL_SUCCESS)
   {
      vcos_log_error("Unable to set JPEG quality");
      goto error;
   }

      //  Enable component
   status = mmal_component_enable(encoder);

   if (status)
   {
      vcos_log_error("Unable to enable video encoder component");
      goto error;
   }

   /* Create pool of buffer headers for the output port to consume */
   pool = mmal_port_pool_create(encoder_output, encoder_output->buffer_num, encoder_output->buffer_size);

   if (!pool)
   {
      vcos_log_error("Failed to create buffer header pool for encoder output port %s", encoder_output->name);
   }

   state->encoder_pool = pool;
   state->encoder_component = encoder;

   if (state->verbose)
      fprintf(stderr, "Encoder component done\n");

   return encoder;

   error:
   if (encoder)
      mmal_component_destroy(encoder);

   return 0;
}

/**
 * Destroy the encoder component
 *
 * @param state Pointer to state control struct
 *
 */
static void destroy_encoder_component(RASPISTILL_STATE *state)
{
   // Get rid of any port buffers first
   if (state->encoder_pool)
   {
      mmal_port_pool_destroy(state->encoder_component->output[0], state->encoder_pool);
   }

   if (state->encoder_component)
   {
      mmal_component_destroy(state->encoder_component);
      state->encoder_component = NULL;
   }
}
/**
 * Connect two specific ports together
 *
 * @param output_port Pointer the output port
 * @param input_port Pointer the input port
 * @param Pointer to a mmal connection pointer, reassigned if function successful
 * @return Returns a MMAL_STATUS_T giving result of operation
 *
 */
static MMAL_STATUS_T connect_ports(MMAL_PORT_T *output_port, MMAL_PORT_T *input_port, MMAL_CONNECTION_T **connection)
{
   MMAL_STATUS_T status;

   status =  mmal_connection_create(connection, output_port, input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);

   if (status == MMAL_SUCCESS)
   {
      status =  mmal_connection_enable(*connection);
      if (status != MMAL_SUCCESS)
         mmal_connection_destroy(*connection);
   }

   return status;
}

/**
 * Checks if specified port is valid and enabled, then disables it
 *
 * @param port  Pointer the port
 *
 */
static void check_disable_port(MMAL_PORT_T *port)
{
   if (port && port->is_enabled)
      mmal_port_disable(port);
}

/**
 * Handler for sigint signals
 *
 * @param signal_number ID of incoming signal.
 *
 */
static void signal_handler(int signal_number)
{
   // Going to abort on all signals
   vcos_log_error("Aborting program\n");

   // Need to close any open stuff...

   exit(255);
}

/**
 * main
 */
int main(int argc, const char **argv)
{
	// Our main data storage vessel..
	RASPISTILL_STATE state;
	
	MMAL_STATUS_T status = -1;
	MMAL_PORT_T *camera_preview_port = NULL;
	MMAL_PORT_T *camera_video_port = NULL;
	MMAL_PORT_T *camera_still_port = NULL;
	MMAL_PORT_T *preview_input_port = NULL;
	MMAL_PORT_T *encoder_input_port = NULL;
	MMAL_PORT_T *encoder_output_port = NULL;
	
	bcm_host_init();
	clock_t elapsedTime;
	
	time_t timer_begin,timer_end;
  	double secondsElapsed;
	
  	time(&timer_begin);  /* get current time; same as: timer = time(NULL)  */

	// create window
	cvNamedWindow("camcvWin", CV_WINDOW_AUTOSIZE);//CV_WINDOW_NORMAL);//CV_WINDOW_AUTOSIZE); 
	//cvResizeWindow("camcvWin",640,480);	
	signal(SIGINT, signal_handler);
	
	default_status(&state);
	
	if (!create_camera_component(&state))
	{
	   vcos_log_error("%s: Failed to create camera component", __func__);
	}
	else if ( (status = raspipreview_create(&state.preview_parameters)) != MMAL_SUCCESS)
	{
	   vcos_log_error("%s: Failed to create preview component", __func__);
	   destroy_camera_component(&state);
	}
	else if (!create_encoder_component(&state))
	{
	   vcos_log_error("%s: Failed to create encode component", __func__);
	   raspipreview_destroy(&state.preview_parameters);
	   destroy_camera_component(&state);
	}
	else
	{
		PORT_USERDATA callback_data;
		
		// *** PR : we don't want preview
		camera_preview_port = NULL;//state.camera_component->output[MMAL_CAMERA_PREVIEW_PORT];
		camera_video_port   = state.camera_component->output[MMAL_CAMERA_VIDEO_PORT];
		camera_still_port   = state.camera_component->output[MMAL_CAMERA_CAPTURE_PORT];
		preview_input_port  = state.preview_parameters.preview_component->input[0];
		encoder_input_port  = state.encoder_component->input[0];
		encoder_output_port = state.encoder_component->output[0];
		
		if (state.preview_parameters.wantPreview )
		{
        	// PR : we don't want preview
        	// Connect camera to preview
        	// status = connect_ports(camera_preview_port, preview_input_port, &state.preview_connection);
      	}
        VCOS_STATUS_T vcos_status;

        // Now connect the camera to the encoder
        status = connect_ports(camera_still_port, encoder_input_port, &state.encoder_connection);

		if (status != MMAL_SUCCESS)
		{
		  vcos_log_error("%s: Failed to connect camera video port to encoder input", __func__);
		  goto error;
		}
		
		// Set up our userdata - this is passed though to the callback where we need the information.
		// Null until we open our filename
		//callback_data.file_handle = NULL;
		callback_data.pstate = &state;
		vcos_status = vcos_semaphore_create(&callback_data.complete_semaphore, "RaspiStill-sem", 0);
		
		vcos_assert(vcos_status == VCOS_SUCCESS);
		
		encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *)&callback_data;
		
		// Enable the encoder output port and tell it its callback function
		status = mmal_port_enable(encoder_output_port, encoder_buffer_callback);
		
		if (status != MMAL_SUCCESS)
		{
		   vcos_log_error("Failed to setup encoder output");
		   goto error;
		}

                
		int num_iterations =  100;
		int frame,num,q;
		elapsedTime= clock();
		printf("time=%d\n",elapsedTime);
		
		for (frame = 1;frame<=num_iterations; frame++)
		{
		      // Send all the buffers to the encoder output port
		      num = mmal_queue_length(state.encoder_pool->queue);
		      
		      for (q=0;q<num;q++)
		      {
		         MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(state.encoder_pool->queue);
		
		         //if (!buffer)
		           // vcos_log_error("Unable to get a required buffer %d from pool queue", q);
		
		         if (mmal_port_send_buffer(encoder_output_port, buffer)!= MMAL_SUCCESS)
		            vcos_log_error("Unable to send a buffer to encoder output port (%d)", q);
		      }
		
		      
		      if (mmal_port_parameter_set_boolean(camera_still_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS)
		      {
		         vcos_log_error("%s: Failed to start capture", __func__);
		      }
		      else
		      {
		         // Wait for capture to complete
		         // For some reason using vcos_semaphore_wait_timeout sometimes returns immediately with bad parameter error
		         // even though it appears to be all correct, so reverting to untimed one until figure out why its erratic
		         vcos_semaphore_wait(&callback_data.complete_semaphore);
		       }
		       
		} // end for (frame)
 			
		vcos_semaphore_delete(&callback_data.complete_semaphore);
        // compute elapsed time since begin of the loop and display
		 
error:

		mmal_status_to_int(status);
		
		
		// Disable all our ports that are not handled by connections
		check_disable_port(camera_video_port);
		check_disable_port(encoder_output_port);
		
		// PR : we don't want preview
		//if (state.preview_parameters.wantPreview )
		// mmal_connection_destroy(state.preview_connection);
		
		mmal_connection_destroy(state.encoder_connection);
		
		/* Disable components */
		if (state.encoder_component)
		mmal_component_disable(state.encoder_component);
		
		if (state.preview_parameters.preview_component)
		mmal_component_disable(state.preview_parameters.preview_component);
		
		if (state.camera_component)
		mmal_component_disable(state.camera_component);
		
		destroy_encoder_component(&state);
		raspipreview_destroy(&state.preview_parameters);
		destroy_camera_component(&state);
		
	}
   if (status != 0)
      raspicamcontrol_check_configuration(128);

	// compute FPS
	time(&timer_end);  /* get current time; same as: timer = time(NULL)  */

  secondsElapsed = difftime(timer_end,timer_begin);

  printf ("%.f seconds for %d frames : FPS = %f", secondsElapsed,nbFrames,(float)((float)(nbFrames)/secondsElapsed));



	printf("time=%d\n",clock());
		
	elapsedTime=clock()-elapsedTime;
		printf ("(time) %d clicks (%f seconds). nb Frames = %d. FPS = %f\n",elapsedTime,((float)elapsedTime)/CLOCKS_PER_SEC, nbFrames, (float)nbFrames/(((float)elapsedTime)/CLOCKS_PER_SEC));   


   return 0;
}