linux应用层同时控制TOF和RGB摄像头，为了方便操作，统一接口，这里将TOF和RGB摄像头看成两个对象，对它们分别实现，初始化，去初始化，读取视频流，停止视频流，启动视频流，读取配置文件，保存配置，删除配置，获取参数，设置参数等接口。

1、头文件

/* 对象接口 */
typedef struct {char device_name[LV_DEVICE_LENGTH];int context_size;void *context;int (*init)(const char *device_name, void *context);int (*deinit)(void *context);int (*start_stream)(void *context);int (*stop_stream)(void *context, int flag);int (*read_stream)(void *context);int (*read_config)(void *context);int (*save_config)(void *context);int (*delete_config)(void *context);int (*get_parameter)(void *context, uint16_t command_type, char *data_get, int *data_len);int (*set_parameter)(void *context, uint16_t command_type, char *data_set, int data_len);
} LV_STREAM_T;/* 全局数据，包含TOF对象和RGB对象 */
typedef struct {uint8_t lv_start_flag;                   /* 启动采集标志位，0：停止采集；1：开始采集 */uint8_t lv_tof_support;                  /* TOF设备支持 */uint8_t lv_rgb_support;                  /* RGB设备支持 */char device_name_tof[LV_DEVICE_LENGTH];  /* TOF设备名称 */char device_name_rgb[LV_DEVICE_LENGTH];  /* RGB设备名称 */LV_STREAM_T *lv_stream_tof_p;            /* TOF设备对象 */LV_STREAM_T *lv_stream_rgb_p;            /* RGB设备对象 */
} LV_DATA_T;

2.对象实现

LV_STREAM_T g_lv_tof_stream = {"/dev/vide0",sizeof(LV_IMX_STREAM_T),NULL,lv_tof_stream_init,lv_tof_stream_deinit,lv_tof_stream_start,lv_tof_stream_stop,lv_tof_read_stream,lv_tof_read_config,lv_tof_save_config,lv_tof_delete_config,lv_tof_get_parameter,lv_tof_set_parameter,
};LV_STREAM_T g_lv_rgb_stream = {"/dev/vide1",sizeof(LV_RGB_STREAM_T),NULL,lv_rgb_stream_init,lv_rgb_stream_deinit,lv_rgb_stream_start,lv_rgb_stream_stop,lv_rgb_read_stream,lv_rgb_read_config,lv_rgb_save_config,lv_rgb_delete_config,lv_rgb_get_parameter,lv_rgb_set_parameter,
};/* TOF对象接口实现 */
int lv_tof_stream_init(const char *video_device_name, void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_stream_deinit(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_stream_start(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_stream_stop(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_read_stream(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_read_config(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_save_config(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_delete_config(void *context) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_get_parameter(void *context, uint16_t command_type, char *data_get, int *data_len) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}int lv_tof_set_parameter(void *context, uint16_t command_type, char *data_set, int data_len) {LV_IMX_STREAM_T *lv_imx_stream_p = (LV_IMX_STREAM_T *)context;return 0;
}

3.对象调用

/* 对象列表 */
extern LV_STREAM_T g_lv_tof_stream;
extern LV_STREAM_T g_lv_rgb_stream;static LV_STREAM_T *lv_stream_list[] = {&g_lv_tof_stream,&g_lv_rgb_stream,
};/* 根据设备名称来找到对应的相机对象
tof : /dev/video0
rgb : /dev/video1*/
static LV_STREAM_T *lv_find_stream(const char *device_name) {int i = 0;LV_STREAM_T *lv_stream_p = NULL;int list_size = ARRAY_SIZE(lv_stream_list);for (i = 0; i < list_size; i++) {if (strncmp(lv_stream_list[i]->device_name, device_name, strlen(lv_stream_list[i]->device_name)) == 0) {lv_stream_p = lv_stream_list[i];return lv_stream_p;}}LV_WARN("Not find lv_stream, device_name:%s\n", device_name);return NULL;
}/* 创建对象 */
LV_STREAM_T *lv_stream_new(const char *device_name) {int ret = 0;LV_STREAM_T *lv_stream_p = NULL;if (NULL == device_name) {LV_ERROR("device_name is NULL!\n");return NULL;}lv_stream_p = lv_find_stream(device_name);if (lv_stream_p) {if(lv_stream_p->init == NULL) {LV_ERROR("init is NULL!\n");return NULL;}LV_DEBUG("find stream, device_name=%s, context_size=%d\n", device_name, lv_stream_p->context_size);lv_stream_p->context = calloc(1, lv_stream_p->context_size);if (NULL == lv_stream_p->context) {LV_ERROR("context calloc failed!\n");}ret = lv_stream_p->init(device_name, lv_stream_p->context);if(ret) {LV_ERROR("stream init failed!\n");free(lv_stream_p->context);return NULL;}lv_stream_p->read_config(lv_stream_p->context);} else {LV_ERROR("find stream failed!\n");}return lv_stream_p;
}/* 释放对象 */
int lv_stream_free(LV_STREAM_T *lv_stream_p) {if (NULL == lv_stream_p) {return -1;}if (NULL == lv_stream_p->deinit) {return -2;}lv_stream_p->stop_stream(lv_stream_p->context);if (lv_stream_p->context) {lv_stream_p->deinit(lv_stream_p->context);free(lv_stream_p->context);}lv_stream_p = NULL;return 0;
}/* 读取TOF数据流 */
void *start_read_tof_pthread(void *arg) {int ret = 0;LV_DATA_T *lv_data_p = (LV_DATA_T *)arg;while (1) {ret = lv_data_p->lv_stream_tof_p->read_stream(lv_data_p->lv_stream_tof_p->context);if (0 != ret) {sleep_ms(10);}}lv_stream_free(lv_data_p->lv_stream_tof_p);return 0;
}