Initial support for MMAL camera on raspberry pi

Originally by dozencrows on github; mostly this commit:

dozencrows/motion@6d1ed5b

Changes to merge back into motion upstream made by Joseph Heenan (with
help from lowflyerUK on github, see dozencrows/motion#1 ):

- changed back to using autoconf etc as per the main project
- submitted the one change we need to the raspicam files back upstream
  ( raspberrypi/userland#332 )
- imported latest versions of files in raspicam, now exactly match upstream
- added README.txt to raspicam directory with brief explanation
- replaced some tabs with spaces
- removed dependency on checkout of raspberrypi userland repo; now we
  use the headers provided by libraspberrypi-dev
- merged in a couple of the trivial later bugfix commits
- merged in mmalcam_control_params commit to allow config of camera options
- fixed many merge conflicts rebased on top of latest upstream motion

Author: jogu

Makefile.in

@@ -31,14 +31,15 @@ examplesdir = $(datadir)/@PACKAGE_NAME@/examples
 # These variables contain compiler flags, object files to build and files to   #
 # install.                                                                     #
 ################################################################################
-CFLAGS       = @CFLAGS@ -Wall -DVERSION=\"@PACKAGE_VERSION@\" -Dsysconfdir=\"$(sysconfdir)\" @FFMPEG_CFLAGS@
+CFLAGS       = @CFLAGS@ -Wall -DVERSION=\"@PACKAGE_VERSION@\" -Dsysconfdir=\"$(sysconfdir)\" @FFMPEG_CFLAGS@ @MMAL_CFLAGS@
 LDFLAGS      = @LDFLAGS@
-LIBS         = @LIBS@  @FFMPEG_LIBS@
+LIBS         = @LIBS@  @MMAL_LIBS@ @FFMPEG_LIBS@
 VIDEO_OBJ    = @VIDEO@
 OBJ          = motion.o logger.o conf.o draw.o jpegutils.o vloopback_motion.o $(VIDEO_OBJ) \
 			   netcam.o netcam_ftp.o netcam_jpeg.o netcam_wget.o track.o \
 			   alg.o event.o picture.o rotate.o webhttpd.o \
-			   stream.o md5.o netcam_rtsp.o @FFMPEG_OBJ@ @SDL_OBJ@
+			   stream.o md5.o netcam_rtsp.o \
+			   @FFMPEG_OBJ@ @MMAL_OBJ@ @SDL_OBJ@
 SRC          = $(OBJ:.o=.c)
 DOC          = CHANGELOG COPYING CREDITS README motion_guide.html mask1.png normal.jpg outputmotion1.jpg outputnormal1.jpg
 EXAMPLES     = *.conf

conf.c

@@ -148,6 +148,10 @@ struct config conf_template = {
     netcam_proxy:                   NULL,
     netcam_tolerant_check:          0,
     rtsp_uses_tcp:                  1,
+#ifdef HAVE_MMAL
+    mmalcam_name:                   NULL,
+    mmalcam_control_params:         NULL,
+#endif
     text_changes:                   0,
     text_left:                      NULL,
     text_right:                     DEF_TIMESTAMP,
@@ -421,6 +425,27 @@ config_param config_params[] = {
     copy_bool,
     print_bool
     },
+#ifdef HAVE_MMAL
+    {
+    "mmalcam_name",
+    "# Name of camera to use if you are using a camera accessed through OpenMax/MMAL\n"
+    "# For the raspberry pi official camera, use vc.ril.camera"
+    "# Default: Not defined",
+    0,
+    CONF_OFFSET(mmalcam_name),
+    copy_string,
+    print_string
+    },
+    {
+    "mmalcam_control_params",
+    "# Camera control parameters (see raspivid/raspistill tool documentation)\n"
+    "# Default: Not defined",
+    0,
+    CONF_OFFSET(mmalcam_control_params),
+    copy_string,
+    print_string
+    },
+#endif
     {
     "auto_brightness",
     "# Let motion regulate the brightness of a video device (default: off).\n"

conf.h

@@ -127,6 +127,10 @@ struct config {
     const char *netcam_proxy;
     unsigned int netcam_tolerant_check;
     unsigned int rtsp_uses_tcp;
+#ifdef HAVE_MMAL
+    const char *mmalcam_name;
+    const char *mmalcam_control_params;
+#endif
     int text_changes;
     const char *text_left;
     const char *text_right;

configure.ac

@@ -376,6 +376,24 @@ AC_CHECK_PROG([PKGCONFIG],[pkg-config],[yes],[no])
 AM_CONDITIONAL([FOUND_PKGCONFIG], [test "x$PKGCONFIG" = xyes])
 AM_COND_IF([FOUND_PKGCONFIG],,[AC_MSG_ERROR([Required package 'pkg-config' not found, please check motion_guide.html and install necessary dependencies.])])
 
+# Check for raspberry pi mmal interface
+#
+HAVE_MMAL=""
+LIBRASPBERRYPIDEVPATH="/opt/vc/include/interface/mmal"
+
+if test -d ${LIBRASPBERRYPIDEVPATH}; then
+       HAVE_MMAL="yes"
+fi
+
+AS_IF([test "${HAVE_MMAL}" = "yes" ], [
+           AC_SUBST(MMAL_CFLAGS)
+           AC_SUBST(MMAL_OBJ)
+           AC_SUBST(MMAL_LIBS)
+           MMAL_OBJ="mmalcam.o raspicam/RaspiCamControl.o raspicam/RaspiCLI.o"
+           MMAL_CFLAGS="-std=gnu99 -DHAVE_MMAL -Irasppicam -I/opt/vc/include"
+           MMAL_LIBS="-L/opt/vc/lib  -lmmal_core -lmmal_util -lmmal_vc_client -lvcos -lvchostif -lvchiq_arm"
+           AC_DEFINE([HAVE_MMAL], 1, [Define to 1 if we want MMAL])
+])
 
 #
 # Check for libavcodec and libavformat from ffmpeg
@@ -1112,7 +1130,6 @@ else
 	fi
 fi
 
-
 AC_SUBST(BIN_PATH)
 
 AC_CONFIG_FILES([
@@ -1201,6 +1218,16 @@ else
 	echo "SDL support:         No"
 fi
 
+if test "${HAVE_MMAL}" = "yes"; then
+    echo "MMAL support:        Yes"
+    echo " ... MMAL_CFLAGS: $MMAL_CFLAGS"
+    echo " ... MMAL_OBJ: $MMAL_OBJ"
+    echo " ... MMAL_LIBS: $MMAL_LIBS"
+else
+    echo "MMAL support:        No"
+    echo " ... libraspberrypi-dev package not installed"
+fi
+
 if test "${HAVE_FFMPEG}" = "yes"; then
     echo "FFmpeg support:      Yes"
     echo " ... FFMPEG_CFLAGS: $FFMPEG_CFLAGS"