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added unitialization of the buffers for closing #86

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added unitialization of the buffers for closing #86

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17 changes: 17 additions & 0 deletions camera/v4l2Camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -387,6 +387,18 @@ bool v4l2Camera::init()
return true;
}

// uninitDevice
bool v4l2Camera::uninitDevice()
{
// uninitialize buffers, otherwise opening the device again will not work properly!
for (int i = 0; i < mBufferCountMMap; ++i) {
if (-1 == munmap(mBuffersMMap[i].ptr, mBuffersMMap[i].buf.length))
printf("v4l2 -- could not unmap buffers properly\n");
return false;
}
free(mBuffersMMap);
return true;
}

// Open
bool v4l2Camera::Open()
Expand All @@ -411,6 +423,11 @@ bool v4l2Camera::Open()
// Close
bool v4l2Camera::Close()
{
// unitialize the buffers before closing the device
if (!uninitDevice()) {
printf("v4l2 -- could not uninitialize device\n");
}

// stop streaming
enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

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2 changes: 2 additions & 0 deletions camera/v4l2Camera.h
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Expand Up @@ -99,6 +99,8 @@ class v4l2Camera
bool initUserPtr();
bool initMMap();

bool uninitDevice();

int mFD;
int mRequestFormat;
uint32_t mRequestWidth;
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