Add common, media_ctrl and v4l2_ctrl modules with CLI drivers and docs
Modules (src/modules/): - common/error: App_Error struct with structured detail union, error codes, app_error_print(); designed for future upgrade to preprocessor-generated location codes - media_ctrl: media device enumeration, topology query (entities/pads/links), link enable/disable via Media Controller API (/dev/media*) - v4l2_ctrl: control enumeration (with menu item fetching), get/set via V4L2 ext controls API, device discovery (/dev/video*) All modules use -std=c11 -D_GNU_SOURCE, build artifacts go to build/ only. Kernel-version-dependent constants guarded with #ifdef + #warning. CLI drivers (dev/cli/): - media_ctrl_cli: list, info, topology, set-link subcommands - v4l2_ctrl_cli: list, controls, get, set subcommands Docs (docs/cli/): - media_ctrl_cli.md and v4l2_ctrl_cli.md with usage, examples, and context within the video routing system Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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# media_ctrl_cli
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A development tool for exploring and configuring the Linux Media Controller pipeline. It wraps the `media_ctrl` module and provides a command-line interface to the Media Controller API (`/dev/media*`).
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This tool is the counterpart to `media-ctl` from the `v4l-utils` package. It covers the same ground but is built on our own `media_ctrl` translation unit.
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---
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## Build
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From the repository root:
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```sh
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make
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```
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Or from `dev/cli/` directly:
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```sh
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make media_ctrl_cli
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```
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The binary is placed in `dev/cli/`.
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---
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## Commands
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### `list`
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Enumerate all media devices present on the system.
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```sh
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./media_ctrl_cli list
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```
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Example output:
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```
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Media devices:
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/dev/media0
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/dev/media1
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```
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---
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### `info <device>`
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Show identification information for a media device.
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```sh
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./media_ctrl_cli info /dev/media0
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```
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Example output:
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```
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Device: /dev/media0
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Driver: unicam
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Model: unicam
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Serial:
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Bus info: platform:fe801000.csi
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Media version: 5.15.0
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Hardware rev: 0x00000000
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Driver version: 5.15.0
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```
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---
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### `topology <device>`
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Show the full pipeline topology: all entities, their pads, and all links between them. This is the main tool for understanding how a camera pipeline is structured.
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```sh
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./media_ctrl_cli topology /dev/media0
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```
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Example output on a Raspberry Pi with an IMX477 camera:
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```
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Device: unicam (/dev/media0)
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Entity 1: imx477 4-001a
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type: v4l2-subdev (0x00020001)
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flags: 0x00000000
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pads: 1 links: 1
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pad 0: source
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link: entity 1 pad 0 -> entity 2 pad 0 [enabled]
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Entity 2: unicam-image
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type: devnode (0x00010001)
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flags: 0x00000000
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pads: 1 links: 1
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device: 81:1
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pad 0: sink
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link: entity 1 pad 0 -> entity 2 pad 0 [enabled]
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```
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Each entity shows:
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- **type** — the kernel entity function code and its human-readable name
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- **pads** — each pad with its direction (source or sink)
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- **links** — connections to other entity pads, with enabled/disabled state and whether the link is immutable
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---
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### `set-link <device> <src_entity>:<src_pad> <sink_entity>:<sink_pad> <0|1>`
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Enable or disable a link between two pads. Entity IDs and pad indices are the numeric values shown in the `topology` output.
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```sh
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# Enable a link
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./media_ctrl_cli set-link /dev/media0 1:0 2:0 1
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# Disable a link
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./media_ctrl_cli set-link /dev/media0 1:0 2:0 0
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```
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Immutable links cannot be changed and will return an error.
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---
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## Relationship to the Video Routing System
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`media_ctrl_cli` exercises the `media_ctrl` module, which is used in the video routing system for:
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- **Remote device enumeration** — a connecting node can query the media topology of a remote host to discover available cameras before opening any streams
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- **Pipeline configuration** — setting pad formats and enabling links is required before a V4L2 capture node can be used, particularly on platforms like the Raspberry Pi where the sensor and capture node are separate media entities
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See also: [`v4l2_ctrl_cli.md`](v4l2_ctrl_cli.md) for runtime camera parameter control.
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docs/cli/v4l2_ctrl_cli.md
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# v4l2_ctrl_cli
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A development tool for listing and adjusting V4L2 camera controls. It wraps the `v4l2_ctrl` module and provides a command-line interface for enumerating, reading, and writing camera parameters on `/dev/video*` devices.
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This tool is the counterpart to `v4l2-ctl` from the `v4l-utils` package. It covers the same core functionality but is built on our own `v4l2_ctrl` translation unit.
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---
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## Build
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From the repository root:
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```sh
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make
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```
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Or from `dev/cli/` directly:
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```sh
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make v4l2_ctrl_cli
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```
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The binary is placed in `dev/cli/`.
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---
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## Commands
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### `list`
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Enumerate all video devices present on the system.
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```sh
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./v4l2_ctrl_cli list
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```
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Example output:
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```
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Video devices:
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/dev/video0
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/dev/video1
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```
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---
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### `controls <device>`
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List all controls available on a device, including their current values, valid ranges, and — for menu controls — all available menu options.
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```sh
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./v4l2_ctrl_cli controls /dev/video0
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```
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Example output (Pi camera):
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```
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Controls on /dev/video0:
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0x009e0903 Exposure Time (Absolute) int current=10000 default=10000 min=13 max=11766488 step=1
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0x009e0902 Analogue Gain int current=1000 default=1000 min=1000 max=16000 step=1
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0x00980913 Horizontal Flip bool current=0 default=0 min=0 max=1
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0x00980914 Vertical Flip bool current=0 default=0 min=0 max=1
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0x009e0905 Auto Exposure menu current=0 default=0 min=0 max=1
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[0] Manual Mode
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[1] Auto Mode
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0x0098091f Auto White Balance bool current=1 default=1 min=0 max=1
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```
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Control types:
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- `int` — integer value with min, max, and step
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- `bool` — 0 or 1
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- `menu` — discrete named options (shown with their labels)
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- `int-menu` — discrete integer-valued options
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- `int64` — 64-bit integer
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- `bitmask` — bit field
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---
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### `get <device> <id>`
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Read the current value of a single control by its numeric ID. The ID can be decimal or hexadecimal (with `0x` prefix).
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```sh
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./v4l2_ctrl_cli get /dev/video0 0x009e0903
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```
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Example output:
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```
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0x009e0903 = 10000
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```
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Control IDs are shown in hex in the `controls` output.
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---
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### `set <device> <id>=<value>`
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Write a value to a control. The ID and value can both be decimal or hexadecimal.
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```sh
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# Set exposure time
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./v4l2_ctrl_cli set /dev/video0 0x009e0903=5000
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# Enable horizontal flip
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./v4l2_ctrl_cli set /dev/video0 0x00980913=1
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# Disable auto exposure (switch to manual)
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./v4l2_ctrl_cli set /dev/video0 0x009e0905=0
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```
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The device will return an error if:
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- The value is out of the control's min/max range
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- The control is read-only
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- The control does not exist on the device
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---
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## Common Control IDs
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These IDs are standardised in the V4L2 specification and are consistent across devices that support them:
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| ID | Name |
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|---|---|
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| `0x00980900` | Brightness |
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| `0x00980901` | Contrast |
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| `0x00980902` | Saturation |
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| `0x00980913` | Horizontal Flip |
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| `0x00980914` | Vertical Flip |
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| `0x009e0903` | Exposure Time (Absolute) |
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| `0x009e0902` | Analogue Gain |
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| `0x009e0905` | Auto Exposure |
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Camera-specific controls (ISP parameters, codec settings, etc.) will have IDs outside the standard ranges and are best discovered via the `controls` command.
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---
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## Relationship to the Video Routing System
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`v4l2_ctrl_cli` exercises the `v4l2_ctrl` module, which is used in the video routing system for:
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- **Remote parameter tuning** — a controlling node can adjust exposure, gain, white balance, and other parameters on a remote camera without SSH or local access
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- **Control enumeration** — discovering the full set of parameters a camera supports, returned as structured data over the transport control channel
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The Pi in the microscope setup runs a V4L2 control endpoint that accepts these operations via the transport protocol. `v4l2_ctrl_cli` lets you perform the same operations locally for development and calibration.
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See also: [`media_ctrl_cli.md`](media_ctrl_cli.md) for pipeline topology and pad format configuration.
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