sim: adapt macos avfoundation backend for camera indexing and capture

Add macOS AVFoundation camera enumeration.
Stabilize camera enumeration ordering for macOS and Linux V4L2.
Filter Linux V4L2 nodes that do not support CAP_VIDEO_CAPTURE to
fix Linux/macOS camera device node mount ordering and exclude Linux
metadata nodes.

Signed-off-by: Peter Bee <bijunda@bytedance.com>

Author: bijunda

arch/sim/src/sim/macos/sim_host_avfoundation_backend.m

@@ -151,6 +151,8 @@ static int avf_report_open_error(int err, const char *message)
 {
   AVCaptureDeviceDiscoverySession *discovery;
   NSArray<AVCaptureDevice *> *devices;
+  NSMutableArray<AVCaptureDevice *> *ordered;
+  AVCaptureDevice *device;
 
   discovery = [AVCaptureDeviceDiscoverySession
     discoverySessionWithDeviceTypes:@[
@@ -171,7 +173,36 @@ static int avf_report_open_error(int err, const char *message)
       devices = [AVCaptureDevice devicesWithMediaType:AVMediaTypeVideo];
     }
 
-  return devices;
+  if (devices == nil || [devices count] == 0)
+    {
+      return devices;
+    }
+
+  ordered = [NSMutableArray arrayWithCapacity:[devices count]];
+  if (ordered == nil)
+    {
+      return devices;
+    }
+
+  for (device in devices)
+    {
+      if ([device.deviceType isEqualToString:
+          AVCaptureDeviceTypeBuiltInWideAngleCamera])
+        {
+          [ordered addObject:device];
+        }
+    }
+
+  for (device in devices)
+    {
+      if (![device.deviceType isEqualToString:
+           AVCaptureDeviceTypeBuiltInWideAngleCamera])
+        {
+          [ordered addObject:device];
+        }
+    }
+
+  return ordered;
 }
 
 static bool avf_parse_device_index(const char *dev_path, unsigned long *index_out)

arch/sim/src/sim/posix/sim_host_v4l2.c

@@ -31,7 +31,6 @@
 #include <stdlib.h>
 #include <stdint.h>
 #include <string.h>
-#include <dirent.h>
 #include <limits.h>
 #include <sys/stat.h>
 #include <syslog.h>
@@ -47,6 +46,7 @@
  ****************************************************************************/
 
 #define MAX_REQBUFS 3
+#define HOST_MAX_VIDEO_DEVICES 64
 
 #define WARN(fmt, ...) \
         syslog(LOG_WARNING, "sim_host_video: " fmt "\n", ##__VA_ARGS__)
@@ -120,37 +120,24 @@ static bool host_video_is_capture_device(const char *host_video_dev_path)
   return available;
 }
 
-static int host_video_get_device_path_by_index(const char *dirpath,
-                                               int index,
+static int host_video_get_device_path_by_index(int index,
                                                char *devpath,
                                                size_t devpathlen)
 {
-  DIR *dir;
-  struct dirent *entry;
   int count = 0;
+  int i;
 
-  dir = opendir(dirpath);
-  if (dir == NULL)
-    {
-      return -errno;
-    }
-
-  while ((entry = readdir(dir)) != NULL)
+  for (i = 0; i < HOST_MAX_VIDEO_DEVICES; i++)
     {
-      char path[PATH_MAX];
-
-      if (strncmp(entry->d_name, "video", 5) != 0)
-        {
-          continue;
-        }
+      char path[32];
 
-      if (snprintf(path, sizeof(path), "/dev/%s", entry->d_name) >=
+      if (snprintf(path, sizeof(path), "/dev/video%d", i) >=
           (int)sizeof(path))
         {
           continue;
         }
 
-      if (!host_video_is_capture_device(path))
+      if (access(path, F_OK) != 0 || !host_video_is_capture_device(path))
         {
           continue;
         }
@@ -159,55 +146,40 @@ static int host_video_get_device_path_by_index(const char *dirpath,
         {
           if (strlcpy(devpath, path, devpathlen) >= devpathlen)
             {
-              closedir(dir);
               return -ENAMETOOLONG;
             }
 
-          closedir(dir);
           return 0;
         }
 
       count++;
     }
 
-  closedir(dir);
   return -ENODEV;
 }
 
-static int host_video_count_devices_in_dir(const char *dirpath)
+static int host_video_count_devices(void)
 {
-  DIR *dir;
-  struct dirent *entry;
   int count = 0;
+  int i;
 
-  dir = opendir(dirpath);
-  if (dir == NULL)
-    {
-      return -errno;
-    }
-
-  while ((entry = readdir(dir)) != NULL)
+  for (i = 0; i < HOST_MAX_VIDEO_DEVICES; i++)
     {
-      char devpath[PATH_MAX];
+      char devpath[32];
 
-      if (strncmp(entry->d_name, "video", 5) != 0)
-        {
-          continue;
-        }
-
-      if (snprintf(devpath, sizeof(devpath), "/dev/%s", entry->d_name) >=
+      if (snprintf(devpath, sizeof(devpath), "/dev/video%d", i) >=
           (int)sizeof(devpath))
         {
           continue;
         }
 
-      if (host_video_is_capture_device(devpath))
+      if (access(devpath, F_OK) == 0 &&
+          host_video_is_capture_device(devpath))
         {
           count++;
         }
     }
 
-  closedir(dir);
   return count;
 }
 
@@ -241,15 +213,8 @@ static int host_video_resolve_device_path(const char *host_video_dev_path,
       return -EINVAL;
     }
 
-  ret = host_video_get_device_path_by_index("/sys/class/video4linux", index,
-                                            resolved_path,
+  ret = host_video_get_device_path_by_index(index, resolved_path,
                                             resolved_path_len);
-  if (ret == -ENOENT || ret == -ENODEV || ret == -EINVAL)
-    {
-      ret = host_video_get_device_path_by_index("/dev", index,
-                                                resolved_path,
-                                                resolved_path_len);
-    }
 
   if (ret < 0)
     {
@@ -266,21 +231,7 @@ static int host_video_resolve_device_path(const char *host_video_dev_path,
 
 int host_video_get_device_count(void)
 {
-  int count;
-
-  count = host_video_count_devices_in_dir("/sys/class/video4linux");
-  if (count >= 0)
-    {
-      return count;
-    }
-
-  count = host_video_count_devices_in_dir("/dev");
-  if (count >= 0)
-    {
-      return count;
-    }
-
-  return 0;
+  return host_video_count_devices();
 }
 
 bool host_video_is_available(const char *host_video_dev_path)

tools/mkallsyms.sh

@@ -64,7 +64,8 @@ if [ -f "${1}" ];then
   ${nm} -n ${1} | grep -E " [T|t] "  | uniq | \
   while read addr type name
   do
-    echo "  { \"$(${filt} $name | sed -e "s/(.*)$//")\", (FAR ${CONST} void *)0x$addr },"
+    demangled=$(printf '%s\n' "$name" | ${filt} | sed -e "s/(.*)$//")
+    echo "  { \"${demangled}\", (FAR ${CONST} void *)0x$addr },"
   done
 fi