ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / Examples / linux / api_ifile_raw_sdl.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_ifile_raw_sdl.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_ifile_raw_sdl.c
new file mode 100644 (file)
index 0000000..b436254
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_ifile_raw_sdl.c
@@ -0,0 +1,185 @@
+#include <stdlib.h>
+#include <ctype.h>
+
+#include <VP_Api/vp_api.h>
+#include <VP_Api/vp_api_thread_helper.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Api/vp_api_picture.h>
+#include <VP_Stages/vp_stages_configs.h>
+#include <VP_Stages/vp_stages_io_console.h>
+#include <VP_Stages/vp_stages_o_sdl.h>
+#include <VP_Stages/vp_stages_io_com.h>
+#include <VP_Stages/vp_stages_io_file.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_delay.h>
+
+#include <MJPEG/mjpeg.h>
+#include <MJPEG/dct.h>
+
+#define ACQ_WIDTH  (320)
+#define ACQ_HEIGHT (240)
+
+#define NB_STAGES 3
+
+
+PIPELINE_HANDLE pipeline_handle;
+
+PROTO_THREAD_ROUTINE(escaper, nomParams);
+PROTO_THREAD_ROUTINE(app, nomParams);
+
+BEGIN_THREAD_TABLE
+  THREAD_TABLE_ENTRY(escaper, 20)
+  THREAD_TABLE_ENTRY(app, 20)
+END_THREAD_TABLE
+
+
+///*******************************************************************************************************************///
+
+typedef struct _buffer_to_picture_config_t
+{
+  vp_api_picture_t* picture;
+
+} buffer_to_picture_config_t;
+
+C_RESULT
+buffer_to_picture_open(buffer_to_picture_config_t *cfg)
+{
+  cfg->picture->format        = PIX_FMT_YUV420P;
+
+  cfg->picture->width         = ACQ_WIDTH;
+  cfg->picture->height        = ACQ_HEIGHT;
+  cfg->picture->framerate     = 15;
+
+  cfg->picture->y_line_size   = ACQ_WIDTH;
+  cfg->picture->cb_line_size  = ACQ_WIDTH / 2;
+  cfg->picture->cr_line_size  = ACQ_WIDTH / 2;
+
+  cfg->picture->y_pad         = 0;
+  cfg->picture->c_pad         = 0;
+
+  return (SUCCESS);
+}
+
+C_RESULT
+buffer_to_picture_transform(buffer_to_picture_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  vp_os_mutex_lock(&out->lock);
+
+
+  if(out->status == VP_API_STATUS_INIT)
+  {
+    out->numBuffers   = 1;
+    out->size         = (ACQ_WIDTH*ACQ_HEIGHT*3)/2;
+    out->buffers      = (int8_t **) cfg->picture;
+    out->indexBuffer  = 0;
+    out->status       = VP_API_STATUS_PROCESSING;
+  }
+
+  if(out->status == VP_API_STATUS_ENDED)
+  {
+  }
+
+  if(out->status == VP_API_STATUS_PROCESSING)
+  {
+    cfg->picture->y_buf   = in->buffers[0];
+    cfg->picture->cb_buf  = in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT;
+    cfg->picture->cr_buf  = in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT + ACQ_WIDTH*ACQ_HEIGHT/4;
+  }
+
+  out->status = in->status;
+
+  vp_os_mutex_unlock(&out->lock);
+
+  return (SUCCESS);
+}
+
+C_RESULT
+buffer_to_picture_close(buffer_to_picture_config_t *cfg)
+{
+  return (SUCCESS);
+}
+
+const vp_api_stage_funcs_t buffer_to_picture_funcs =
+{
+  NULL,
+  (vp_api_stage_open_t)buffer_to_picture_open,
+  (vp_api_stage_transform_t)buffer_to_picture_transform,
+  (vp_api_stage_close_t)buffer_to_picture_close
+};
+
+
+int
+main(int argc, char **argv)
+{
+  if(argc != 2)
+  {
+    PRINT("You must specify a filename.\n");
+    return EXIT_FAILURE;
+  }
+
+  START_THREAD(escaper, NO_PARAM);
+  START_THREAD(app, argv);
+
+  JOIN_THREAD(escaper);
+  JOIN_THREAD(app);
+
+  return EXIT_SUCCESS;
+}
+
+
+PROTO_THREAD_ROUTINE(app,argv)
+{
+  vp_api_picture_t picture;
+
+  vp_api_io_pipeline_t    pipeline;
+  vp_api_io_data_t        out;
+  vp_api_io_stage_t       stages[NB_STAGES];
+
+  vp_stages_input_file_config_t     ifc;
+  vp_stages_output_sdl_config_t     osc;
+  buffer_to_picture_config_t        bpc;
+
+  vp_os_memset(&ifc,0,sizeof(vp_stages_input_file_config_t));
+
+  ifc.name            = ((char**)argv)[1];
+  ifc.buffer_size     = (ACQ_WIDTH*ACQ_HEIGHT*3)/2;
+
+  osc.width           = ACQ_WIDTH;
+  osc.height          = ACQ_HEIGHT;
+  osc.bpp             = 16;
+  osc.window_width    = ACQ_WIDTH;
+  osc.window_height   = ACQ_HEIGHT;
+  osc.pic_width       = ACQ_WIDTH;
+  osc.pic_height      = ACQ_HEIGHT;
+  osc.y_size          = ACQ_WIDTH*ACQ_HEIGHT;
+  osc.c_size          = (ACQ_WIDTH*ACQ_HEIGHT) >> 2;
+
+  bpc.picture         = &picture;
+
+  stages[0].type      = VP_API_INPUT_FILE;
+  stages[0].cfg       = (void *)&ifc;
+  stages[0].funcs     = vp_stages_input_file_funcs;
+
+  stages[1].type      = VP_API_FILTER_DECODER;
+  stages[1].cfg       = (void *)&bpc;
+  stages[1].funcs     = buffer_to_picture_funcs;
+
+  stages[2].type      = VP_API_OUTPUT_SDL;
+  stages[2].cfg       = (void *)&osc;
+  stages[2].funcs     = vp_stages_output_sdl_funcs;
+
+  pipeline.nb_stages  = NB_STAGES;
+  pipeline.stages     = &stages[0];
+
+  vp_api_open(&pipeline, &pipeline_handle);
+  out.status = VP_API_STATUS_PROCESSING;
+  while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING))
+  {
+    vp_os_delay( 500 );
+  }
+
+  vp_api_close(&pipeline, &pipeline_handle);
+
+  return EXIT_SUCCESS;
+}