ArDrone SDK 1.8 added

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

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_serial_raw_sdl.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_serial_raw_sdl.c
new file mode 100644 (file)
index 0000000..121f5cf
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_serial_raw_sdl.c
@@ -0,0 +1,175 @@
+#include <stdlib.h>
+#include <ctype.h>
+#include <stdio.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.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>
+
+
+vp_stages_output_sdl_config_t     osc;
+
+#define ACQ_WIDTH  (osc.width)
+#define ACQ_HEIGHT (osc.height)
+
+#define NB_STAGES 3
+
+
+PIPELINE_HANDLE pipeline_handle;
+
+
+// used by buffer_to_picture
+static vp_api_picture_t picture;
+
+
+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
+
+
+C_RESULT
+buffer_to_picture_open(int *cfg)
+{
+  picture.format = PIX_FMT_YUV420P;
+
+  picture.width = ACQ_WIDTH;
+  picture.height = ACQ_HEIGHT;
+  picture.framerate = 15;
+
+  picture.y_line_size = ACQ_WIDTH;
+  picture.cb_line_size = 0; //ACQ_WIDTH/2;
+  picture.cr_line_size = 0; //ACQ_WIDTH/2;
+
+  return (SUCCESS);
+}
+
+C_RESULT
+buffer_to_picture_transform(int *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; //(ACQ_WIDTH*ACQ_HEIGHT*3)/2;
+      out->buffers = (int8_t **)(int8_t *)&picture;
+      out->indexBuffer = 0;
+      out->status = VP_API_STATUS_PROCESSING;
+    }
+
+  if(out->status == VP_API_STATUS_ENDED)
+    {
+    }
+
+  if(out->status == VP_API_STATUS_PROCESSING)
+    {
+      picture.y_buf = in->buffers[in->indexBuffer];
+      picture.cb_buf = in->buffers[in->indexBuffer]+ACQ_WIDTH*ACQ_HEIGHT;
+      picture.cr_buf = in->buffers[in->indexBuffer]+(ACQ_WIDTH*ACQ_HEIGHT*5)/4;
+    }
+
+  out->status = in->status;
+
+  vp_os_mutex_unlock(&out->lock);
+
+  return (SUCCESS);
+}
+
+C_RESULT
+buffer_to_picture_close(int *cfg)
+{
+  return (SUCCESS);
+}
+
+
+const vp_api_stage_funcs_t buffer_to_picture_funcs =
+{
+  (vp_api_stage_handle_msg_t) 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)
+{
+  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_io_pipeline_t    pipeline;
+  vp_api_io_data_t        out;
+  vp_api_io_stage_t       stages[NB_STAGES];
+
+  vp_com_t                          com;
+  vp_stages_input_com_config_t      icc;
+  vp_com_serial_config_t            config;
+
+
+  vp_os_memset(&icc,0,sizeof(vp_stages_input_com_config_t));
+  vp_os_memset(&com, 0, sizeof(vp_com_t));
+  vp_stages_fill_default_config(UART1_COM_CONFIG, &config, sizeof(config));
+  vp_stages_fill_default_config(SDL_RAW_QCIF_CONFIG, &osc, sizeof(osc));
+
+  com.type                = VP_COM_SERIAL;
+  icc.com                 = &com;
+  icc.socket.type         = VP_COM_CLIENT;
+  icc.config              = (vp_com_config_t *)&config;
+  icc.buffer_size         = 176*144; //ACQ_WIDTH*ACQ_HEIGHT;
+
+
+  stages[0].type    = VP_API_INPUT_SOCKET;
+  stages[0].cfg     = (void *)&icc;
+  stages[0].funcs   = vp_stages_input_com_funcs;
+
+  stages[1].type    = VP_API_FILTER_DECODER;
+  stages[1].cfg     = (void *)NULL;
+  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))
+    {
+      // no delay here
+    }
+
+  vp_api_close(&pipeline, &pipeline_handle);
+
+  return EXIT_SUCCESS;
+}