ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / Examples / linux / api_v4l_raw_ethernet.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_v4l_raw_ethernet.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_v4l_raw_ethernet.c
new file mode 100644 (file)
index 0000000..5d3af63
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_v4l_raw_ethernet.c
@@ -0,0 +1,167 @@
+#include <VP_Api/vp_api.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Stages/vp_stages_configs.h>
+#include <VP_Stages/vp_stages_i_v4l.h>
+#include <VP_Stages/vp_stages_io_com.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_delay.h>
+#include <VP_Api/vp_api_thread_helper.h>
+#include <VLIB/Stages/vlib_stage_encode.h>
+
+
+#undef BLOCK_MODE
+#undef ACQ_WIDTH
+#undef ACQ_HEIGHT
+
+#define ACQ_WIDTH 320
+#define ACQ_HEIGHT 240
+
+#define COM_VIDEO()             wired_com()
+#define COM_CONFIG_VIDEO()      wired_config()
+#define COM_CONNECTION_VIDEO()  wired_connection()
+
+
+PROTO_THREAD_ROUTINE(app,nomParams);
+
+BEGIN_THREAD_TABLE
+  THREAD_TABLE_ENTRY(app,20)
+END_THREAD_TABLE
+
+
+#define NB_STAGES_MAX 10
+
+
+static vp_stages_input_v4l_config_t         ivc;
+static vp_stages_output_com_config_t        occ;
+
+static PIPELINE_HANDLE pipeline_handle;
+
+static vp_api_picture_t picture;
+
+
+vp_com_t* wired_com(void)
+{
+  static vp_com_t com = {
+    VP_COM_WIRED,
+    FALSE,
+    0,
+    { { 0 } },
+    NULL,
+    NULL,
+    0,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL
+  };
+
+  return &com;
+}
+
+vp_com_config_t* wired_config(void)
+{
+  static vp_com_wired_config_t config = {
+    "eth0",
+    "172.20.22.245",
+    "255.255.255.0",
+    "172.20.22.255"
+  };
+
+  return (vp_com_config_t*) &config;
+}
+
+vp_com_connection_t* wired_connection(void)
+{
+  static vp_com_wired_connection_t connection = {
+    0
+  };
+
+  return (vp_com_connection_t*) (void*) &connection;
+}
+
+
+int main(int argc, char **argv)
+{
+  if(argc < 2)
+    {
+      PRINT("You need to specify video device path\n");
+      PRINT("Ex : %s /dev/video0\n", argv[0]);
+      return EXIT_FAILURE;
+    }
+
+  START_THREAD(app, argv);
+  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_MAX];
+
+  uint16_t time1,time2;
+  uint16_t i;
+
+  time1 = clock();
+
+  vp_os_memset(&ivc,0,sizeof(ivc));
+  vp_os_memset(&occ,0,sizeof(occ));
+
+  ivc.device = ((char**)argv)[1];
+  ivc.width = ACQ_WIDTH;
+  ivc.height = ACQ_HEIGHT;
+  ivc.vp_api_picture = &picture;
+
+  occ.com                           = COM_VIDEO();
+  occ.config                        = COM_CONFIG_VIDEO();
+  occ.connection                    = COM_CONNECTION_VIDEO();
+  occ.socket.type                   = VP_COM_SERVER;
+  occ.socket.protocol               = VP_COM_TCP;
+  occ.socket.port                   = 5555;
+  occ.buffer_size                   = 320*240*3/2;
+
+  pipeline.nb_stages = 0;
+
+  stages[pipeline.nb_stages].type    = VP_API_INPUT_FILE;
+  stages[pipeline.nb_stages].cfg     = (void *)&ivc;
+  stages[pipeline.nb_stages++].funcs = vp_stages_input_v4l_funcs;
+  
+  stages[pipeline.nb_stages].type    = VP_API_OUTPUT_SOCKET;
+  stages[pipeline.nb_stages].cfg     = (void *)&occ;
+  stages[pipeline.nb_stages++].funcs = vp_stages_output_com_funcs;
+
+  pipeline.stages = &stages[0];
+
+  vp_api_open(&pipeline, &pipeline_handle);
+ 
+  out.status = VP_API_STATUS_PROCESSING;
+
+  /////////////////////////////////////////////////////////////////////////////////////////
+  i = 0;
+  while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING))
+    {
+      i++;
+      PRINT("image %d \n",i);
+      //vp_os_delay(500);
+    }
+  /////////////////////////////////////////////////////////////////////////////////////////
+
+  time2 = clock();
+  printf("temps ecoule : %d \n",time2-time1);
+    
+  vp_api_close(&pipeline, &pipeline_handle);
+
+  return EXIT_SUCCESS;
+}
+