--- /dev/null
+/*
+ * video_stage.c
+ * Test
+ *
+ * Created by Frédéric D'HAEYER on 22/02/10.
+ * Copyright 2010 Parrot SA. All rights reserved.
+ *
+ */
+#include <VP_Api/vp_api.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Api/vp_api_stage.h>
+#include <VP_Api/vp_api_picture.h>
+
+#include <VP_Api/vp_api_supervisor.h>
+#include <VP_Com/vp_com_socket.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_assert.h>
+//#include <VP_Os/vp_os_print.h>
+
+#include <VLIB/Stages/vlib_stage_decode.h>
+#include <VP_Stages/vp_stages_yuv2rgb.h>
+#include <ardrone_tool/ardrone_tool.h>
+#include <ardrone_tool/Com/config_com.h>
+#include <ardrone_tool/Video/video_com_stage.h>
+//#define RECORD_VIDEO
+#ifdef RECORD_VIDEO
+# include <ardrone_tool/Video/video_stage_recorder.h>
+#endif
+
+#include "video_stage.h"
+#include "app.h"
+#include "opengl_stage.h"
+#include <android/log.h>
+
+#define NB_STAGES 4
+
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#include <unistd.h>
+#define SSOPTCAST_RW(x) x
+#define SSOPTCAST_RO(x) x
+
+static bool_t video_stage_in_pause = FALSE;
+static vp_os_cond_t video_stage_condition;
+static vp_os_mutex_t video_stage_mutex;
+static video_com_config_t my_icc;
+static PIPELINE_HANDLE my_pipeline_handle;
+static vp_api_io_pipeline_t my_pipeline;
+
+const vp_api_stage_funcs_t my_video_com_funcs = {
+ (vp_api_stage_handle_msg_t) NULL,
+ (vp_api_stage_open_t) video_com_stage_open,
+ (vp_api_stage_transform_t) video_com_stage_transform,
+ (vp_api_stage_close_t) video_com_stage_close
+};
+
+void video_stage_init(void)
+{
+ vp_os_mutex_init(&video_stage_mutex);
+ vp_os_cond_init(&video_stage_condition, &video_stage_mutex);
+}
+
+void video_stage_suspend_thread(void)
+{
+ vp_os_mutex_lock(&video_stage_mutex);
+ video_stage_in_pause = TRUE;
+ vp_os_mutex_unlock(&video_stage_mutex);
+}
+
+void video_stage_resume_thread(void)
+{
+ vp_os_mutex_lock(&video_stage_mutex);
+ vp_os_cond_signal(&video_stage_condition);
+ video_stage_in_pause = FALSE;
+ vp_os_mutex_unlock(&video_stage_mutex);
+}
+
+DEFINE_THREAD_ROUTINE(video_stage, data)
+{
+ __android_log_print( ANDROID_LOG_INFO, "ARDrone", "Enter in video_stage\n" );
+ C_RESULT res;
+
+ vp_api_io_data_t out;
+ vp_api_io_stage_t my_stages[NB_STAGES];
+
+ vp_api_picture_t picture;
+
+ vlib_stage_decoding_config_t vec;
+
+ vp_os_memset(&my_icc, 0, sizeof( video_com_config_t ));
+ vp_os_memset(&vec, 0, sizeof( vec ));
+ vp_os_memset(&picture, 0, sizeof( picture ));
+
+#ifdef RECORD_VIDEO
+ video_stage_recorder_config_t vrc;
+#endif
+
+ /// Picture configuration
+ picture.format = PIX_FMT_RGB565;
+
+ picture.width = VIDEO_WIDTH;
+ picture.height = VIDEO_HEIGHT;
+ picture.framerate = 15;
+
+ picture.y_buf = vp_os_malloc( picture.width * picture.height * 2);
+ picture.cr_buf = NULL;
+ picture.cb_buf = NULL;
+
+ picture.y_line_size = picture.width * 2;
+ picture.cb_line_size = 0;
+ picture.cr_line_size = 0;
+
+
+ vec.width = VIDEO_WIDTH;
+ vec.height = VIDEO_HEIGHT;
+ vec.picture = &picture;
+ vec.luma_only = FALSE;
+ vec.block_mode_enable = TRUE;
+
+ my_pipeline.nb_stages = 0;
+
+ {
+
+ __android_log_print( ANDROID_LOG_INFO, "ARDrone", "=>%d, %d\n", sizeof(my_icc), sizeof(video_com_config_t) );
+ my_icc.com = COM_VIDEO();
+ my_icc.buffer_size = 100000;
+ my_icc.protocol = VP_COM_UDP;
+ COM_CONFIG_SOCKET_VIDEO(&my_icc.socket, VP_COM_CLIENT, VIDEO_PORT, WIFI_ARDRONE_IP );
+
+ my_stages[my_pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
+ my_stages[my_pipeline.nb_stages].cfg = (void *)&my_icc;
+ my_stages[my_pipeline.nb_stages].funcs = my_video_com_funcs;
+ my_pipeline.nb_stages++;
+ }
+
+ my_stages[my_pipeline.nb_stages].type = VP_API_FILTER_DECODER;
+ my_stages[my_pipeline.nb_stages].cfg = (void*)&vec;
+ my_stages[my_pipeline.nb_stages].funcs = vlib_decoding_funcs;
+ my_pipeline.nb_stages++;
+
+#ifdef RECORD_VIDEO
+ my_stages[my_pipeline.nb_stages].type = VP_API_FILTER_DECODER;
+ my_stages[my_pipeline.nb_stages].cfg = (void*)&vrc;
+ my_stages[my_pipeline.nb_stages].funcs = video_recorder_funcs;
+ my_pipeline.nb_stages++;
+#endif
+
+ my_stages[my_pipeline.nb_stages].type = VP_API_OUTPUT_LCD;
+ my_stages[my_pipeline.nb_stages].cfg = (void*)&vec;
+ my_stages[my_pipeline.nb_stages].funcs = opengl_video_stage_funcs;
+ my_pipeline.nb_stages++;
+
+ my_pipeline.stages = &my_stages[0];
+
+ if( !ardrone_tool_exit() )
+ {
+ res = vp_api_open(&my_pipeline, &my_pipeline_handle);
+
+ if( SUCCEED(res) )
+ {
+ int loop = SUCCESS;
+ out.status = VP_API_STATUS_PROCESSING;
+#ifdef RECORD_VIDEO
+ {
+ DEST_HANDLE dest;
+ dest.stage = 2;
+ dest.my_pipeline = my_pipeline_handle;
+ vp_api_post_message( dest, PIPELINE_MSG_START, NULL, (void*)NULL);
+ }
+#endif
+
+ while( !ardrone_tool_exit() && (loop == SUCCESS) )
+ {
+ if( SUCCEED(vp_api_run(&my_pipeline, &out)) ) {
+ if( (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING) ) {
+ loop = SUCCESS;
+ }
+ }
+ else loop = -1; // Finish this thread
+ }
+
+ vp_api_close(&my_pipeline, &my_pipeline_handle);
+ }
+ }
+
+ __android_log_print( ANDROID_LOG_INFO, "ARDrone", "video stage ended\n" );
+
+ return (THREAD_RET)0;
+}
+
+uint32_t video_stage_get_num_retries(void)
+{
+ return my_icc.num_retries;
+}
projects / mardrone / blobdiff