--- /dev/null
+/*
+ * @raw_capture.c
+ * @author aurelien.morelle@parrot.com
+ * @date 2008/05/29
+ *
+ * Raw video capture from Mykonos RAM
+ *
+ */
+#include <stdio.h>
+#include <stdlib.h>
+#include <sys/time.h>
+#include <time.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_stage.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 <ardrone_tool/ardrone_tool.h>
+#include <ardrone_tool/Com/config_com.h>
+#include <Vision/vision_stage.h>
+
+#define NB_STAGES_MAX 10
+
+PIPELINE_HANDLE raw_capture_pipeline_handle;
+
+
+// useful ?
+extern int exit_ihm_program;
+
+
+C_RESULT
+raw_capture_output_file_stage_open(vp_stages_output_file_config_t *cfg)
+{
+ return (SUCCESS);
+}
+
+
+C_RESULT
+raw_capture_output_file_stage_transform(vp_stages_output_file_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+ static int total_size = 0, local_size, size2read;
+ static int start = 1;
+
+ static struct {
+ int32_t size2read;
+ vp_stages_vision_config_t saved_cfg;
+ } special_struct;
+
+ struct timeval tv;
+ struct tm atm;
+
+ static char raw_filename[256];
+ char struct_filename[256];
+ FILE *f;
+
+ vp_os_mutex_lock(&out->lock);
+
+ if(in->status == VP_API_STATUS_PROCESSING && in->size > 0)
+ {
+ local_size = in->size;
+
+ if(start)
+ {
+ if(!cfg->f)
+ {
+ gettimeofday(&tv,NULL);
+ localtime_r(&tv.tv_sec, &atm);
+ sprintf(&raw_filename[0], "raw_%04d%02d%02d_%02d%02d%02d.yuv", atm.tm_year+1900, atm.tm_mon+1, atm.tm_mday, atm.tm_hour, atm.tm_min, atm.tm_sec);
+ sprintf(&struct_filename[0], "vision_state_%04d%02d%02d_%02d%02d%02d.raw", atm.tm_year+1900, atm.tm_mon+1, atm.tm_mday, atm.tm_hour, atm.tm_min, atm.tm_sec);
+ cfg->name = &raw_filename[0];
+ cfg->f = fopen(cfg->name, "wb");
+ PRINT("Open %s \n", cfg->name);
+ }
+
+ if(total_size < sizeof(special_struct))
+ {
+ vp_os_memcpy(total_size+(int8_t*)&special_struct, &in->buffers[in->indexBuffer][0], min(sizeof(special_struct)-total_size, local_size));
+ local_size -= min(sizeof(special_struct)-total_size, in->size);
+ total_size += min(sizeof(special_struct)-total_size, in->size);
+ }
+
+ if(total_size == sizeof(special_struct))
+ {
+ size2read = special_struct.size2read;
+ f = fopen(&struct_filename[0], "wb");
+ fwrite(&special_struct.saved_cfg, sizeof(int8_t), sizeof(special_struct.saved_cfg), f);
+ fclose(f);
+ start = 0;
+ total_size = 0;
+ }
+ }
+
+ if(start == 0 && local_size > 0)
+ {
+ fwrite(&in->buffers[in->indexBuffer][0], sizeof(int8_t), local_size*sizeof(int8_t), cfg->f);
+ total_size += local_size;
+ PRINT("red size = %07d / total size = %07d\r", total_size, size2read);
+ if(total_size == size2read)
+ {
+ total_size = 0;
+ start = 1;
+ fclose(cfg->f);
+ cfg->f = NULL;
+ PRINT("Close %s \n", cfg->name);
+ }
+ }
+ }
+
+ out->status = in->status;
+
+ vp_os_mutex_unlock(&out->lock);
+
+ return (SUCCESS);
+}
+
+
+C_RESULT
+raw_capture_output_file_stage_close(vp_stages_output_file_config_t *cfg)
+{
+ return (SUCCESS);
+}
+
+
+const vp_api_stage_funcs_t raw_capture_output_file_funcs =
+{
+ (vp_api_stage_handle_msg_t) NULL,
+ (vp_api_stage_open_t) raw_capture_output_file_stage_open,
+ (vp_api_stage_transform_t) raw_capture_output_file_stage_transform,
+ (vp_api_stage_close_t) raw_capture_output_file_stage_close
+};
+
+
+DEFINE_THREAD_ROUTINE(raw_capture, data)
+{
+ C_RESULT res;
+
+ vp_api_io_pipeline_t pipeline;
+ vp_api_io_data_t out;
+ vp_api_io_stage_t stages[NB_STAGES_MAX];
+
+ vp_stages_input_com_config_t icc;
+ vp_stages_output_file_config_t ofc;
+
+ vp_os_memset(&icc, 0, sizeof( icc ));
+ vp_os_memset(&ofc, 0, sizeof( ofc ));
+
+ icc.com = COM_RAW_CAPTURE();
+ icc.config = COM_CONFIG_RAW_CAPTURE();
+ icc.connection = COM_CONNECTION_RAW_CAPTURE();
+ icc.buffer_size = 16*16*3;
+ COM_CONFIG_SOCKET_VIDEO(&icc.socket, VP_COM_CLIENT, RAW_CAPTURE_PORT, wifi_ardrone_ip);
+
+ ofc.name = "toto.out";
+
+ pipeline.nb_stages = 0;
+
+ stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
+ stages[pipeline.nb_stages].cfg = (vp_stages_input_com_config_t *)&icc;
+ stages[pipeline.nb_stages++].funcs = vp_stages_input_com_funcs;
+
+ stages[pipeline.nb_stages].type = VP_API_OUTPUT_FILE;
+ stages[pipeline.nb_stages].cfg = (vp_stages_output_file_config_t *)&ofc;
+ stages[pipeline.nb_stages++].funcs = raw_capture_output_file_funcs;
+
+ pipeline.stages = &stages[0];
+
+ PRINT("\n Raw video capture thread initialisation\n\n");
+
+ res = vp_api_open(&pipeline, &raw_capture_pipeline_handle);
+
+ if( SUCCEED(res) )
+ {
+ int loop = SUCCESS;
+ out.status = VP_API_STATUS_PROCESSING;
+
+ while( !ardrone_tool_exit() && (loop == SUCCESS) )
+ {
+ if( SUCCEED(vp_api_run(&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(&pipeline, &raw_capture_pipeline_handle);
+ }
+
+ PRINT("\n Raw video capture thread closed\n\n");
+
+ return (THREAD_RET)0;
+}
+
projects / mardrone / blobdiff