--- /dev/null
+/*
+ * @video_stage.c
+ * @author marc-olivier.dzeukou@parrot.com
+ * @date 2007/07/27
+ *
+ * ihm vision thread implementation
+ *
+ */
+#include <stdio.h>
+#include <stdlib.h>
+#include <ctype.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <sys/time.h>
+#include <time.h>
+
+#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_Stages/vp_stages_io_file.h>
+#include <VP_Stages/vp_stages_i_camif.h>
+
+#include <config.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_delay.h>
+#include <VP_Stages/vp_stages_yuv2rgb.h>
+#include <VP_Stages/vp_stages_buffer_to_picture.h>
+#include <VLIB/Stages/vlib_stage_decode.h>
+
+#include <ardrone_tool/ardrone_tool.h>
+#include <ardrone_tool/Com/config_com.h>
+
+#ifndef RECORD_VIDEO
+#define RECORD_VIDEO
+#endif
+#ifdef RECORD_VIDEO
+# include <ardrone_tool/Video/video_stage_recorder.h>
+#endif
+
+#include <ardrone_tool/Video/video_com_stage.h>
+
+#include "Video/video_stage.h"
+
+#define NB_STAGES 10
+
+PIPELINE_HANDLE pipeline_handle;
+
+static uint8_t* pixbuf_data = NULL;
+static vp_os_mutex_t video_update_lock = PTHREAD_MUTEX_INITIALIZER;
+
+C_RESULT output_gtk_stage_open( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+ return (SUCCESS);
+}
+
+C_RESULT output_gtk_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+ vp_os_mutex_lock(&video_update_lock);
+
+ /* Get a reference to the last decoded picture */
+ pixbuf_data = (uint8_t*)in->buffers[0];
+
+ vp_os_mutex_unlock(&video_update_lock);
+
+ return (SUCCESS);
+}
+
+C_RESULT output_gtk_stage_close( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+ return (SUCCESS);
+}
+
+
+const vp_api_stage_funcs_t vp_stages_output_gtk_funcs =
+{
+ NULL,
+ (vp_api_stage_open_t)output_gtk_stage_open,
+ (vp_api_stage_transform_t)output_gtk_stage_transform,
+ (vp_api_stage_close_t)output_gtk_stage_close
+};
+
+DEFINE_THREAD_ROUTINE(video_stage, data)
+{
+ C_RESULT res;
+
+ vp_api_io_pipeline_t pipeline;
+ vp_api_io_data_t out;
+ vp_api_io_stage_t stages[NB_STAGES];
+
+ vp_api_picture_t picture;
+
+ video_com_config_t icc;
+ vlib_stage_decoding_config_t vec;
+ vp_stages_yuv2rgb_config_t yuv2rgbconf;
+#ifdef RECORD_VIDEO
+ video_stage_recorder_config_t vrc;
+#endif
+ /// Picture configuration
+ picture.format = PIX_FMT_YUV420P;
+
+ picture.width = QVGA_WIDTH;
+ picture.height = QVGA_HEIGHT;
+ picture.framerate = 30;
+
+ picture.y_buf = vp_os_malloc( QVGA_WIDTH * QVGA_HEIGHT );
+ picture.cr_buf = vp_os_malloc( QVGA_WIDTH * QVGA_HEIGHT / 4 );
+ picture.cb_buf = vp_os_malloc( QVGA_WIDTH * QVGA_HEIGHT / 4 );
+
+ picture.y_line_size = QVGA_WIDTH;
+ picture.cb_line_size = QVGA_WIDTH / 2;
+ picture.cr_line_size = QVGA_WIDTH / 2;
+
+ vp_os_memset(&icc, 0, sizeof( icc ));
+ vp_os_memset(&vec, 0, sizeof( vec ));
+ vp_os_memset(&yuv2rgbconf, 0, sizeof( yuv2rgbconf ));
+
+ icc.com = COM_VIDEO();
+ icc.buffer_size = 100000;
+ icc.protocol = VP_COM_UDP;
+ COM_CONFIG_SOCKET_VIDEO(&icc.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
+
+ vec.width = QVGA_WIDTH;
+ vec.height = QVGA_HEIGHT;
+ vec.picture = &picture;
+ vec.block_mode_enable = TRUE;
+ vec.luma_only = FALSE;
+
+ yuv2rgbconf.rgb_format = VP_STAGES_RGB_FORMAT_RGB24;
+#ifdef RECORD_VIDEO
+ vrc.fp = NULL;
+#endif
+
+ pipeline.nb_stages = 0;
+
+ stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
+ stages[pipeline.nb_stages].cfg = (void *)&icc;
+ stages[pipeline.nb_stages].funcs = video_com_funcs;
+
+ pipeline.nb_stages++;
+
+#ifdef RECORD_VIDEO
+ stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
+ stages[pipeline.nb_stages].cfg = (void*)&vrc;
+ stages[pipeline.nb_stages].funcs = video_recorder_funcs;
+
+ pipeline.nb_stages++;
+#endif // RECORD_VIDEO
+ stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
+ stages[pipeline.nb_stages].cfg = (void*)&vec;
+ stages[pipeline.nb_stages].funcs = vlib_decoding_funcs;
+
+ pipeline.nb_stages++;
+
+ stages[pipeline.nb_stages].type = VP_API_FILTER_YUV2RGB;
+ stages[pipeline.nb_stages].cfg = (void*)&yuv2rgbconf;
+ stages[pipeline.nb_stages].funcs = vp_stages_yuv2rgb_funcs;
+
+ pipeline.nb_stages++;
+
+ stages[pipeline.nb_stages].type = VP_API_OUTPUT_SDL;
+ stages[pipeline.nb_stages].cfg = NULL;
+ stages[pipeline.nb_stages].funcs = vp_stages_output_gtk_funcs;
+
+ pipeline.nb_stages++;
+
+ pipeline.stages = &stages[0];
+
+ /* Processing of a pipeline */
+ if( !ardrone_tool_exit() )
+ {
+ PRINT("\n Video stage thread initialisation\n\n");
+
+ res = vp_api_open(&pipeline, &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, &pipeline_handle);
+ }
+ }
+
+ PRINT(" Video stage thread ended\n\n");
+
+ return (THREAD_RET)0;
+}
+
projects / mardrone / blobdiff