--- /dev/null
+/**
+ * @file my_client.c
+ * @author karl leplat
+ * @date 2009/07/01
+ */
+#include <assert.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <stdio.h>
+#include <netinet/in.h>
+#include <netdb.h>
+#include <errno.h>
+#include <arpa/inet.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <errno.h>
+
+#include <sys/time.h>
+
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+
+#include "vlib.h"
+#include "app.h"
+
+/* Video constant */
+#define VIDEO_PORT 5555
+#define RAW_CAPTURE_PORT 5557
+
+#define H_ACQ_WIDTH VIDEO_WIDTH
+#define H_ACQ_HEIGHT VIDEO_HEIGHT
+#define VIDEO_BUFFER_SIZE (2*(VIDEO_WIDTH)*(VIDEO_HEIGHT))
+
+#define DATA_RECEIVED_MAX_SIZE 8192
+
+static video_controller_t controller;
+static vp_api_picture_t picture;
+static int pictureBpp;
+
+// note: allocate twice the size of an image
+uint16_t picture_buf[VIDEO_BUFFER_SIZE];
+int num_picture_decoded = 0;
+
+void stream_init(void)
+{
+ C_RESULT status;
+
+ memset(&controller, 0, sizeof(controller));
+ memset(&picture, 0, sizeof(picture));
+ memset(picture_buf, 0, sizeof(picture_buf));
+ pictureBpp = 2;
+
+ /// Picture configuration
+ picture.format = PIX_FMT_RGB565;
+ picture.width = H_ACQ_WIDTH;
+ picture.height = H_ACQ_HEIGHT;
+ picture.framerate = 15;
+ picture.y_line_size = picture.width * pictureBpp;
+ picture.cb_line_size = 0;
+ picture.cr_line_size = 0;
+ picture.y_buf = (uint8_t *)picture_buf;
+ picture.cb_buf = NULL;
+ picture.cr_buf = NULL;
+
+ status = video_codec_open( &controller, UVLC_CODEC );
+ if (status) {
+ INFO("video_codec_open() failed\n");
+ }
+ video_controller_set_motion_estimation(&controller, FALSE);
+ video_controller_set_format( &controller, H_ACQ_WIDTH, H_ACQ_HEIGHT );
+}
+
+void stream_deinit(void)
+{
+ video_codec_close(&controller);
+}
+
+static int video_udp_socket = -1;
+
+void video_write (int8_t *buffer, int32_t len)
+{
+ struct sockaddr_in to;
+ int32_t flags;
+
+ if( video_udp_socket < 0 )
+ {
+ struct sockaddr_in video_udp_addr;
+
+ memset( (char*)&video_udp_addr, 0, sizeof(video_udp_addr) );
+
+ video_udp_addr.sin_family = AF_INET;
+ video_udp_addr.sin_addr.s_addr = INADDR_ANY;
+ video_udp_addr.sin_port = htons( VIDEO_PORT + 100 );
+
+ video_udp_socket = socket( AF_INET, SOCK_DGRAM, 0 );
+
+ if( video_udp_socket > 0 )
+ {
+ flags = fcntl(video_udp_socket, F_GETFL, 0);
+ if( flags >= 0 )
+ {
+ flags |= O_NONBLOCK;
+
+ flags = fcntl(video_udp_socket, F_SETFL, flags );
+ }
+ else
+ {
+ INFO("Get Socket Options failed\n");
+ }
+
+ bind(video_udp_socket, (struct sockaddr*)&video_udp_addr, sizeof(struct sockaddr) );
+ }
+ }
+
+ if( video_udp_socket > 0 )
+ {
+ int res;
+
+ memset( (char*)&to, 0, sizeof(to) );
+ to.sin_family = AF_INET;
+ to.sin_addr.s_addr = inet_addr(WIFI_MYKONOS_IP); // BROADCAST address for subnet 192.168.1.xxx
+ to.sin_port = htons (VIDEO_PORT);
+
+ res = sendto( video_udp_socket, (char*)buffer, len, 0, (struct sockaddr*)&to, sizeof(to) );
+ }
+}
+
+DEFINE_THREAD_ROUTINE( stream_loop, data )
+{
+ C_RESULT status;
+ int sockfd, addr_in_size;
+ struct sockaddr_in *my_addr, *from;
+
+ INFO("VIDEO stream thread starting (thread=%d)...\n", (int)pthread_self());
+
+ stream_init();
+
+ addr_in_size = sizeof(struct sockaddr_in);
+
+ from = (struct sockaddr_in *)malloc(addr_in_size);
+ my_addr = (struct sockaddr_in *)malloc(addr_in_size);
+ assert(from);
+ assert(my_addr);
+
+ memset((char *)my_addr,(char)0,addr_in_size);
+ my_addr->sin_family = AF_INET;
+ my_addr->sin_addr.s_addr = htonl(INADDR_ANY);
+ my_addr->sin_port = htons( VIDEO_PORT );
+
+ if((sockfd = socket (AF_INET, SOCK_DGRAM, 0)) < 0){
+ INFO ("socket: %s\n", strerror(errno));
+ goto fail;
+ };
+
+ if (bind(sockfd, (struct sockaddr *)my_addr, addr_in_size) < 0){
+ INFO ("bind: %s\n", strerror(errno));
+ goto fail;
+ };
+
+ {
+ struct timeval tv;
+ // 1 second timeout
+ tv.tv_sec = 1;
+ tv.tv_usec = 0;
+ setsockopt( sockfd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+ }
+
+ INFO("Ready to receive video data...\n");
+ {
+ int32_t one = 1;
+ video_write ((int8_t*)&one, sizeof( one ));
+ }
+
+ while(gAppAlive)
+ {
+ int size;
+ size = recvfrom (sockfd,
+ video_controller_get_stream_ptr(&controller),
+ DATA_RECEIVED_MAX_SIZE, 0, (struct sockaddr *)from,
+ (socklen_t*)&addr_in_size);
+
+ if (size == 0)
+ {
+ INFO ("Lost connection \n");
+ int32_t one = 1;
+ video_write ((int8_t*)&one, sizeof(one));
+ }
+ else if (size > 0) {
+ int decodeOK = FALSE;
+
+ controller.in_stream.used = size;
+ controller.in_stream.size = size;
+ controller.in_stream.index = 0;
+ controller.in_stream.length = 32;
+ controller.in_stream.code = 0;
+
+ //INFO("decode_blockline(size=%d)\n", size);
+ status = video_decode_blockline(&controller, &picture, &decodeOK);
+ if (status) {
+ INFO("video_decode_blockline() failed\n");
+ }
+ else if (decodeOK) {
+ // this is ugly: update counter and notify video renderer
+ num_picture_decoded = controller.num_frames;
+ //INFO("num_picture_decoded = %d\n", num_picture_decoded);
+ }
+ }
+ }
+ fail:
+ free(from);
+ free(my_addr);
+ if (sockfd >= 0){
+ close(sockfd);
+ sockfd = -1;
+ }
+
+ INFO("VIDEO stream thread stopping\n");
+ stream_deinit();
+ return NULL;
+}
projects / mardrone / blobdiff