git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_ifile_raw_sdl.c

   1 #include <stdlib.h>
   2 #include <ctype.h>
   3
   4 #include <VP_Api/vp_api.h>
   5 #include <VP_Api/vp_api_thread_helper.h>
   6 #include <VP_Api/vp_api_error.h>
   7 #include <VP_Api/vp_api_picture.h>
   8 #include <VP_Stages/vp_stages_configs.h>
   9 #include <VP_Stages/vp_stages_io_console.h>
  10 #include <VP_Stages/vp_stages_o_sdl.h>
  11 #include <VP_Stages/vp_stages_io_com.h>
  12 #include <VP_Stages/vp_stages_io_file.h>
  13 #include <VP_Os/vp_os_print.h>
  14 #include <VP_Os/vp_os_malloc.h>
  15 #include <VP_Os/vp_os_delay.h>
  16
  17 #include <MJPEG/mjpeg.h>
  18 #include <MJPEG/dct.h>
  19
  20 #define ACQ_WIDTH  (320)
  21 #define ACQ_HEIGHT (240)
  22
  23 #define NB_STAGES 3
  24
  25
  26 PIPELINE_HANDLE pipeline_handle;
  27
  28 PROTO_THREAD_ROUTINE(escaper, nomParams);
  29 PROTO_THREAD_ROUTINE(app, nomParams);
  30
  31 BEGIN_THREAD_TABLE
  32   THREAD_TABLE_ENTRY(escaper, 20)
  33   THREAD_TABLE_ENTRY(app, 20)
  34 END_THREAD_TABLE
  35
  36
  37 ///*******************************************************************************************************************///
  38
  39 typedef struct _buffer_to_picture_config_t
  40 {
  41   vp_api_picture_t* picture;
  42
  43 } buffer_to_picture_config_t;
  44
  45 C_RESULT
  46 buffer_to_picture_open(buffer_to_picture_config_t *cfg)
  47 {
  48   cfg->picture->format        = PIX_FMT_YUV420P;
  49
  50   cfg->picture->width         = ACQ_WIDTH;
  51   cfg->picture->height        = ACQ_HEIGHT;
  52   cfg->picture->framerate     = 15;
  53
  54   cfg->picture->y_line_size   = ACQ_WIDTH;
  55   cfg->picture->cb_line_size  = ACQ_WIDTH / 2;
  56   cfg->picture->cr_line_size  = ACQ_WIDTH / 2;
  57
  58   cfg->picture->y_pad         = 0;
  59   cfg->picture->c_pad         = 0;
  60
  61   return (SUCCESS);
  62 }
  63
  64 C_RESULT
  65 buffer_to_picture_transform(buffer_to_picture_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
  66 {
  67   vp_os_mutex_lock(&out->lock);
  68
  69
  70   if(out->status == VP_API_STATUS_INIT)
  71   {
  72     out->numBuffers   = 1;
  73     out->size         = (ACQ_WIDTH*ACQ_HEIGHT*3)/2;
  74     out->buffers      = (int8_t **) cfg->picture;
  75     out->indexBuffer  = 0;
  76     out->status       = VP_API_STATUS_PROCESSING;
  77   }
  78
  79   if(out->status == VP_API_STATUS_ENDED)
  80   {
  81   }
  82
  83   if(out->status == VP_API_STATUS_PROCESSING)
  84   {
  85     cfg->picture->y_buf   = in->buffers[0];
  86     cfg->picture->cb_buf  = in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT;
  87     cfg->picture->cr_buf  = in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT + ACQ_WIDTH*ACQ_HEIGHT/4;
  88   }
  89
  90   out->status = in->status;
  91
  92   vp_os_mutex_unlock(&out->lock);
  93
  94   return (SUCCESS);
  95 }
  96
  97 C_RESULT
  98 buffer_to_picture_close(buffer_to_picture_config_t *cfg)
  99 {
 100   return (SUCCESS);
 101 }
 102
 103 const vp_api_stage_funcs_t buffer_to_picture_funcs =
 104 {
 105   NULL,
 106   (vp_api_stage_open_t)buffer_to_picture_open,
 107   (vp_api_stage_transform_t)buffer_to_picture_transform,
 108   (vp_api_stage_close_t)buffer_to_picture_close
 109 };
 110
 111
 112 int
 113 main(int argc, char **argv)
 114 {
 115   if(argc != 2)
 116   {
 117     PRINT("You must specify a filename.\n");
 118     return EXIT_FAILURE;
 119   }
 120
 121   START_THREAD(escaper, NO_PARAM);
 122   START_THREAD(app, argv);
 123
 124   JOIN_THREAD(escaper);
 125   JOIN_THREAD(app);
 126
 127   return EXIT_SUCCESS;
 128 }
 129
 130
 131 PROTO_THREAD_ROUTINE(app,argv)
 132 {
 133   vp_api_picture_t picture;
 134
 135   vp_api_io_pipeline_t    pipeline;
 136   vp_api_io_data_t        out;
 137   vp_api_io_stage_t       stages[NB_STAGES];
 138
 139   vp_stages_input_file_config_t     ifc;
 140   vp_stages_output_sdl_config_t     osc;
 141   buffer_to_picture_config_t        bpc;
 142
 143   vp_os_memset(&ifc,0,sizeof(vp_stages_input_file_config_t));
 144
 145   ifc.name            = ((char**)argv)[1];
 146   ifc.buffer_size     = (ACQ_WIDTH*ACQ_HEIGHT*3)/2;
 147
 148   osc.width           = ACQ_WIDTH;
 149   osc.height          = ACQ_HEIGHT;
 150   osc.bpp             = 16;
 151   osc.window_width    = ACQ_WIDTH;
 152   osc.window_height   = ACQ_HEIGHT;
 153   osc.pic_width       = ACQ_WIDTH;
 154   osc.pic_height      = ACQ_HEIGHT;
 155   osc.y_size          = ACQ_WIDTH*ACQ_HEIGHT;
 156   osc.c_size          = (ACQ_WIDTH*ACQ_HEIGHT) >> 2;
 157
 158   bpc.picture         = &picture;
 159
 160   stages[0].type      = VP_API_INPUT_FILE;
 161   stages[0].cfg       = (void *)&ifc;
 162   stages[0].funcs     = vp_stages_input_file_funcs;
 163
 164   stages[1].type      = VP_API_FILTER_DECODER;
 165   stages[1].cfg       = (void *)&bpc;
 166   stages[1].funcs     = buffer_to_picture_funcs;
 167
 168   stages[2].type      = VP_API_OUTPUT_SDL;
 169   stages[2].cfg       = (void *)&osc;
 170   stages[2].funcs     = vp_stages_output_sdl_funcs;
 171
 172   pipeline.nb_stages  = NB_STAGES;
 173   pipeline.stages     = &stages[0];
 174
 175   vp_api_open(&pipeline, &pipeline_handle);
 176   out.status = VP_API_STATUS_PROCESSING;
 177   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING))
 178   {
 179     vp_os_delay( 500 );
 180   }
 181
 182   vp_api_close(&pipeline, &pipeline_handle);
 183
 184   return EXIT_SUCCESS;
 185 }