git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/win32/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_file.h>
  12 #include <VP_Os/vp_os_print.h>
  13 #include <VP_Os/vp_os_malloc.h>
  14 #include <VP_Os/vp_os_delay.h>
  15
  16 #include <MJPEG/mjpeg.h>
  17 #include <MJPEG/dct.h>
  18
  19 #define ACQ_WIDTH  (176*2)
  20 #define ACQ_HEIGHT (144*2)
  21
  22 #define NB_STAGES 3
  23
  24
  25 PIPELINE_HANDLE pipeline_handle;
  26
  27 PROTO_THREAD_ROUTINE(escaper, nomParams);
  28 PROTO_THREAD_ROUTINE(app, nomParams);
  29
  30 BEGIN_THREAD_TABLE
  31   THREAD_TABLE_ENTRY(escaper, 20)
  32   THREAD_TABLE_ENTRY(app, 20)
  33 END_THREAD_TABLE
  34
  35
  36 ///*******************************************************************************************************************///
  37
  38 typedef struct _buffer_to_picture_config_t
  39 {
  40   vp_api_picture_t* picture;
  41
  42 } buffer_to_picture_config_t;
  43
  44 C_RESULT
  45 buffer_to_picture_open(buffer_to_picture_config_t *cfg)
  46 {
  47   cfg->picture->format        = PIX_FMT_YUV420P;
  48
  49   cfg->picture->width         = ACQ_WIDTH;
  50   cfg->picture->height        = ACQ_HEIGHT;
  51   cfg->picture->framerate     = 15;
  52
  53   cfg->picture->y_line_size   = ACQ_WIDTH;
  54   cfg->picture->cb_line_size  = ACQ_WIDTH / 2;
  55   cfg->picture->cr_line_size  = ACQ_WIDTH / 2;
  56
  57   cfg->picture->y_pad         = 0;
  58   cfg->picture->c_pad         = 0;
  59
  60   return (SUCCESS);
  61 }
  62
  63 C_RESULT
  64 buffer_to_picture_transform(buffer_to_picture_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
  65 {
  66   vp_os_mutex_lock(&out->lock);
  67
  68
  69   if(out->status == VP_API_STATUS_INIT)
  70   {
  71     out->numBuffers   = 1;
  72     out->size         = (ACQ_WIDTH*ACQ_HEIGHT*3)/2;
  73     out->buffers      = (int8_t **) cfg->picture;
  74     out->indexBuffer  = 0;
  75     out->status       = VP_API_STATUS_PROCESSING;
  76   }
  77
  78   if(out->status == VP_API_STATUS_ENDED)
  79   {
  80   }
  81
  82   if(out->status == VP_API_STATUS_PROCESSING)
  83   {
  84     cfg->picture->y_buf   = in->buffers[0];
  85     cfg->picture->cb_buf  = in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT;
  86     cfg->picture->cr_buf  = in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT + ACQ_WIDTH*ACQ_HEIGHT/4;
  87   }
  88
  89   out->status = in->status;
  90
  91   vp_os_mutex_unlock(&out->lock);
  92
  93   return (SUCCESS);
  94 }
  95
  96 C_RESULT
  97 buffer_to_picture_close(buffer_to_picture_config_t *cfg)
  98 {
  99   return (SUCCESS);
 100 }
 101
 102 const vp_api_stage_funcs_t buffer_to_picture_funcs =
 103 {
 104   NULL,
 105   (vp_api_stage_open_t)buffer_to_picture_open,
 106   (vp_api_stage_transform_t)buffer_to_picture_transform,
 107   (vp_api_stage_close_t)buffer_to_picture_close
 108 };
 109
 110
 111 int
 112 main(int argc, char **argv)
 113 {
 114   if(argc != 2)
 115   {
 116     PRINT("You must specify a filename.\n");
 117     return EXIT_FAILURE;
 118   }
 119
 120   START_THREAD(escaper, NO_PARAM);
 121   START_THREAD(app, argv);
 122
 123   JOIN_THREAD(escaper);
 124   JOIN_THREAD(app);
 125
 126   return EXIT_SUCCESS;
 127 }
 128
 129
 130 PROTO_THREAD_ROUTINE(app,argv)
 131 {
 132   vp_api_picture_t picture;
 133
 134   vp_api_io_pipeline_t    pipeline;
 135   vp_api_io_data_t        out;
 136   vp_api_io_stage_t       stages[NB_STAGES];
 137
 138   vp_stages_input_file_config_t     ifc;
 139   vp_stages_output_sdl_config_t     osc;
 140   buffer_to_picture_config_t        bpc;
 141
 142   vp_os_memset(&ifc,0,sizeof(vp_stages_input_file_config_t));
 143
 144   ifc.name            = ((char**)argv)[1];
 145   ifc.buffer_size     = (ACQ_WIDTH*ACQ_HEIGHT*3)/2;
 146
 147   osc.width           = ACQ_WIDTH;
 148   osc.height          = ACQ_HEIGHT;
 149   osc.bpp             = 16;
 150   osc.window_width    = ACQ_WIDTH;
 151   osc.window_height   = ACQ_HEIGHT;
 152   osc.pic_width       = ACQ_WIDTH;
 153   osc.pic_height      = ACQ_HEIGHT;
 154   osc.y_size          = ACQ_WIDTH*ACQ_HEIGHT;
 155   osc.c_size          = (ACQ_WIDTH*ACQ_HEIGHT) >> 2;
 156
 157   bpc.picture         = &picture;
 158
 159   stages[0].type      = VP_API_INPUT_FILE;
 160   stages[0].cfg       = (void *)&ifc;
 161   stages[0].funcs     = vp_stages_input_file_funcs;
 162
 163   stages[1].type      = VP_API_FILTER_DECODER;
 164   stages[1].cfg       = (void *)&bpc;
 165   stages[1].funcs     = buffer_to_picture_funcs;
 166
 167   stages[2].type      = VP_API_OUTPUT_SDL;
 168   stages[2].cfg       = (void *)&osc;
 169   stages[2].funcs     = vp_stages_output_sdl_funcs;
 170
 171   pipeline.nb_stages  = NB_STAGES;
 172   pipeline.stages     = &stages[0];
 173
 174   vp_api_open(&pipeline, &pipeline_handle);
 175   out.status = VP_API_STATUS_PROCESSING;
 176   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING))
 177   {
 178     vp_os_delay( 100 );
 179   }
 180
 181   vp_api_close(&pipeline, &pipeline_handle);
 182
 183   return EXIT_SUCCESS;
 184 }