git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/elinux/v4l_stage.c

   1 #include <VP_Api/vp_api.h>
   2 #include <VP_Api/vp_api_error.h>
   3 #include <VP_Stages/vp_stages_configs.h>
   4 #include <VP_Stages/vp_stages_V4L2_i_camif.h>
   5 #include <VP_Stages/vp_stages_io_com.h>
   6 #include <VP_Os/vp_os_print.h>
   7 #include <VP_Os/vp_os_malloc.h>
   8 #include <VP_Os/vp_os_delay.h>
   9 #include <VP_Api/vp_api_thread_helper.h>
  10 #include <VP_Stages/vp_stages_io_file.h>
  11 #include <VLIB/Stages/vlib_stage_encode.h>
  12 #include <VP_Stages/blockline_to_buffer_stage.h>
  13
  14
  15 #include "Video/ov7720.h"
  16 #include "Video/cresyn.h"
  17
  18 #include <sys/time.h>
  19 #include <unistd.h>
  20
  21
  22 //#define ACQ_WIDTH 176
  23 //#define ACQ_HEIGHT 144
  24
  25 #define ACQ_WIDTH 640
  26 #define ACQ_HEIGHT 480
  27
  28 #define CRESYN_CAM
  29 //#define OV_CAM
  30 //#define BLOCK_MODE
  31 //#define BUFFER
  32 //#define ENCODE
  33 //#define FILE_OUTPUT
  34 //#define ETHERNET_OUTPUT
  35
  36
  37
  38 #define NB_STAGES_MAX 10
  39
  40
  41 static vp_stages_input_camif_config_t  ivc;
  42 static vlib_stage_encoding_config_t  vec;
  43 static vp_stages_output_file_config_t  ofc;
  44 static vp_stages_output_com_config_t   occ;
  45 static blockline_to_buffer_config_t bbc;
  46
  47 static PIPELINE_HANDLE pipeline_handle;
  48
  49
  50 C_RESULT
  51 buffer_to_picture_close(int *cfg)
  52 {
  53   return (SUCCESS);
  54 }
  55
  56 const vp_api_stage_funcs_t V4L2_funcs =
  57 {
  58   (vp_api_stage_handle_msg_t)vp_stages_input_camif_stage_handle_msg,
  59   (vp_api_stage_open_t)vp_stages_input_camif_stage_open,
  60   (vp_api_stage_transform_t)vp_stages_input_camif_stage_transform,
  61   (vp_api_stage_close_t)vp_stages_input_camif_stage_close
  62 };
  63
  64 //// COM
  65 vp_com_t* wired_com(void)
  66 {
  67   static vp_com_t com = {
  68     VP_COM_WIRED,
  69     FALSE,
  70     0,
  71     { { 0 } },
  72     NULL,
  73     NULL,
  74     0,
  75     NULL,
  76     NULL,
  77     NULL,
  78     NULL,
  79     NULL,
  80     NULL,
  81     NULL,
  82     NULL,
  83     NULL,
  84     NULL,
  85     NULL
  86   };
  87
  88   return &com;
  89 }
  90
  91 vp_com_config_t* wired_config(void)
  92 {
  93   static vp_com_wired_config_t config = {
  94     "eth0",
  95     "172.20.2.190",
  96     "255.255.255.0",
  97     "172.20.2.255"
  98   };
  99   return (vp_com_config_t*) &config;
 100 }
 101
 102 vp_com_connection_t* wired_connection(void)
 103 {
 104   static vp_com_wired_connection_t connection = {
 105     0
 106   };
 107
 108   return (vp_com_connection_t*) (void*) &connection;
 109 }
 110
 111
 112
 113
 114 int main(int argc, char **argv)
 115 {
 116   vp_api_picture_t  video_picture;
 117   vp_api_picture_t  buffer_blockline;
 118 #ifdef BLOCK_MODE
 119   vp_api_picture_t  video_blockline;
 120 #endif
 121   vp_api_io_pipeline_t pipeline;
 122   vp_api_io_data_t out;
 123   vp_api_io_stage_t stages[NB_STAGES_MAX];
 124
 125   vp_os_memset(&ivc,0,sizeof(ivc));
 126   vp_os_memset(&ofc,0,sizeof(ofc));
 127   vp_os_memset(&occ,0,sizeof(occ));
 128
 129
 130   // CAMIF config
 131   ivc.camera = "/dev/video1";
 132   ivc.i2c = "/dev/i2c-0";
 133 #ifdef OV_CAM
 134   ivc.camera_configure = &camera_configure_ov77xx;
 135 #else
 136 #ifdef CRESYN_CAM
 137   ivc.camera_configure = &camera_configure_cresyn;
 138 #else
 139 #error no cam selected
 140 #endif
 141 #endif
 142
 143   ivc.resolution = VGA;
 144   ivc.nb_buffers = 8;
 145   ivc.format                              = V4L2_PIX_FMT_YUV420;
 146   ivc.y_pad                               = 0;
 147   ivc.c_pad                               = 0;
 148   ivc.offset_delta                        = 0;
 149 #ifdef BLOCK_MODE
 150   ivc.vp_api_blockline                    = &video_blockline;
 151 #endif
 152   ivc.vp_api_picture                      = &video_picture;
 153   ivc.use_chrominances                    = 1;
 154   ivc.framerate                           = 15;
 155
 156   // BUFFER
 157 #ifdef BLOCK_MODE
 158   bbc.picture                    = &video_blockline;
 159 #endif
 160
 161   // ENCODER
 162   vec.width                               = 320;
 163   vec.height                              = 240;
 164 #ifdef BLOCK_MODE
 165   vec.block_mode_enable                   = TRUE;
 166 #else
 167   vec.block_mode_enable                   = FALSE;
 168 #endif
 169   vec.picture                             = &video_picture;
 170
 171   // OUTPUT FILE config
 172   ofc.name = "/tmp/out.yuv";
 173
 174   // COM CONFIG
 175   occ.com                            = wired_com();
 176   occ.config                         = wired_config();
 177   occ.connection                     = wired_connection();
 178   occ.socket.type                    = VP_COM_SERVER;
 179   occ.socket.protocol                = VP_COM_TCP;
 180   occ.socket.port                    = 5555;
 181   occ.buffer_size                    = 640*480*3/2;
 182
 183   // build pipeline
 184   pipeline.nb_stages = 0;
 185
 186   stages[pipeline.nb_stages].type    = VP_API_INPUT_CAMIF;
 187   stages[pipeline.nb_stages].cfg     = (void *)&ivc;
 188   stages[pipeline.nb_stages++].funcs = V4L2_funcs;
 189
 190 #ifdef BLOCK_MODE
 191 #ifdef BUFFER
 192   stages[pipeline.nb_stages].type    = VP_API_INPUT_CAMIF;
 193   stages[pipeline.nb_stages].cfg     = (void *)&bbc;
 194   stages[pipeline.nb_stages++].funcs =  blockline_to_buffer_funcs;
 195 #endif
 196 #endif
 197
 198 #ifdef ENCODE
 199   stages[pipeline.nb_stages].type    = VP_API_FILTER_ENCODER;
 200   stages[pipeline.nb_stages].cfg     = (void*)&vec;
 201   stages[pipeline.nb_stages++].funcs = vlib_encoding_funcs;
 202 #endif
 203
 204 #ifdef FILE_OUTPUT
 205   stages[pipeline.nb_stages].type    = VP_API_OUTPUT_FILE;
 206   stages[pipeline.nb_stages].cfg     = (void *)&ofc;
 207   stages[pipeline.nb_stages++].funcs = vp_stages_output_file_funcs;
 208 #endif
 209
 210 #ifdef ETHERNET_OUTPUT
 211   stages[pipeline.nb_stages].type    = VP_API_OUTPUT_SOCKET;
 212   stages[pipeline.nb_stages].cfg     = (void *)&occ;
 213   stages[pipeline.nb_stages++].funcs = vp_stages_output_com_funcs;
 214 #endif
 215
 216   pipeline.stages = &stages[0];
 217
 218   // launch pipelines
 219   vp_api_open(&pipeline, &pipeline_handle);
 220
 221   out.status = VP_API_STATUS_PROCESSING;
 222
 223   /////////////////////////////////////////////////////////////////////////////////////////
 224
 225   uint16_t i = 0;
 226
 227   struct timeval time1,time2;
 228
 229   printf("Pipeline launched....\n");
 230   gettimeofday(&time1,NULL);
 231   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING))
 232     {
 233       i++;
 234       //printf("image %d \n",i);
 235       if (i>50)
 236         break;
 237       //vp_os_delay(20);
 238     }
 239   /////////////////////////////////////////////////////////////////////////////////////////
 240
 241   gettimeofday(&time2,NULL);
 242   int seconde = time2.tv_sec-time1.tv_sec;
 243   int ms = time2.tv_usec-time1.tv_usec;
 244   if (ms<0)
 245   {
 246      seconde--;
 247      ms += 1000000;
 248   }
 249   ms = ms/1000;
 250   float fps = ((float)i*1000)/(float)(seconde*1000+ms);
 251   printf("temps ecoule : %d.%d / nombre image : %d average fps : %f\n",seconde,ms,i,fps);
 252   vp_api_close(&pipeline, &pipeline_handle);
 253
 254   return EXIT_SUCCESS;
 255 }
 256