git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_ethernet_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_Stages/vp_stages_configs.h>
   8 #include <VP_Stages/vp_stages_io_console.h>
   9 #include <VP_Stages/vp_stages_o_sdl.h>
  10 #include <VP_Stages/vp_stages_io_console.h>
  11 #include <VP_Stages/vp_stages_io_com.h>
  12 #include <VP_Stages/vp_stages_io_file.h>
  13 #include <VP_Stages/vp_stages_buffer_to_picture.h>
  14 #include <VP_Os/vp_os_print.h>
  15 #include <VP_Os/vp_os_malloc.h>
  16 #include <VP_Os/vp_os_delay.h>
  17
  18
  19 #define SERVER_HOST "172.20.22.245"
  20
  21 #undef BLOCK_MODE
  22 #undef ACQ_WIDTH
  23 #undef ACQ_HEIGHT
  24
  25 #define NB_STAGES_MAX 10
  26
  27 #define ACQ_WIDTH     320
  28 #define ACQ_HEIGHT    240
  29
  30
  31 #define COM_VIDEO()             wired_com()
  32 #define COM_CONFIG_VIDEO()      wired_config()
  33 #define COM_CONNECTION_VIDEO()  wired_connection()
  34 #define COM_CONFIG_SOCKET_VIDEO(socket, type, opt, serverhost)  wired_config_socket(socket, type, opt, serverhost)
  35
  36
  37 PROTO_THREAD_ROUTINE(escaper,nomParams);
  38 PROTO_THREAD_ROUTINE(app,nomParams);
  39
  40 BEGIN_THREAD_TABLE
  41   THREAD_TABLE_ENTRY(escaper,20)
  42   THREAD_TABLE_ENTRY(app,10)
  43 END_THREAD_TABLE
  44
  45
  46 static vp_stages_input_com_config_t  icc;
  47 static vp_stages_buffer_to_picture_config_t  bpc;
  48 static vp_stages_output_sdl_config_t osc;
  49
  50 static PIPELINE_HANDLE pipeline_handle;
  51
  52 static vp_api_picture_t picture;
  53
  54
  55 vp_com_t* wired_com(void)
  56 {
  57   static vp_com_t com = {
  58     VP_COM_WIRED,
  59     FALSE,
  60     0,
  61     { { 0 } },
  62     NULL,
  63     NULL,
  64     0,
  65     NULL,
  66     NULL,
  67     NULL,
  68     NULL,
  69     NULL,
  70     NULL,
  71     NULL,
  72     NULL,
  73     NULL,
  74     NULL,
  75     NULL
  76   };
  77
  78   return &com;
  79 }
  80
  81 vp_com_config_t* wired_config(void)
  82 {
  83   static vp_com_wired_config_t config = {
  84     "eth1",
  85     "172.20.22.245",
  86     "255.255.255.0",
  87     "172.20.22.255"
  88   };
  89
  90   return (vp_com_config_t*) &config;
  91 }
  92
  93 vp_com_connection_t* wired_connection(void)
  94 {
  95   static vp_com_wired_connection_t connection = {
  96     0
  97   };
  98
  99   return (vp_com_connection_t*) (void*) &connection;
 100 }
 101
 102 void wired_config_socket(vp_com_socket_t* socket, VP_COM_SOCKET_TYPE type, int32_t port, const char* serverhost)
 103 {
 104   vp_os_memset(socket, 0, sizeof(vp_com_socket_t));
 105
 106   socket->type           = type;
 107   socket->protocol       = VP_COM_TCP;
 108   socket->port           = port;
 109
 110   if(serverhost && socket->type == VP_COM_CLIENT)
 111     strcpy(socket->serverHost, serverhost);
 112 }
 113
 114
 115 int
 116 main(int argc, char **argv)
 117 {
 118   START_THREAD(escaper, NO_PARAM);
 119   START_THREAD(app, argv);
 120
 121   JOIN_THREAD(escaper);
 122   JOIN_THREAD(app);
 123
 124   return EXIT_SUCCESS;
 125 }
 126
 127
 128 PROTO_THREAD_ROUTINE(app,argv)
 129 {
 130   vp_api_io_pipeline_t    pipeline;
 131   vp_api_io_data_t        out;
 132   vp_api_io_stage_t       stages[NB_STAGES_MAX];
 133
 134   vp_os_memset( &icc,     0, sizeof(icc) );
 135   vp_os_memset( &bpc,     0, sizeof(bpc) );
 136   vp_os_memset( &osc,     0, sizeof(osc) );
 137
 138   icc.com               = COM_VIDEO();
 139   icc.buffer_size       = ACQ_WIDTH*ACQ_HEIGHT*3/2;
 140   icc.socket.protocol   = VP_COM_TCP;
 141   COM_CONFIG_SOCKET_VIDEO(&icc.socket, VP_COM_CLIENT, 5555, SERVER_HOST);
 142
 143   /// Picture configuration
 144   picture.format        = PIX_FMT_YUV420P;
 145   picture.width         = ACQ_WIDTH;
 146   picture.height        = ACQ_HEIGHT;
 147   picture.framerate     = 30;
 148   picture.y_buf         = vp_os_malloc( ACQ_WIDTH*ACQ_HEIGHT );
 149   picture.cr_buf        = vp_os_malloc( ACQ_WIDTH*ACQ_HEIGHT/4 );
 150   picture.cb_buf        = vp_os_malloc( ACQ_WIDTH*ACQ_HEIGHT/4 );
 151   picture.y_line_size   = ACQ_WIDTH;
 152   picture.cb_line_size  = ACQ_WIDTH / 2;
 153   picture.cr_line_size  = ACQ_WIDTH / 2;
 154   picture.y_pad         = 0;
 155   picture.c_pad         = 0;
 156
 157   bpc.picture             = &picture;
 158   bpc.block_mode_enable   = FALSE;
 159   bpc.y_buffer_size       = ACQ_WIDTH * ACQ_HEIGHT;
 160   bpc.y_blockline_size    = ACQ_WIDTH * 16; // each blockline have 16 lines
 161   bpc.y_current_size      = 0;
 162   bpc.num_frames          = 0;
 163   bpc.y_buf_ptr           = NULL;
 164   bpc.luma_only           = FALSE;
 165   bpc.cr_buf_ptr          = NULL;
 166   bpc.cb_buf_ptr          = NULL;
 167
 168   osc.width           = ACQ_WIDTH;
 169   osc.height          = ACQ_HEIGHT;
 170   osc.bpp             = 16;
 171   osc.window_width    = ACQ_WIDTH;
 172   osc.window_height   = ACQ_HEIGHT;
 173   osc.pic_width       = ACQ_WIDTH;
 174   osc.pic_height      = ACQ_HEIGHT;
 175   osc.y_size          = ACQ_WIDTH*ACQ_HEIGHT;
 176   osc.c_size          = (ACQ_WIDTH*ACQ_HEIGHT) >> 2;
 177
 178   pipeline.nb_stages                 = 0;
 179
 180   stages[pipeline.nb_stages].type    = VP_API_INPUT_SOCKET;
 181   stages[pipeline.nb_stages].cfg     = (void *)&icc;
 182   stages[pipeline.nb_stages++].funcs = vp_stages_input_com_funcs;
 183
 184   stages[pipeline.nb_stages].type    = VP_API_FILTER_DECODER;
 185   stages[pipeline.nb_stages].cfg     = (void*)&bpc;
 186   stages[pipeline.nb_stages++].funcs = vp_stages_buffer_to_picture_funcs;
 187
 188   stages[pipeline.nb_stages].type    = VP_API_OUTPUT_SDL;
 189   stages[pipeline.nb_stages].cfg     = (void *)&osc;
 190   stages[pipeline.nb_stages++].funcs = vp_stages_output_sdl_funcs;
 191
 192   pipeline.stages                    = &stages[0];
 193
 194   vp_api_open(&pipeline, &pipeline_handle);
 195   out.status = VP_API_STATUS_PROCESSING;
 196   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING))
 197     {
 198     }
 199
 200   vp_api_close(&pipeline, &pipeline_handle);
 201
 202   return EXIT_SUCCESS;
 203 }
 204