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

   1 #include <stdlib.h>
   2 #include <ctype.h>
   3 #include <stdio.h>
   4 #include <termios.h>
   5 #include <fcntl.h>
   6 #include <errno.h>
   7 #include <unistd.h>
   8
   9 #include <VP_Api/vp_api.h>
  10 #include <VP_Api/vp_api_thread_helper.h>
  11 #include <VP_Api/vp_api_error.h>
  12 #include <VP_Api/vp_api_picture.h>
  13 #include <VP_Stages/vp_stages_configs.h>
  14 #include <VP_Stages/vp_stages_io_console.h>
  15 #include <VP_Stages/vp_stages_o_sdl.h>
  16 #include <VP_Stages/vp_stages_io_com.h>
  17 #include <VP_Stages/vp_stages_io_file.h>
  18 #include <VP_Os/vp_os_print.h>
  19 #include <VP_Os/vp_os_malloc.h>
  20 #include <VP_Os/vp_os_delay.h>
  21
  22
  23 vp_stages_output_sdl_config_t     osc;
  24
  25 #define ACQ_WIDTH  (osc.width)
  26 #define ACQ_HEIGHT (osc.height)
  27
  28 #define NB_STAGES 3
  29
  30
  31 PIPELINE_HANDLE pipeline_handle;
  32
  33
  34 // used by buffer_to_picture
  35 static vp_api_picture_t picture;
  36
  37
  38 PROTO_THREAD_ROUTINE(escaper,nomParams);
  39 PROTO_THREAD_ROUTINE(app,nomParams);
  40
  41
  42 BEGIN_THREAD_TABLE
  43   THREAD_TABLE_ENTRY(escaper,20)
  44   THREAD_TABLE_ENTRY(app,20)
  45 END_THREAD_TABLE
  46
  47
  48 C_RESULT
  49 buffer_to_picture_open(int *cfg)
  50 {
  51   picture.format = PIX_FMT_YUV420P;
  52
  53   picture.width = ACQ_WIDTH;
  54   picture.height = ACQ_HEIGHT;
  55   picture.framerate = 15;
  56
  57   picture.y_line_size = ACQ_WIDTH;
  58   picture.cb_line_size = 0; //ACQ_WIDTH/2;
  59   picture.cr_line_size = 0; //ACQ_WIDTH/2;
  60
  61   return (SUCCESS);
  62 }
  63
  64 C_RESULT
  65 buffer_to_picture_transform(int *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; //(ACQ_WIDTH*ACQ_HEIGHT*3)/2;
  74       out->buffers = (int8_t **)(int8_t *)&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       picture.y_buf = in->buffers[in->indexBuffer];
  86       picture.cb_buf = in->buffers[in->indexBuffer]+ACQ_WIDTH*ACQ_HEIGHT;
  87       picture.cr_buf = in->buffers[in->indexBuffer]+(ACQ_WIDTH*ACQ_HEIGHT*5)/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(int *cfg)
  99 {
 100   return (SUCCESS);
 101 }
 102
 103
 104 const vp_api_stage_funcs_t buffer_to_picture_funcs =
 105 {
 106   (vp_api_stage_handle_msg_t) NULL,
 107   (vp_api_stage_open_t)buffer_to_picture_open,
 108   (vp_api_stage_transform_t)buffer_to_picture_transform,
 109   (vp_api_stage_close_t)buffer_to_picture_close
 110 };
 111
 112
 113 int
 114 main(int argc, char **argv)
 115 {
 116   START_THREAD(escaper, NO_PARAM);
 117   START_THREAD(app, argv);
 118
 119   JOIN_THREAD(escaper);
 120   JOIN_THREAD(app);
 121
 122   return EXIT_SUCCESS;
 123 }
 124
 125
 126 PROTO_THREAD_ROUTINE(app,argv)
 127 {
 128   vp_api_io_pipeline_t    pipeline;
 129   vp_api_io_data_t        out;
 130   vp_api_io_stage_t       stages[NB_STAGES];
 131
 132   vp_com_t                          com;
 133   vp_stages_input_com_config_t      icc;
 134   vp_com_serial_config_t            config;
 135
 136
 137   vp_os_memset(&icc,0,sizeof(vp_stages_input_com_config_t));
 138   vp_os_memset(&com, 0, sizeof(vp_com_t));
 139   vp_stages_fill_default_config(UART1_COM_CONFIG, &config, sizeof(config));
 140   vp_stages_fill_default_config(SDL_RAW_QCIF_CONFIG, &osc, sizeof(osc));
 141
 142   com.type                = VP_COM_SERIAL;
 143   icc.com                 = &com;
 144   icc.socket.type         = VP_COM_CLIENT;
 145   icc.config              = (vp_com_config_t *)&config;
 146   icc.buffer_size         = 176*144; //ACQ_WIDTH*ACQ_HEIGHT;
 147
 148
 149   stages[0].type    = VP_API_INPUT_SOCKET;
 150   stages[0].cfg     = (void *)&icc;
 151   stages[0].funcs   = vp_stages_input_com_funcs;
 152
 153   stages[1].type    = VP_API_FILTER_DECODER;
 154   stages[1].cfg     = (void *)NULL;
 155   stages[1].funcs   = buffer_to_picture_funcs;
 156
 157   stages[2].type    = VP_API_OUTPUT_SDL;
 158   stages[2].cfg     = (void *)&osc;
 159   stages[2].funcs   = vp_stages_output_sdl_funcs;
 160
 161   pipeline.nb_stages = NB_STAGES;
 162   pipeline.stages = &stages[0];
 163
 164
 165   vp_api_open(&pipeline, &pipeline_handle);
 166   out.status = VP_API_STATUS_PROCESSING;
 167   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING))
 168     {
 169       // no delay here
 170     }
 171
 172   vp_api_close(&pipeline, &pipeline_handle);
 173
 174   return EXIT_SUCCESS;
 175 }