git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_v4l_raw_ethernet.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_i_v4l.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 <VLIB/Stages/vlib_stage_encode.h>
  11
  12
  13 #undef BLOCK_MODE
  14 #undef ACQ_WIDTH
  15 #undef ACQ_HEIGHT
  16
  17 #define ACQ_WIDTH 320
  18 #define ACQ_HEIGHT 240
  19
  20 #define COM_VIDEO()             wired_com()
  21 #define COM_CONFIG_VIDEO()      wired_config()
  22 #define COM_CONNECTION_VIDEO()  wired_connection()
  23
  24
  25 PROTO_THREAD_ROUTINE(app,nomParams);
  26
  27 BEGIN_THREAD_TABLE
  28   THREAD_TABLE_ENTRY(app,20)
  29 END_THREAD_TABLE
  30
  31
  32 #define NB_STAGES_MAX 10
  33
  34
  35 static vp_stages_input_v4l_config_t         ivc;
  36 static vp_stages_output_com_config_t        occ;
  37
  38 static PIPELINE_HANDLE pipeline_handle;
  39
  40 static vp_api_picture_t picture;
  41
  42
  43 vp_com_t* wired_com(void)
  44 {
  45   static vp_com_t com = {
  46     VP_COM_WIRED,
  47     FALSE,
  48     0,
  49     { { 0 } },
  50     NULL,
  51     NULL,
  52     0,
  53     NULL,
  54     NULL,
  55     NULL,
  56     NULL,
  57     NULL,
  58     NULL,
  59     NULL,
  60     NULL,
  61     NULL,
  62     NULL,
  63     NULL
  64   };
  65
  66   return &com;
  67 }
  68
  69 vp_com_config_t* wired_config(void)
  70 {
  71   static vp_com_wired_config_t config = {
  72     "eth0",
  73     "172.20.22.245",
  74     "255.255.255.0",
  75     "172.20.22.255"
  76   };
  77
  78   return (vp_com_config_t*) &config;
  79 }
  80
  81 vp_com_connection_t* wired_connection(void)
  82 {
  83   static vp_com_wired_connection_t connection = {
  84     0
  85   };
  86
  87   return (vp_com_connection_t*) (void*) &connection;
  88 }
  89
  90
  91 int main(int argc, char **argv)
  92 {
  93   if(argc < 2)
  94     {
  95       PRINT("You need to specify video device path\n");
  96       PRINT("Ex : %s /dev/video0\n", argv[0]);
  97       return EXIT_FAILURE;
  98     }
  99
 100   START_THREAD(app, argv);
 101   JOIN_THREAD(app);
 102
 103   return EXIT_SUCCESS;
 104 }
 105
 106
 107 PROTO_THREAD_ROUTINE(app,argv)
 108 {
 109   vp_api_io_pipeline_t pipeline;
 110   vp_api_io_data_t out;
 111   vp_api_io_stage_t stages[NB_STAGES_MAX];
 112
 113   uint16_t time1,time2;
 114   uint16_t i;
 115
 116   time1 = clock();
 117
 118   vp_os_memset(&ivc,0,sizeof(ivc));
 119   vp_os_memset(&occ,0,sizeof(occ));
 120
 121   ivc.device = ((char**)argv)[1];
 122   ivc.width = ACQ_WIDTH;
 123   ivc.height = ACQ_HEIGHT;
 124   ivc.vp_api_picture = &picture;
 125
 126   occ.com                           = COM_VIDEO();
 127   occ.config                        = COM_CONFIG_VIDEO();
 128   occ.connection                    = COM_CONNECTION_VIDEO();
 129   occ.socket.type                   = VP_COM_SERVER;
 130   occ.socket.protocol               = VP_COM_TCP;
 131   occ.socket.port                   = 5555;
 132   occ.buffer_size                   = 320*240*3/2;
 133
 134   pipeline.nb_stages = 0;
 135
 136   stages[pipeline.nb_stages].type    = VP_API_INPUT_FILE;
 137   stages[pipeline.nb_stages].cfg     = (void *)&ivc;
 138   stages[pipeline.nb_stages++].funcs = vp_stages_input_v4l_funcs;
 139
 140   stages[pipeline.nb_stages].type    = VP_API_OUTPUT_SOCKET;
 141   stages[pipeline.nb_stages].cfg     = (void *)&occ;
 142   stages[pipeline.nb_stages++].funcs = vp_stages_output_com_funcs;
 143
 144   pipeline.stages = &stages[0];
 145
 146   vp_api_open(&pipeline, &pipeline_handle);
 147
 148   out.status = VP_API_STATUS_PROCESSING;
 149
 150   /////////////////////////////////////////////////////////////////////////////////////////
 151   i = 0;
 152   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING))
 153     {
 154       i++;
 155       PRINT("image %d \n",i);
 156       //vp_os_delay(500);
 157     }
 158   /////////////////////////////////////////////////////////////////////////////////////////
 159
 160   time2 = clock();
 161   printf("temps ecoule : %d \n",time2-time1);
 162
 163   vp_api_close(&pipeline, &pipeline_handle);
 164
 165   return EXIT_SUCCESS;
 166 }
 167