git.maemo.org Git - mardrone/blob - mardrone/dronelib/video.cpp

   1 /*==================================================================
   2   !
   3   !  mardrone application AR-Drone for MeeGo
   4
   5   ! Copyright (C) 2010 Nokia Corporation and/or its subsidiary(-ies).
   6   ! All rights reserved.
   7   !
   8   !  Author:Kate Alhola  kate.alhola@nokia.com
   9   !
  10   ! GNU Lesser General Public License Usage
  11   ! This file may be used under the terms of the GNU Lesser
  12   ! General Public License version 2.1 as published by the Free Software
  13   ! Foundation and appearing in the file LICENSE.LGPL included in the
  14   ! packaging of this file.  Please review the following information to
  15   ! ensure the GNU Lesser General Public License version 2.1 requirements
  16   ! will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
  17   !
  18   !
  19   !
  20   *===================================================================*/
  21 #include <stdio.h>
  22 #include <sys/types.h>
  23 #include <sys/socket.h>
  24 #include <netinet/in.h>
  25 #include <arpa/inet.h>
  26 #include "video.h"
  27 #include <QNetworkConfigurationManager>
  28 #include <QNetworkSession>
  29 #include <QList>
  30 #include <QGraphicsView>
  31 #include <QDateTime>
  32 #include <QDir>
  33
  34 #ifdef QT_IOS
  35 #define NO_VIDEO
  36 #endif
  37
  38 DroneVideo::DroneVideo()
  39 {
  40      droneHost.setAddress("192.168.1.1");
  41      initialized=false;
  42      m_idleImage=NULL;
  43      videoThread=NULL;
  44 }
  45
  46
  47 void DroneVideo::frameSeqUpdated()
  48 {
  49     emit frameSeqChanged();
  50 }
  51
  52 QImage* DroneVideo::idleImage() { return m_idleImage; }
  53 void DroneVideo::setIdleImage(QImage *img)
  54 {
  55     m_idleImage=img;
  56
  57     if(m_idleImage && image) {
  58         QPainter p(image);
  59         p.drawImage(0,0,*m_idleImage);
  60         update(boundingRect());
  61     }
  62 };
  63
  64 void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
  65                         QWidget *widget)
  66  {
  67     if(!initialized) { // We need initialize QImage here because we don't know display depth before
  68
  69         depth=painter->device()->depth();
  70         qDebug() << "depth=" << depth;
  71
  72         if(depth>=24) {
  73             image=new QImage(320,240, QImage::Format_RGB32);
  74              image->fill(0x555555);
  75         }
  76         else {
  77             image=new QImage(320,240, QImage::Format_RGB16);
  78             image->fill(0x5555);
  79         }
  80         QPainter p(image);
  81         if(m_idleImage) {
  82             p.drawImage(0,0,*m_idleImage);
  83         } else {
  84           p.drawLine(0,0,image->width(),image->height());
  85           p.drawLine(image->width(),0,0,image->height());
  86         }
  87         update(boundingRect());
  88         videoThread=new VideoThread(this,droneHost,image);
  89         connect(videoThread,SIGNAL(frameSeqChanged()),this,SLOT(frameSeqUpdated()));
  90         initialized=true;
  91     } else
  92     painter->drawImage(boundingRect(),*image,image->rect());
  93  };
  94
  95 QRectF DroneVideo::boundingRect() const
  96 {
  97     return QRectF(0.0,0.0,size().width(),size().height());
  98 }
  99
 100
 101 /*
 102
 103   VideoThread
 104
 105   */
 106
 107
 108 VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
 109 {
 110     struct ip_mreq imreq;
 111     QString my_ip;
 112     my_ip="192.168.1.2";
 113     image=_image;
 114     qDebug() << "videoThread::videoThread";
 115     stopped=false;
 116     parent=parentp;
 117     videoSock=new QUdpSocket();
 118     if(!videoSock->bind(QHostAddress::Any,5555)) qDebug() << "VideoThread::VideoThread ** Cant Bind to port 5555 ***" << videoSock->errorString();
 119     QList<QNetworkConfiguration> netconfs=QNetworkConfigurationManager().allConfigurations();
 120     foreach (QNetworkConfiguration np,netconfs) {
 121         qDebug() << "network Confifuration name " << np.name() << np.bearerName() << np.bearerTypeName();
 122         QNetworkSession ns(np);
 123         if(ns.interface().addressEntries().empty())
 124             qDebug() << "network session " << ns.interface().humanReadableName() << "**NotConfig**";
 125         else {
 126             qDebug() << "network session " << ns.interface().humanReadableName() <<   ns.interface().addressEntries().first().ip();
 127             // Ubuntu may give wlan0 as "Ethernet"
 128             if((np.bearerName()==QString("WLAN")) || (ns.interface().humanReadableName()==QString("wlan0")) ) {
 129                my_ip=ns.interface().addressEntries().first().ip().toString();
 130                qDebug() << "My IP is " << my_ip;
 131         }
 132         }
 133     }
 134     // Qt 4.7.x
 135     imreq.imr_multiaddr.s_addr=inet_addr("224.1.1.1");
 136     imreq.imr_interface.s_addr=inet_addr(my_ip.toAscii());
 137     setsockopt(videoSock->socketDescriptor(),IPPROTO_IP,IP_ADD_MEMBERSHIP,&imreq,sizeof(imreq));
 138 #if QT_VERSION >= 0x040800
 139     // Qt 4.8
 140     if(!videoSock->joinMulticastGroup(QHostAddress("224.1.1.1")))
 141         qDebug() << "VideoThread::VideoThread can't join multicast Group 224.1.1.1" << videoSock->errorString();
 142 #endif
 143     droneHost=host;
 144     videoRec=FALSE;
 145     videoFile=NULL;
 146     start();
 147
 148 };
 149
 150
 151 void VideoThread::run()
 152 {
 153 #define ACQ_WIDTH     320
 154 #define ACQ_HEIGHT    240
 155 #undef memset
 156     memset(&controller,0,sizeof(controller));
 157     memset(&picture,0,sizeof(picture));
 158     pictureWidth= image->width();
 159     pictureHeight=image->height();
 160     int codec_type=UVLC_CODEC;
 161     qDebug() << "videoThread::run()";
 162     stateTimer=new QTimer();
 163     connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
 164     connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
 165     qDebug() << "videoThread::run() 2";
 166     luma_only=FALSE;
 167     num_picture_decoded=0;
 168     /// Picture configuration
 169 #ifndef NO_VIDEO
 170     picture.format        = PIX_FMT_YUV420P;
 171     picture.width         = pictureWidth;
 172     picture.height        = pictureHeight;
 173     picture.framerate     = 30;
 174     picture.y_buf         = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
 175     picture.cr_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 176     picture.cb_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 177     picture.y_line_size   = pictureWidth;
 178     picture.cb_line_size  = pictureWidth / 2;
 179     picture.cr_line_size  = pictureWidth / 2;
 180     picture.y_pad         = 0;
 181     picture.c_pad         = 0;
 182
 183     qDebug() << "video_codec_open=" << video_codec_open(&controller, (codec_type_t)codec_type);
 184 #endif
 185     //stateTimer->start(1000);
 186     qDebug() << "videoThread::run() initialized";
 187     sendVideoPort("AT");
 188     while(!stopped) {
 189         exec();
 190     }
 191
 192 }
 193
 194 void VideoThread::timer()
 195 {
 196   //  qDebug() << "thread Timer";
 197
 198 }
 199
 200 void VideoThread::sendVideoPort(QString cmd)
 201 {
 202     QByteArray dgram;
 203     dgram=cmd.toLatin1();
 204     qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
 205     videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
 206 }
 207
 208 unsigned int VideoThread::getFrameSeq()
 209 {
 210     return frameSeq;
 211 }
 212
 213 void VideoThread::setVideoRec(bool rec)
 214 {
 215     qDebug() << "VideoThread::setVideoRec" <<  rec;
 216     QDateTime fileDate=QDateTime::currentDateTime();
 217     if(!videoRec && rec) {
 218         frameSeq=0;
 219         videoFileName="dronerec"+fileDate.toString("yyyyMMddhhmm");
 220         qDebug() << "videoFileName=" <<  videoFileName;
 221         emit frameSeqChanged();
 222     }
 223     videoRec=rec;
 224     if(!videoRec && videoFile) { // Stop recording
 225         videoFile->close();
 226         videoFile->~QFile();
 227         videoFile=NULL;
 228         videoFileName="";
 229     }
 230
 231
 232 }
 233
 234 bool VideoThread::getVideoRec()
 235 {
 236     return videoRec;
 237 }
 238
 239 QString VideoThread::getVideoFileName()
 240 {
 241     return videoFileName;
 242 }
 243
 244 void VideoThread::setVideoFileName(QString name)
 245 {
 246     videoFileName=name;
 247 }
 248
 249 void VideoThread::setVideoPlay(bool play)
 250 {
 251     if(!videoPlay && play) frameSeq=0;
 252         videoPlay=true;
 253         videoRec=false;
 254 }
 255
 256 bool VideoThread::getVideoPlay()
 257 {
 258     return videoPlay;
 259 }
 260
 261
 262
 263
 264 void VideoThread::videoDataReady()
 265 {
 266    qint64 l;
 267    QByteArray videoData;
 268
 269    QHostAddress host;
 270    quint16 port;
 271    videoData.resize(videoSock->pendingDatagramSize ());
 272    l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
 273 //   qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from"  << host ;
 274
 275    if(videoRec && videoFile==NULL) {
 276        // Open Video File
 277    }
 278
 279    decodeTransform(videoData);
 280
 281 }
 282
 283 void VideoThread::decodeTransform(QByteArray &videoData)
 284 {
 285     controller.in_stream.bytes   = (uint32_t*)videoData.data();
 286     controller.in_stream.used    = videoData.size();
 287     controller.in_stream.size    = videoData.size();
 288     controller.in_stream.index   = 0;
 289     controller.in_stream.length  = 32;
 290     controller.in_stream.code    = 0;
 291
 292     bool_t got_image = FALSE;
 293     //qDebug() <<"VideoThread::decodeTransform" << controller.video_codec;
 294 #ifndef NO_VIDEO
 295     if(controller.video_codec!=NULL)  video_decode_blockline( &controller, &picture, &got_image );
 296     if(videoRec && !videoFile) {// Start recording
 297         qDebug() << "Record Video to " << QDir::current().absolutePath()  << videoFileName+".yuv" << " at " << picture.width << "x" << picture.height;
 298         videoFile=new QFile(videoFileName+".yuv");
 299         videoFile->open(QIODevice::WriteOnly);
 300         if(videoFile->error()!=QFile::NoError) {
 301             qDebug() << "Can't open Video file " << videoFileName << ".yuv" << videoFile->errorString();
 302             videoFile->~QFile();
 303             videoFile=NULL;
 304             videoRec=false;
 305         }
 306     }
 307      if(!videoRec && videoFile) { // Stop recording
 308          videoFile->close();
 309          videoFile->~QFile();
 310          videoFile=NULL;
 311          videoFileName="";
 312      }
 313     //else qDebug() << "No video controller";
 314     //qDebug() <<"VideoThread::decodeTransform 2";
 315     //video_decode_picture( &controller, &picture, &stream, &got_image );
 316     if( got_image )
 317         {
 318           //  qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
 319           // we got one picture
 320           // out->size = 1;
 321           frameSeq++;
 322           picture.complete     = 1;
 323           num_picture_decoded++;
 324           if(videoFile && videoRec) {
 325             videoFile->write((char*)picture.y_buf,picture.width*picture.height);
 326             videoFile->write((char*)picture.cb_buf,picture.width*picture.height>>2);
 327             videoFile->write((char*)picture.cr_buf,picture.width*picture.height>>2);
 328           };
 329           if(image->depth()<24)
 330             vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
 331           else
 332             vp_stages_YUV420P_to_ARGB32(NULL,&picture,image->bits(),image->bytesPerLine());
 333           emit frameSeqChanged();
 334
 335        //   qDebug() << "pic " << num_picture_decoded;
 336         }
 337 #endif
 338
 339 };
 340
 341