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 "video.h"
  22 #include <QGraphicsView>
  23
  24 DroneVideo::DroneVideo()
  25 {
  26      droneHost.setAddress("192.168.1.1");
  27      initialized=false;
  28 }
  29
  30 VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
  31 {
  32     image=_image;
  33     qDebug() << "videoThread::videoThread";
  34     stopped=false;
  35     parent=parentp;
  36     videoSock=new QUdpSocket();
  37     videoSock->bind(QHostAddress::Any,5555);
  38     droneHost=host;
  39     start();
  40
  41 };
  42
  43 void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
  44                         QWidget *widget)
  45  {
  46     if(!initialized) { // We need initialize QImage here because we don't know display depth before
  47
  48         depth=painter->device()->depth();
  49         qDebug() << "depth=" << depth;
  50
  51         if(depth>=24) {
  52             image=new QImage(320,240, QImage::Format_RGB32);
  53              image->fill(0x555555);
  54         }
  55         else {
  56             image=new QImage(320,240, QImage::Format_RGB16);
  57             image->fill(0x5555);
  58         }
  59         QPainter p(image);
  60         p.drawLine(0,0,image->width(),image->height());
  61         p.drawLine(image->width(),0,0,image->height());
  62         update(boundingRect());
  63         videoThread=new VideoThread(this,droneHost,image);
  64         initialized=true;
  65     } else
  66     painter->drawImage(boundingRect(),*image,image->rect());
  67  };
  68
  69 QRectF DroneVideo::boundingRect() const
  70 {
  71     return QRectF(0.0,0.0,size().width(),size().height());
  72 }
  73
  74
  75 void VideoThread::run()
  76 {
  77 #define ACQ_WIDTH     320
  78 #define ACQ_HEIGHT    240
  79 #undef memset
  80     memset(&controller,0,sizeof(controller));
  81     memset(&picture,0,sizeof(picture));
  82     pictureWidth= image->width();
  83     pictureHeight=image->height();
  84     int codec_type=UVLC_CODEC;
  85     qDebug() << "videoThread::run()";
  86     stateTimer=new QTimer();
  87     connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
  88     connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
  89     qDebug() << "videoThread::run() 2";
  90     luma_only=FALSE;
  91     num_picture_decoded=0;
  92     /// Picture configuration
  93     picture.format        = PIX_FMT_YUV420P;
  94     picture.width         = pictureWidth;
  95     picture.height        = pictureHeight;
  96     picture.framerate     = 30;
  97     picture.y_buf         = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
  98     picture.cr_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
  99     picture.cb_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 100     picture.y_line_size   = pictureWidth;
 101     picture.cb_line_size  = pictureWidth / 2;
 102     picture.cr_line_size  = pictureWidth / 2;
 103     picture.y_pad         = 0;
 104     picture.c_pad         = 0;
 105     video_codec_open(&controller, (codec_type_t)UVLC_CODEC);
 106     //stateTimer->start(1000);
 107     qDebug() << "videoThread::run() initialized";
 108     sendVideoPort("AT");
 109     while(!stopped) {
 110         exec();
 111     }
 112
 113 }
 114
 115 void VideoThread::timer()
 116 {
 117   //  qDebug() << "thread Timer";
 118
 119 }
 120
 121 void VideoThread::sendVideoPort(QString cmd)
 122 {
 123     QByteArray dgram;
 124     dgram=cmd.toLatin1();
 125     qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
 126     videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
 127 }
 128
 129 void VideoThread::videoDataReady()
 130 {
 131    qint64 l;
 132    QByteArray videoData;
 133
 134    QHostAddress host;
 135    quint16 port;
 136    videoData.resize(videoSock->pendingDatagramSize ());
 137    l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
 138 //   qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from"  << host ;
 139    decodeTransform(videoData);
 140 }
 141
 142 void VideoThread::decodeTransform(QByteArray &videoData)
 143 {
 144     controller.in_stream.bytes   = (uint32_t*)videoData.data();
 145     controller.in_stream.used    = videoData.size();
 146     controller.in_stream.size    = videoData.size();
 147     controller.in_stream.index   = 0;
 148     controller.in_stream.length  = 32;
 149     controller.in_stream.code    = 0;
 150
 151     bool_t got_image = FALSE;
 152     //qDebug() <<"VideoThread::decodeTransform";
 153     video_decode_blockline( &controller, &picture, &got_image );
 154     //qDebug() <<"VideoThread::decodeTransform 2";
 155     //video_decode_picture( &controller, &picture, &stream, &got_image );
 156     if( got_image )
 157         {
 158           //  qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
 159           // we got one picture
 160           // out->size = 1;
 161           picture.complete     = 1;
 162           num_picture_decoded++;
 163           if(image->depth()<24)
 164             vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
 165           else
 166             vp_stages_YUV420P_to_ARGB32(NULL,&picture,image->bits(),image->bytesPerLine());
 167
 168        //   qDebug() << "pic " << num_picture_decoded;
 169         }
 170
 171
 172 };
 173
 174