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 #include <QDateTime>
  24 #include <QDir>
  25
  26 #ifdef QT_IOS
  27 #define NO_VIDEO
  28 #endif
  29
  30 DroneVideo::DroneVideo()
  31 {
  32      droneHost.setAddress("192.168.1.1");
  33      initialized=false;
  34      m_idleImage=NULL;
  35      videoThread=NULL;
  36 }
  37
  38
  39 void DroneVideo::frameSeqUpdated()
  40 {
  41     emit frameSeqChanged();
  42 }
  43
  44 QImage* DroneVideo::idleImage() { return m_idleImage; }
  45 void DroneVideo::setIdleImage(QImage *img)
  46 {
  47     m_idleImage=img;
  48
  49     if(m_idleImage && image) {
  50         QPainter p(image);
  51         p.drawImage(0,0,*m_idleImage);
  52         update(boundingRect());
  53     }
  54 };
  55
  56 void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
  57                         QWidget *widget)
  58  {
  59     if(!initialized) { // We need initialize QImage here because we don't know display depth before
  60
  61         depth=painter->device()->depth();
  62         qDebug() << "depth=" << depth;
  63
  64         if(depth>=24) {
  65             image=new QImage(320,240, QImage::Format_RGB32);
  66              image->fill(0x555555);
  67         }
  68         else {
  69             image=new QImage(320,240, QImage::Format_RGB16);
  70             image->fill(0x5555);
  71         }
  72         QPainter p(image);
  73         if(m_idleImage) {
  74             p.drawImage(0,0,*m_idleImage);
  75         } else {
  76           p.drawLine(0,0,image->width(),image->height());
  77           p.drawLine(image->width(),0,0,image->height());
  78         }
  79         update(boundingRect());
  80         videoThread=new VideoThread(this,droneHost,image);
  81         connect(videoThread,SIGNAL(frameSeqChanged()),this,SLOT(frameSeqUpdated()));
  82         initialized=true;
  83     } else
  84     painter->drawImage(boundingRect(),*image,image->rect());
  85  };
  86
  87 QRectF DroneVideo::boundingRect() const
  88 {
  89     return QRectF(0.0,0.0,size().width(),size().height());
  90 }
  91
  92
  93 /*
  94
  95   VideoThread
  96
  97   */
  98
  99
 100 VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
 101 {
 102     image=_image;
 103     qDebug() << "videoThread::videoThread";
 104     stopped=false;
 105     parent=parentp;
 106     videoSock=new QUdpSocket();
 107     videoSock->bind(QHostAddress::Any,5555);
 108     droneHost=host;
 109     videoRec=FALSE;
 110     videoFile=NULL;
 111     start();
 112
 113 };
 114
 115
 116 void VideoThread::run()
 117 {
 118 #define ACQ_WIDTH     320
 119 #define ACQ_HEIGHT    240
 120 #undef memset
 121     memset(&controller,0,sizeof(controller));
 122     memset(&picture,0,sizeof(picture));
 123     pictureWidth= image->width();
 124     pictureHeight=image->height();
 125     int codec_type=UVLC_CODEC;
 126     qDebug() << "videoThread::run()";
 127     stateTimer=new QTimer();
 128     connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
 129     connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
 130     qDebug() << "videoThread::run() 2";
 131     luma_only=FALSE;
 132     num_picture_decoded=0;
 133     /// Picture configuration
 134 #ifndef NO_VIDEO
 135     picture.format        = PIX_FMT_YUV420P;
 136     picture.width         = pictureWidth;
 137     picture.height        = pictureHeight;
 138     picture.framerate     = 30;
 139     picture.y_buf         = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
 140     picture.cr_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 141     picture.cb_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 142     picture.y_line_size   = pictureWidth;
 143     picture.cb_line_size  = pictureWidth / 2;
 144     picture.cr_line_size  = pictureWidth / 2;
 145     picture.y_pad         = 0;
 146     picture.c_pad         = 0;
 147
 148     qDebug() << "video_codec_open=" << video_codec_open(&controller, (codec_type_t)codec_type);
 149 #endif
 150     //stateTimer->start(1000);
 151     qDebug() << "videoThread::run() initialized";
 152     sendVideoPort("AT");
 153     while(!stopped) {
 154         exec();
 155     }
 156
 157 }
 158
 159 void VideoThread::timer()
 160 {
 161   //  qDebug() << "thread Timer";
 162
 163 }
 164
 165 void VideoThread::sendVideoPort(QString cmd)
 166 {
 167     QByteArray dgram;
 168     dgram=cmd.toLatin1();
 169     qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
 170     videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
 171 }
 172
 173 unsigned int VideoThread::getFrameSeq()
 174 {
 175     return frameSeq;
 176 }
 177
 178 void VideoThread::setVideoRec(bool rec)
 179 {
 180     qDebug() << "VideoThread::setVideoRec" <<  rec;
 181     QDateTime fileDate=QDateTime::currentDateTime();
 182     if(!videoRec && rec) {
 183         frameSeq=0;
 184         videoFileName="dronerec"+fileDate.toString("yyyyMMddhhmm");
 185         qDebug() << "videoFileName=" <<  videoFileName;
 186         emit frameSeqChanged();
 187     }
 188     videoRec=rec;
 189     if(!videoRec && videoFile) { // Stop recording
 190         videoFile->close();
 191         videoFile->~QFile();
 192         videoFile=NULL;
 193         videoFileName="";
 194     }
 195
 196
 197 }
 198
 199 bool VideoThread::getVideoRec()
 200 {
 201     return videoRec;
 202 }
 203
 204 QString VideoThread::getVideoFileName()
 205 {
 206     return videoFileName;
 207 }
 208
 209 void VideoThread::setVideoFileName(QString name)
 210 {
 211     videoFileName=name;
 212 }
 213
 214 void VideoThread::setVideoPlay(bool play)
 215 {
 216     if(!videoPlay && play) frameSeq=0;
 217         videoPlay=true;
 218         videoRec=false;
 219 }
 220
 221 bool VideoThread::getVideoPlay()
 222 {
 223     return videoPlay;
 224 }
 225
 226
 227
 228
 229 void VideoThread::videoDataReady()
 230 {
 231    qint64 l;
 232    QByteArray videoData;
 233
 234    QHostAddress host;
 235    quint16 port;
 236    videoData.resize(videoSock->pendingDatagramSize ());
 237    l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
 238 //   qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from"  << host ;
 239
 240    if(videoRec && videoFile==NULL) {
 241        // Open Video File
 242    }
 243
 244    decodeTransform(videoData);
 245
 246 }
 247
 248 void VideoThread::decodeTransform(QByteArray &videoData)
 249 {
 250     controller.in_stream.bytes   = (uint32_t*)videoData.data();
 251     controller.in_stream.used    = videoData.size();
 252     controller.in_stream.size    = videoData.size();
 253     controller.in_stream.index   = 0;
 254     controller.in_stream.length  = 32;
 255     controller.in_stream.code    = 0;
 256
 257     bool_t got_image = FALSE;
 258     //qDebug() <<"VideoThread::decodeTransform" << controller.video_codec;
 259 #ifndef NO_VIDEO
 260     if(controller.video_codec!=NULL)  video_decode_blockline( &controller, &picture, &got_image );
 261     if(videoRec && !videoFile) {// Start recording
 262         qDebug() << "Record Video to " << QDir::current().absolutePath()  << videoFileName+".yuv" << " at " << picture.width << "x" << picture.height;
 263         videoFile=new QFile(videoFileName+".yuv");
 264         videoFile->open(QIODevice::WriteOnly);
 265         if(videoFile->error()!=QFile::NoError) {
 266             qDebug() << "Can't open Video file " << videoFileName << ".yuv" << videoFile->errorString();
 267             videoFile->~QFile();
 268             videoFile=NULL;
 269             videoRec=false;
 270         }
 271     }
 272      if(!videoRec && videoFile) { // Stop recording
 273          videoFile->close();
 274          videoFile->~QFile();
 275          videoFile=NULL;
 276          videoFileName="";
 277      }
 278     //else qDebug() << "No video controller";
 279     //qDebug() <<"VideoThread::decodeTransform 2";
 280     //video_decode_picture( &controller, &picture, &stream, &got_image );
 281     if( got_image )
 282         {
 283           //  qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
 284           // we got one picture
 285           // out->size = 1;
 286           frameSeq++;
 287           picture.complete     = 1;
 288           num_picture_decoded++;
 289           if(videoFile && videoRec) {
 290             videoFile->write((char*)picture.y_buf,picture.width*picture.height);
 291             videoFile->write((char*)picture.cb_buf,picture.width*picture.height>>2);
 292             videoFile->write((char*)picture.cr_buf,picture.width*picture.height>>2);
 293           };
 294           if(image->depth()<24)
 295             vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
 296           else
 297             vp_stages_YUV420P_to_ARGB32(NULL,&picture,image->bits(),image->bytesPerLine());
 298           emit frameSeqChanged();
 299
 300        //   qDebug() << "pic " << num_picture_decoded;
 301         }
 302 #endif
 303
 304 };
 305
 306