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 #ifdef QT_IOS
  25 #define NO_VIDEO
  26 #endif
  27
  28 DroneVideo::DroneVideo()
  29 {
  30      droneHost.setAddress("192.168.1.1");
  31      initialized=false;
  32 }
  33
  34 VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
  35 {
  36     image=_image;
  37     qDebug() << "videoThread::videoThread";
  38     stopped=false;
  39     parent=parentp;
  40     videoSock=new QUdpSocket();
  41     videoSock->bind(QHostAddress::Any,5555);
  42     droneHost=host;
  43     start();
  44
  45 };
  46
  47 void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
  48                         QWidget *widget)
  49  {
  50     if(!initialized) { // We need initialize QImage here because we don't know display depth before
  51
  52         depth=painter->device()->depth();
  53         qDebug() << "depth=" << depth;
  54
  55         if(depth>=24) {
  56             image=new QImage(320,240, QImage::Format_RGB32);
  57              image->fill(0x555555);
  58         }
  59         else {
  60             image=new QImage(320,240, QImage::Format_RGB16);
  61             image->fill(0x5555);
  62         }
  63         QPainter p(image);
  64         p.drawLine(0,0,image->width(),image->height());
  65         p.drawLine(image->width(),0,0,image->height());
  66         update(boundingRect());
  67         videoThread=new VideoThread(this,droneHost,image);
  68         initialized=true;
  69     } else
  70     painter->drawImage(boundingRect(),*image,image->rect());
  71  };
  72
  73 QRectF DroneVideo::boundingRect() const
  74 {
  75     return QRectF(0.0,0.0,size().width(),size().height());
  76 }
  77
  78
  79 void VideoThread::run()
  80 {
  81 #define ACQ_WIDTH     320
  82 #define ACQ_HEIGHT    240
  83 #undef memset
  84     memset(&controller,0,sizeof(controller));
  85     memset(&picture,0,sizeof(picture));
  86     pictureWidth= image->width();
  87     pictureHeight=image->height();
  88     int codec_type=UVLC_CODEC;
  89     qDebug() << "videoThread::run()";
  90     stateTimer=new QTimer();
  91     connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
  92     connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
  93     qDebug() << "videoThread::run() 2";
  94     luma_only=FALSE;
  95     num_picture_decoded=0;
  96     /// Picture configuration
  97 #ifndef NO_VIDEO
  98     picture.format        = PIX_FMT_YUV420P;
  99     picture.width         = pictureWidth;
 100     picture.height        = pictureHeight;
 101     picture.framerate     = 30;
 102     picture.y_buf         = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
 103     picture.cr_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 104     picture.cb_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
 105     picture.y_line_size   = pictureWidth;
 106     picture.cb_line_size  = pictureWidth / 2;
 107     picture.cr_line_size  = pictureWidth / 2;
 108     picture.y_pad         = 0;
 109     picture.c_pad         = 0;
 110
 111     qDebug() << "video_codec_open=" << video_codec_open(&controller, (codec_type_t)codec_type);
 112 #endif
 113     //stateTimer->start(1000);
 114     qDebug() << "videoThread::run() initialized";
 115     sendVideoPort("AT");
 116     while(!stopped) {
 117         exec();
 118     }
 119
 120 }
 121
 122 void VideoThread::timer()
 123 {
 124   //  qDebug() << "thread Timer";
 125
 126 }
 127
 128 void VideoThread::sendVideoPort(QString cmd)
 129 {
 130     QByteArray dgram;
 131     dgram=cmd.toLatin1();
 132     qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
 133     videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
 134 }
 135
 136 void VideoThread::videoDataReady()
 137 {
 138    qint64 l;
 139    QByteArray videoData;
 140
 141    QHostAddress host;
 142    quint16 port;
 143    videoData.resize(videoSock->pendingDatagramSize ());
 144    l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
 145 //   qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from"  << host ;
 146    decodeTransform(videoData);
 147 }
 148
 149 void VideoThread::decodeTransform(QByteArray &videoData)
 150 {
 151     controller.in_stream.bytes   = (uint32_t*)videoData.data();
 152     controller.in_stream.used    = videoData.size();
 153     controller.in_stream.size    = videoData.size();
 154     controller.in_stream.index   = 0;
 155     controller.in_stream.length  = 32;
 156     controller.in_stream.code    = 0;
 157
 158     bool_t got_image = FALSE;
 159     //qDebug() <<"VideoThread::decodeTransform" << controller.video_codec;
 160 #ifndef NO_VIDEO
 161     if(controller.video_codec!=NULL)  video_decode_blockline( &controller, &picture, &got_image );
 162     //else qDebug() << "No video controller";
 163     //qDebug() <<"VideoThread::decodeTransform 2";
 164     //video_decode_picture( &controller, &picture, &stream, &got_image );
 165     if( got_image )
 166         {
 167           //  qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
 168           // we got one picture
 169           // out->size = 1;
 170           picture.complete     = 1;
 171           num_picture_decoded++;
 172           if(image->depth()<24)
 173             vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
 174           else
 175             vp_stages_YUV420P_to_ARGB32(NULL,&picture,image->bits(),image->bytesPerLine());
 176
 177        //   qDebug() << "pic " << num_picture_decoded;
 178         }
 179 #endif
 180
 181 };
 182
 183