!
!
*===================================================================*/
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
#include "video.h"
+#include <QNetworkConfigurationManager>
+#include <QNetworkSession>
+#include <QList>
#include <QGraphicsView>
+#include <QDateTime>
+#include <QDir>
+
+#ifdef QT_IOS
+#define NO_VIDEO
+#endif
DroneVideo::DroneVideo()
{
droneHost.setAddress("192.168.1.1");
initialized=false;
+ m_idleImage=NULL;
+ videoThread=NULL;
}
-VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
+
+void DroneVideo::frameSeqUpdated()
{
- image=_image;
- qDebug() << "videoThread::videoThread";
- stopped=false;
- parent=parentp;
- videoSock=new QUdpSocket();
- videoSock->bind(QHostAddress::Any,5555);
- droneHost=host;
- start();
+ emit frameSeqChanged();
+}
+
+QImage* DroneVideo::idleImage() { return m_idleImage; }
+void DroneVideo::setIdleImage(QImage *img)
+{
+ m_idleImage=img;
+ if(m_idleImage && image) {
+ QPainter p(image);
+ p.drawImage(0,0,*m_idleImage);
+ update(boundingRect());
+ }
};
void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
image->fill(0x5555);
}
QPainter p(image);
- p.drawLine(0,0,image->width(),image->height());
- p.drawLine(image->width(),0,0,image->height());
+ if(m_idleImage) {
+ p.drawImage(0,0,*m_idleImage);
+ } else {
+ p.drawLine(0,0,image->width(),image->height());
+ p.drawLine(image->width(),0,0,image->height());
+ }
update(boundingRect());
videoThread=new VideoThread(this,droneHost,image);
+ connect(videoThread,SIGNAL(frameSeqChanged()),this,SLOT(frameSeqUpdated()));
initialized=true;
} else
painter->drawImage(boundingRect(),*image,image->rect());
}
+/*
+
+ VideoThread
+
+ */
+
+
+VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
+{
+ struct ip_mreq imreq;
+ QString my_ip;
+ my_ip="192.168.1.2";
+ image=_image;
+ qDebug() << "videoThread::videoThread";
+ stopped=false;
+ parent=parentp;
+ videoSock=new QUdpSocket();
+ if(!videoSock->bind(QHostAddress::Any,5555)) qDebug() << "VideoThread::VideoThread ** Cant Bind to port 5555 ***" << videoSock->errorString();
+ QList<QNetworkConfiguration> netconfs=QNetworkConfigurationManager().allConfigurations();
+ foreach (QNetworkConfiguration np,netconfs) {
+ qDebug() << "network Confifuration name " << np.name() << np.bearerName() << np.bearerTypeName();
+ QNetworkSession ns(np);
+ if(ns.interface().addressEntries().empty())
+ qDebug() << "network session " << ns.interface().humanReadableName() << "**NotConfig**";
+ else {
+ qDebug() << "network session " << ns.interface().humanReadableName() << ns.interface().addressEntries().first().ip();
+ // Ubuntu may give wlan0 as "Ethernet"
+ if((np.bearerName()==QString("WLAN")) || (ns.interface().humanReadableName()==QString("wlan0")) ) {
+ my_ip=ns.interface().addressEntries().first().ip().toString();
+ qDebug() << "My IP is " << my_ip;
+ }
+ }
+ }
+ // Qt 4.7.x
+ imreq.imr_multiaddr.s_addr=inet_addr("224.1.1.1");
+ imreq.imr_interface.s_addr=inet_addr(my_ip.toAscii());
+ setsockopt(videoSock->socketDescriptor(),IPPROTO_IP,IP_ADD_MEMBERSHIP,&imreq,sizeof(imreq));
+#if QT_VERSION >= 0x040800
+ // Qt 4.8
+ if(!videoSock->joinMulticastGroup(QHostAddress("224.1.1.1")))
+ qDebug() << "VideoThread::VideoThread can't join multicast Group 224.1.1.1" << videoSock->errorString();
+#endif
+ droneHost=host;
+ videoRec=FALSE;
+ videoFile=NULL;
+ start();
+
+};
+
+
void VideoThread::run()
{
#define ACQ_WIDTH 320
luma_only=FALSE;
num_picture_decoded=0;
/// Picture configuration
+#ifndef NO_VIDEO
picture.format = PIX_FMT_YUV420P;
picture.width = pictureWidth;
picture.height = pictureHeight;
picture.cr_line_size = pictureWidth / 2;
picture.y_pad = 0;
picture.c_pad = 0;
- video_codec_open(&controller, (codec_type_t)UVLC_CODEC);
+
+ qDebug() << "video_codec_open=" << video_codec_open(&controller, (codec_type_t)codec_type);
+#endif
//stateTimer->start(1000);
qDebug() << "videoThread::run() initialized";
sendVideoPort("AT");
videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
}
+unsigned int VideoThread::getFrameSeq()
+{
+ return frameSeq;
+}
+
+void VideoThread::setVideoRec(bool rec)
+{
+ qDebug() << "VideoThread::setVideoRec" << rec;
+ QDateTime fileDate=QDateTime::currentDateTime();
+ if(!videoRec && rec) {
+ frameSeq=0;
+ videoFileName="dronerec"+fileDate.toString("yyyyMMddhhmm");
+ qDebug() << "videoFileName=" << videoFileName;
+ emit frameSeqChanged();
+ }
+ videoRec=rec;
+ if(!videoRec && videoFile) { // Stop recording
+ videoFile->close();
+ videoFile->~QFile();
+ videoFile=NULL;
+ videoFileName="";
+ }
+
+
+}
+
+bool VideoThread::getVideoRec()
+{
+ return videoRec;
+}
+
+QString VideoThread::getVideoFileName()
+{
+ return videoFileName;
+}
+
+void VideoThread::setVideoFileName(QString name)
+{
+ videoFileName=name;
+}
+
+void VideoThread::setVideoPlay(bool play)
+{
+ if(!videoPlay && play) frameSeq=0;
+ videoPlay=true;
+ videoRec=false;
+}
+
+bool VideoThread::getVideoPlay()
+{
+ return videoPlay;
+}
+
+
+
+
void VideoThread::videoDataReady()
{
qint64 l;
videoData.resize(videoSock->pendingDatagramSize ());
l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
// qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from" << host ;
+
+ if(videoRec && videoFile==NULL) {
+ // Open Video File
+ }
+
decodeTransform(videoData);
+
}
void VideoThread::decodeTransform(QByteArray &videoData)
controller.in_stream.code = 0;
bool_t got_image = FALSE;
- //qDebug() <<"VideoThread::decodeTransform";
- video_decode_blockline( &controller, &picture, &got_image );
+ //qDebug() <<"VideoThread::decodeTransform" << controller.video_codec;
+#ifndef NO_VIDEO
+ if(controller.video_codec!=NULL) video_decode_blockline( &controller, &picture, &got_image );
+ if(videoRec && !videoFile) {// Start recording
+ qDebug() << "Record Video to " << QDir::current().absolutePath() << videoFileName+".yuv" << " at " << picture.width << "x" << picture.height;
+ videoFile=new QFile(videoFileName+".yuv");
+ videoFile->open(QIODevice::WriteOnly);
+ if(videoFile->error()!=QFile::NoError) {
+ qDebug() << "Can't open Video file " << videoFileName << ".yuv" << videoFile->errorString();
+ videoFile->~QFile();
+ videoFile=NULL;
+ videoRec=false;
+ }
+ }
+ if(!videoRec && videoFile) { // Stop recording
+ videoFile->close();
+ videoFile->~QFile();
+ videoFile=NULL;
+ videoFileName="";
+ }
+ //else qDebug() << "No video controller";
//qDebug() <<"VideoThread::decodeTransform 2";
//video_decode_picture( &controller, &picture, &stream, &got_image );
if( got_image )
// qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
// we got one picture
// out->size = 1;
+ frameSeq++;
picture.complete = 1;
num_picture_decoded++;
+ if(videoFile && videoRec) {
+ videoFile->write((char*)picture.y_buf,picture.width*picture.height);
+ videoFile->write((char*)picture.cb_buf,picture.width*picture.height>>2);
+ videoFile->write((char*)picture.cr_buf,picture.width*picture.height>>2);
+ };
if(image->depth()<24)
vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
else
vp_stages_YUV420P_to_ARGB32(NULL,&picture,image->bits(),image->bytesPerLine());
+ emit frameSeqChanged();
// qDebug() << "pic " << num_picture_decoded;
}
-
+#endif
};
projects / mardrone / blobdiff