vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_configs.c

   1
   2 /**
   3  *  \brief    VP Stages. Vision Stage default configurations
   4  *  \author   Aurelien Morelle <aurelien.morelle@parrot.com>
   5  *  \version  1.0
   6  *  \date     first release 2007/11/06
   7  */
   8
   9
  10 #include <VP_Os/vp_os_types.h>
  11 #include <VP_Os/vp_os_assert.h>
  12 #include <VP_Os/vp_os_malloc.h>
  13
  14 #include <VP_Stages/vp_stages_configs.h>
  15
  16 #include <VP_Stages/vp_stages_io_com.h>
  17
  18 #if defined(USE_LINUX) && !(SBOX_UNAME_MACHINE == arm )
  19 #    include <VP_Stages/vp_stages_o_sdl.h>
  20 #endif // USE_LINUX
  21
  22 vp_api_picture_t vp_api_picture;
  23
  24 #if defined(USE_LINUX) && !(SBOX_UNAME_MACHINE == arm )
  25 static vp_stages_output_sdl_config_t
  26 decoding_qcif_sdl_config = {
  27   .width         = QVGA_WIDTH,
  28   .height        = QVGA_HEIGHT,
  29   .bpp           = 16,
  30   .window_width  = QVGA_WIDTH,
  31   .window_height = QVGA_HEIGHT,
  32   .pic_width     = QCIF_WIDTH,
  33   .pic_height    = QCIF_HEIGHT,
  34   .y_size        = QCIF_WIDTH*QCIF_HEIGHT,
  35   .c_size        = (QCIF_WIDTH*QCIF_HEIGHT)>>2,
  36 };
  37
  38
  39 static vp_stages_output_sdl_config_t
  40 raw_qcif_sdl_config = {
  41   .width         = QVGA_WIDTH,
  42   .height        = QVGA_HEIGHT,
  43   .bpp           = 16,
  44   .window_width  = QVGA_WIDTH,
  45   .window_height = QVGA_HEIGHT,
  46   .pic_width     = QCIF_WIDTH,
  47   .pic_height    = QCIF_HEIGHT,
  48   .y_size        = QCIF_WIDTH*QCIF_HEIGHT,
  49   .c_size        = 0,
  50 };
  51
  52
  53 static vp_stages_output_sdl_config_t
  54 raw_qqcif_sdl_config = {
  55   .width         = QVGA_WIDTH,
  56   .height        = QVGA_HEIGHT,
  57   .bpp           = 16,
  58   .window_width  = QVGA_WIDTH,
  59   .window_height = QVGA_HEIGHT,
  60   .pic_width     = QQCIF_WIDTH,
  61   .pic_height    = QQCIF_HEIGHT,
  62   .y_size        = QQCIF_WIDTH*QQCIF_HEIGHT,
  63   .c_size        = 0,
  64 };
  65
  66
  67 static vp_stages_output_sdl_config_t
  68 decoding_qvga_sdl_config = {
  69   .width         = QVGA_WIDTH,
  70   .height        = QVGA_HEIGHT,
  71   .bpp           = 16,
  72   .window_width  = QVGA_WIDTH,
  73   .window_height = QVGA_HEIGHT,
  74   .pic_width     = QVGA_WIDTH,
  75   .pic_height    = QVGA_HEIGHT,
  76   .y_size        = QVGA_WIDTH*QVGA_HEIGHT,
  77   .c_size        = (QVGA_WIDTH*QVGA_HEIGHT)>>2,
  78 };
  79
  80
  81 static vp_stages_output_sdl_config_t
  82 raw_qvga_sdl_config = {
  83   .width         = QVGA_WIDTH,
  84   .height        = QVGA_HEIGHT,
  85   .bpp           = 16,
  86   .window_width  = QVGA_WIDTH,
  87   .window_height = QVGA_HEIGHT,
  88   .pic_width     = QVGA_WIDTH,
  89   .pic_height    = QVGA_HEIGHT,
  90   .y_size        = QVGA_WIDTH*QVGA_HEIGHT,
  91   .c_size        = 0,
  92 };
  93
  94 static vp_stages_output_sdl_config_t
  95 raw_tweaky_qqvga_sdl_config = {
  96   .width         = QVGA_WIDTH,
  97   .height        = QVGA_HEIGHT,
  98   .bpp           = 16,
  99   .window_width  = QVGA_WIDTH,
 100   .window_height = QVGA_HEIGHT,
 101   .pic_width     = TWEAKY_QQVGA_WIDTH,
 102   .pic_height    = TWEAKY_QQVGA_HEIGHT,
 103   .y_size        = TWEAKY_QQVGA_WIDTH*TWEAKY_QQVGA_HEIGHT,
 104   .c_size        = 0,
 105 };
 106 #endif // ! __linux__ || USE_MINGW32
 107
 108 #if defined(USE_LINUX)
 109 static vp_com_serial_config_t
 110 uart0_serial_config = {
 111 #ifdef __linux__
 112   .itfName          = "/dev/ttyUSB0",
 113 #else // ! __linux__
 114   .itfName          = "/dev/ser0",
 115 #endif // -> __linux__
 116   .blocking         = 1,
 117   .sync             = 1,
 118   .sync_done        = 0,
 119   .initial_baudrate = VP_COM_BAUDRATE_115200,
 120   .baudrate         = VP_COM_BAUDRATE_460800,
 121 };
 122
 123
 124 static vp_com_serial_config_t
 125 uart1_serial_config = {
 126 #ifdef __linux__
 127   .itfName          = "/dev/ttyUSB1",
 128 #else // ! __linux__
 129   .itfName          = "/dev/ser1",
 130 #endif // -> __linux__
 131   .blocking         = 1,
 132   .sync             = 1,
 133   .sync_done        = 0,
 134   .initial_baudrate = VP_COM_BAUDRATE_115200,
 135   .baudrate         = VP_COM_BAUDRATE_460800,
 136 };
 137 #endif // ! __NDS__
 138
 139
 140 #if defined(USE_BLUEZ)
 141 static vp_com_bluetooth_config_t
 142 bluetooth_config = {
 143   .itfName   = "bnep0",
 144 #ifdef __linux__
 145   .localHost = "192.168.2.58",
 146 #else // ! __linux__
 147   .localHost = "192.168.2.23",
 148 #endif // -> __linux__
 149   .netmask   = "255.255.255.0",
 150   .broadcast = "192.168.2.255",
 151   .gateway   = "192.168.2.0",
 152   .server    = "192.168.2.0",
 153   .secure    = 1,
 154   .passkey   = "1234",
 155 };
 156 #endif // ! defined(USE_BLUEZ)
 157
 158
 159 #ifdef USE_WIFI
 160 static vp_com_wifi_config_t
 161 wifi_config = {
 162 #ifdef __linux__
 163   .itfName              = "rausb0",
 164   .localHost            = "10.10.10.2",
 165 #else // ! __linux__
 166   .itfName              = "wl0",
 167   .localHost            = "10.10.10.1",
 168 #endif // -> __linux__
 169   .netmask              = "255.255.255.0",
 170   .broadcast            = "10.10.10.255",
 171   .gateway              = "10.10.10.2",
 172   .server               = "10.10.10.1",
 173   .secure               = 1,
 174   .passkey              = "9F1C3EE11CBA230B27BF1C1B6F",
 175   .infrastructure       = 1,
 176 };
 177 #endif // ! USE_WIFI
 178
 179
 180 #define _internal_vp_stages_fill_default_config(cfg, config, size) \
 181   do                                                               \
 182   {                                                                \
 183     VP_OS_ASSERT(size >= sizeof(config));                          \
 184     vp_os_memcpy(cfg, &config, sizeof(config));                    \
 185   }                                                                \
 186   while(0)
 187
 188
 189 C_RESULT
 190 vp_stages_fill_default_config(DEFAULT_STAGE_CONFIG config, void *cfg, size_t size)
 191 {
 192   C_RESULT res = VP_SUCCESS;
 193
 194   VP_OS_ASSERT(cfg);
 195   VP_OS_ASSERT(size);
 196
 197   vp_os_memset(cfg, 0, size);
 198
 199   switch(config)
 200     {
 201
 202 #if defined(USE_LINUX) && !(SBOX_UNAME_MACHINE == arm )
 203
 204     case SDL_RAW_QCIF_CONFIG:
 205       _internal_vp_stages_fill_default_config(cfg, raw_qcif_sdl_config, size);
 206       break;
 207     case SDL_RAW_QQCIF_CONFIG:
 208       _internal_vp_stages_fill_default_config(cfg, raw_qqcif_sdl_config, size);
 209       break;
 210     case SDL_DECODING_QCIF_CONFIG:
 211       _internal_vp_stages_fill_default_config(cfg, decoding_qcif_sdl_config, size);
 212       break;
 213     case SDL_RAW_QVGA_CONFIG:
 214       _internal_vp_stages_fill_default_config(cfg, raw_qvga_sdl_config, size);
 215       break;
 216     case SDL_RAW_TWEAKY_QQVGA_CONFIG:
 217       _internal_vp_stages_fill_default_config(cfg, raw_tweaky_qqvga_sdl_config, size);
 218       break;
 219     case SDL_DECODING_QVGA_CONFIG:
 220       _internal_vp_stages_fill_default_config(cfg, decoding_qvga_sdl_config, size);
 221       break;
 222 #endif // ! __linux__ || USE_MINGW32 || USE_ELINUX
 223
 224 #if defined(USE_LINUX)
 225     case UART0_COM_CONFIG:
 226       _internal_vp_stages_fill_default_config(cfg, uart0_serial_config, size);
 227       break;
 228     case UART1_COM_CONFIG:
 229       _internal_vp_stages_fill_default_config(cfg, uart1_serial_config, size);
 230       break;
 231 #endif // ! __NDS__
 232
 233 #if defined(USE_BLUEZ)
 234     case BLUETOOTH_COM_CONFIG:
 235       _internal_vp_stages_fill_default_config(cfg, bluetooth_config, size);
 236       break;
 237 #endif // ! defined(USE_BLUEZ)
 238 #ifdef USE_WIFI
 239     case WIFI_COM_CONFIG:
 240       _internal_vp_stages_fill_default_config(cfg, wifi_config, size);
 241       break;
 242 #endif // ! USE_WIFI
 243     default:
 244       res = VP_FAILURE;
 245       break;
 246     }
 247
 248   return res;
 249 }
 250
 251 #undef _internal_vp_stages_fill_default_config
 252