vcs.maemo.org Git - mardrone/blob - mardrone/video.cpp

   1 #include "video.h"
   2 #include <QGraphicsView>
   3
   4 DroneVideo::DroneVideo()
   5 {
   6      droneHost.setAddress("192.168.1.1");
   7      initialized=false;
   8 }
   9
  10 VideoThread::VideoThread(DroneVideo *parentp,QHostAddress host,QImage *_image)
  11 {
  12     image=_image;
  13     qDebug() << "videoThread::videoThread";
  14     stopped=false;
  15     parent=parentp;
  16     videoSock=new QUdpSocket();
  17     videoSock->bind(QHostAddress::Any,5555);
  18     droneHost=host;
  19     start();
  20
  21 };
  22
  23 void DroneVideo::paint(QPainter *painter,const QStyleOptionGraphicsItem *option,
  24                         QWidget *widget)
  25  {
  26     if(!initialized) { // We need initialize QImage here because we don't know display depth before
  27         int depth=0;
  28
  29         depth=painter->device()->depth();
  30         qDebug() << "depth=" << depth;
  31
  32         if(depth==24) {
  33             image=new QImage(320,240, QImage::Format_RGB32);
  34              image->fill(0x555555);
  35         }
  36         else {
  37             image=new QImage(320,240, QImage::Format_RGB16);
  38             image->fill(0x5555);
  39         }
  40         QPainter p(image);
  41         p.drawLine(0,0,image->width(),image->height());
  42         p.drawLine(image->width(),0,0,image->height());
  43         update(boundingRect());
  44         videoThread=new VideoThread(this,droneHost,image);
  45         initialized=true;
  46     } else
  47     painter->drawImage(boundingRect(),*image,image->rect());
  48  };
  49
  50 QRectF DroneVideo::boundingRect() const
  51 {
  52     return QRectF(0.0,0.0,size().width(),size().height());
  53 }
  54
  55
  56 void VideoThread::run()
  57 {
  58 #define ACQ_WIDTH     320
  59 #define ACQ_HEIGHT    240
  60 #undef memset
  61     memset(&controller,0,sizeof(controller));
  62     memset(&picture,0,sizeof(picture));
  63     pictureWidth= image->width();
  64     pictureHeight=image->height();
  65     int codec_type=UVLC_CODEC;
  66     qDebug() << "videoThread::run()";
  67     stateTimer=new QTimer();
  68     connect(stateTimer,SIGNAL(timeout()),this,SLOT(timer()));
  69     connect(videoSock,SIGNAL(readyRead()),this,SLOT(videoDataReady()));
  70     qDebug() << "videoThread::run() 2";
  71     luma_only=FALSE;
  72     num_picture_decoded=0;
  73     /// Picture configuration
  74     picture.format        = PIX_FMT_YUV420P;
  75     picture.width         = pictureWidth;
  76     picture.height        = pictureHeight;
  77     picture.framerate     = 30;
  78     picture.y_buf         = (uint8_t*)(void*)vp_os_malloc((size_t) pictureWidth*pictureHeight );
  79     picture.cr_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
  80     picture.cb_buf        = (uint8_t*)vp_os_malloc( pictureWidth*pictureHeight/4 );
  81     picture.y_line_size   = pictureWidth;
  82     picture.cb_line_size  = pictureWidth / 2;
  83     picture.cr_line_size  = pictureWidth / 2;
  84     picture.y_pad         = 0;
  85     picture.c_pad         = 0;
  86     qDebug() << "videoThread::run() 3";
  87     video_codec_open(&controller, (codec_type_t)UVLC_CODEC);
  88     //stateTimer->start(1000);
  89     qDebug() << "videoThread::run() initialized";
  90     sendVideoPort("AT");
  91     while(!stopped) {
  92         exec();
  93     }
  94
  95 }
  96
  97 void VideoThread::timer()
  98 {
  99   //  qDebug() << "thread Timer";
 100
 101 }
 102
 103 void VideoThread::sendVideoPort(QString cmd)
 104 {
 105     QByteArray dgram;
 106     dgram=cmd.toLatin1();
 107     qDebug() << "videoThread::sendCmd= " << cmd+"\n" << "to " << droneHost ;
 108     videoSock->writeDatagram(dgram.data(),dgram.size(),droneHost,5555);
 109 }
 110
 111 void VideoThread::videoDataReady()
 112 {
 113    qint64 l;
 114    QByteArray videoData;
 115
 116    QHostAddress host;
 117    quint16 port;
 118    videoData.resize(videoSock->pendingDatagramSize ());
 119    l=videoSock->readDatagram(videoData.data(),videoData.size(),&host,&port);
 120    qDebug() << "videoThread::videoDataReady" <<" l=" << l << "from"  << host ;
 121    decodeTransform(videoData);
 122 }
 123
 124 void VideoThread::decodeTransform(QByteArray &videoData)
 125 {
 126     controller.in_stream.bytes   = (uint32_t*)videoData.data();
 127     controller.in_stream.used    = videoData.size();
 128     controller.in_stream.size    = videoData.size();
 129     controller.in_stream.index   = 0;
 130     controller.in_stream.length  = 32;
 131     controller.in_stream.code    = 0;
 132
 133     bool_t got_image = FALSE;
 134     //qDebug() <<"VideoThread::decodeTransform";
 135     video_decode_blockline( &controller, &picture, &got_image );
 136     //qDebug() <<"VideoThread::decodeTransform 2";
 137     //video_decode_picture( &controller, &picture, &stream, &got_image );
 138     if( got_image )
 139         {
 140             qDebug() <<"VideoThread::decodeTransform got image" << picture.width << picture.height << image->byteCount() << image->bytesPerLine();
 141           // we got one picture
 142           // out->size = 1;
 143           picture.complete     = 1;
 144           num_picture_decoded++;
 145           vp_stages_YUV420P_to_RGB565(NULL,&picture,image->bits(),image->bytesPerLine());
 146
 147
 148           qDebug() << "pic " << num_picture_decoded;
 149         }
 150
 151
 152 };
 153
 154