vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/elinux/api_v4l_raw_ethernet.c

   1 #include <VP_Api/vp_api.h>
   2 #include <VP_Api/vp_api_error.h>
   3 #include <VP_Stages/vp_stages_configs.h>
   4 #include <VP_Stages/vp_stages_i_v4l.h>
   5 #include <VP_Stages/vp_stages_io_com.h>
   6 #include <VP_Os/vp_os_print.h>
   7 #include <VP_Os/vp_os_malloc.h>
   8 #include <VP_Os/vp_os_delay.h>
   9 #include <VP_Api/vp_api_thread_helper.h>
  10 #include <VLIB/Stages/vlib_stage_encode.h>
  11
  12
  13 #undef BLOCK_MODE
  14 #undef ACQ_WIDTH
  15 #undef ACQ_HEIGHT
  16
  17 #define ACQ_WIDTH 320
  18 #define ACQ_HEIGHT 240
  19
  20 #define COM_VIDEO()             wired_com()
  21 #define COM_CONFIG_VIDEO()      wired_config()
  22 #define COM_CONNECTION_VIDEO()  wired_connection()
  23
  24
  25 PROTO_THREAD_ROUTINE(app,nomParams);
  26
  27 BEGIN_THREAD_TABLE
  28   THREAD_TABLE_ENTRY(app,20)
  29 END_THREAD_TABLE
  30
  31
  32 #define NB_STAGES_MAX 10
  33
  34
  35 static vp_stages_input_v4l_config_t  ivc;
  36 static vp_stages_output_com_config_t occ;
  37
  38 static PIPELINE_HANDLE pipeline_handle;
  39
  40 static vp_api_picture_t picture;
  41
  42
  43 C_RESULT
  44 buffer_to_picture_open(int *cfg)
  45 {
  46   picture.format = PIX_FMT_YUV420P;
  47
  48   picture.width = ACQ_WIDTH;
  49   picture.height = ACQ_HEIGHT;
  50   picture.framerate = 15;
  51
  52   picture.y_line_size = ACQ_WIDTH;
  53   picture.cb_line_size = ACQ_WIDTH/2;
  54   picture.cr_line_size = ACQ_WIDTH/2;
  55
  56   return (SUCCESS);
  57 }
  58
  59 C_RESULT
  60 buffer_to_picture_transform(int *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
  61 {
  62   static int32_t blockline;
  63
  64   vp_os_mutex_lock(&out->lock);
  65
  66   if(out->status == VP_API_STATUS_INIT)
  67     {
  68       blockline = 0;
  69       out->numBuffers = 1;
  70       out->size = ACQ_WIDTH*ACQ_HEIGHT*3/2;
  71       out->buffers = (int8_t **)(int8_t *)&picture;
  72       out->indexBuffer = 0;
  73       out->status = VP_API_STATUS_PROCESSING;
  74     }
  75
  76   out->status = in->status;
  77
  78   if(out->status == VP_API_STATUS_ENDED)
  79     {
  80     }
  81
  82   if(out->status == VP_API_STATUS_PROCESSING)
  83     {
  84       picture.y_buf = (uint8_t*)in->buffers[0];
  85       picture.cb_buf = (uint8_t*)in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT;
  86       picture.cr_buf = (uint8_t*)in->buffers[0] + ACQ_WIDTH*ACQ_HEIGHT*5/4;
  87       picture.complete = 1;
  88     }
  89
  90   out->status = in->status;
  91
  92   vp_os_mutex_unlock(&out->lock);
  93
  94   return (SUCCESS);
  95 }
  96
  97 C_RESULT
  98 buffer_to_picture_close(int *cfg)
  99 {
 100   return (SUCCESS);
 101 }
 102
 103 const vp_api_stage_funcs_t buffer_to_picture_funcs =
 104 {
 105   NULL,
 106   (vp_api_stage_open_t)buffer_to_picture_open,
 107   (vp_api_stage_transform_t)buffer_to_picture_transform,
 108   (vp_api_stage_close_t)buffer_to_picture_close
 109 };
 110
 111
 112 vp_com_t* wired_com(void)
 113 {
 114   static vp_com_t com = {
 115     VP_COM_WIRED,
 116     FALSE,
 117     0,
 118     { { 0 } },
 119     NULL,
 120     NULL,
 121     0,
 122     NULL,
 123     NULL,
 124     NULL,
 125     NULL,
 126     NULL,
 127     NULL,
 128     NULL,
 129     NULL,
 130     NULL,
 131     NULL,
 132     NULL
 133   };
 134
 135   return &com;
 136 }
 137
 138 vp_com_config_t* wired_config(void)
 139 {
 140   static vp_com_wired_config_t config = {
 141     "eth0",
 142     "172.20.22.253",
 143     "255.255.255.0",
 144     "172.20.22.255"
 145   };
 146
 147   return (vp_com_config_t*) &config;
 148 }
 149
 150 vp_com_connection_t* wired_connection(void)
 151 {
 152   static vp_com_wired_connection_t connection = {
 153     0
 154   };
 155
 156   return (vp_com_connection_t*) (void*) &connection;
 157 }
 158
 159
 160 int main(int argc, char **argv)
 161 {
 162   START_THREAD(app, argv);
 163   JOIN_THREAD(app);
 164
 165   return EXIT_SUCCESS;
 166 }
 167
 168
 169 PROTO_THREAD_ROUTINE(app,argv)
 170 {
 171   vp_api_io_pipeline_t pipeline;
 172   vp_api_io_data_t out;
 173   vp_api_io_stage_t stages[NB_STAGES_MAX];
 174
 175   uint16_t time1,time2;
 176   uint16_t i;
 177
 178   time1 = clock();
 179
 180   vp_os_memset(&ivc,0,sizeof(ivc));
 181   //vp_os_memset(&vec,0,sizeof(vec));
 182   vp_os_memset(&occ,0,sizeof(occ));
 183
 184   ivc.device = "/tmp/video0";
 185   ivc.width = ACQ_WIDTH;
 186   ivc.height = ACQ_HEIGHT;
 187   ivc.vp_api_picture = &picture;
 188
 189 /*   vec.width                               = ACQ_WIDTH; */
 190 /*   vec.height                              = ACQ_HEIGHT; */
 191 /*   vec.block_mode_enable                   = FALSE; */
 192 /*   vec.picture                             = &picture; */
 193
 194   occ.com                           = COM_VIDEO();
 195   occ.config                        = COM_CONFIG_VIDEO();
 196   occ.connection                    = COM_CONNECTION_VIDEO();
 197   occ.socket.type                   = VP_COM_SERVER;
 198   occ.socket.protocol               = VP_COM_TCP;
 199   occ.socket.port                   = 5555;
 200   occ.buffer_size                   = 320*240*3/2;
 201
 202   pipeline.nb_stages = 0;
 203
 204   stages[pipeline.nb_stages].type    = VP_API_INPUT_FILE;
 205   stages[pipeline.nb_stages].cfg     = (void *)&ivc;
 206   stages[pipeline.nb_stages++].funcs = vp_stages_input_v4l_funcs;
 207
 208 /*   stages[pipeline.nb_stages].type    = VP_API_FILTER_ENCODER; */
 209 /*   stages[pipeline.nb_stages].cfg     = (void *)NULL; */
 210 /*   stages[pipeline.nb_stages++].funcs = buffer_to_picture_funcs; */
 211
 212 /*   stages[pipeline.nb_stages].type    = VP_API_FILTER_ENCODER; */
 213 /*   stages[pipeline.nb_stages].cfg     = (void*)&vec; */
 214 /*   stages[pipeline.nb_stages++].funcs = vlib_encoding_funcs; */
 215
 216   stages[pipeline.nb_stages].type    = VP_API_OUTPUT_SOCKET;
 217   stages[pipeline.nb_stages].cfg     = (void *)&occ;
 218   stages[pipeline.nb_stages++].funcs = vp_stages_output_com_funcs;
 219
 220   pipeline.stages = &stages[0];
 221
 222   vp_api_open(&pipeline, &pipeline_handle);
 223
 224   out.status = VP_API_STATUS_PROCESSING;
 225
 226   /////////////////////////////////////////////////////////////////////////////////////////
 227   i = 0;
 228   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING))
 229     {
 230       i++;
 231       PRINT("image %d \n",i);
 232       //vp_os_delay(50);
 233     }
 234   /////////////////////////////////////////////////////////////////////////////////////////
 235
 236   time2 = clock();
 237   printf("temps ecoule : %d \n",time2-time1);
 238
 239   vp_api_close(&pipeline, &pipeline_handle);
 240
 241   return EXIT_SUCCESS;
 242 }
 243