vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/linux/api_v4l_vlib_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_Stages/vp_stages_buffer_to_picture.h>
   7 #include <VP_Os/vp_os_print.h>
   8 #include <VP_Os/vp_os_malloc.h>
   9 #include <VP_Os/vp_os_delay.h>
  10 #include <VP_Api/vp_api_thread_helper.h>
  11 #include <VLIB/Stages/vlib_stage_encode.h>
  12
  13
  14 #define VIDEO_DEVICE_PATH "/dev/video0"
  15
  16 #undef BLOCK_MODE
  17 #undef ACQ_WIDTH
  18 #undef ACQ_HEIGHT
  19
  20 #define ACQ_WIDTH 320
  21 #define ACQ_HEIGHT 240
  22
  23 #define COM_VIDEO()             wired_com()
  24 #define COM_CONFIG_VIDEO()      wired_config()
  25 #define COM_CONNECTION_VIDEO()  wired_connection()
  26
  27
  28 PROTO_THREAD_ROUTINE(app,nomParams);
  29
  30 BEGIN_THREAD_TABLE
  31   THREAD_TABLE_ENTRY(app,20)
  32 END_THREAD_TABLE
  33
  34
  35 #define NB_STAGES_MAX 10
  36
  37
  38 static vp_stages_input_v4l_config_t         ivc;
  39 static vp_stages_buffer_to_picture_config_t bpc;
  40 static vlib_stage_encoding_config_t         vec;
  41 static vp_stages_output_com_config_t        occ;
  42
  43 static PIPELINE_HANDLE pipeline_handle;
  44
  45 static vp_api_picture_t picture;
  46
  47
  48 vp_com_t* wired_com(void)
  49 {
  50   static vp_com_t com = {
  51     VP_COM_WIRED,
  52     FALSE,
  53     0,
  54     { { 0 } },
  55     NULL,
  56     NULL,
  57     0,
  58     NULL,
  59     NULL,
  60     NULL,
  61     NULL,
  62     NULL,
  63     NULL,
  64     NULL,
  65     NULL,
  66     NULL,
  67     NULL,
  68     NULL
  69   };
  70
  71   return &com;
  72 }
  73
  74 vp_com_config_t* wired_config(void)
  75 {
  76   static vp_com_wired_config_t config = {
  77     "eth0",
  78     "172.20.22.245",
  79     "255.255.255.0",
  80     "172.20.22.255"
  81   };
  82
  83   return (vp_com_config_t*) &config;
  84 }
  85
  86 vp_com_connection_t* wired_connection(void)
  87 {
  88   static vp_com_wired_connection_t connection = {
  89     0
  90   };
  91
  92   return (vp_com_connection_t*) (void*) &connection;
  93 }
  94
  95
  96 int main(int argc, char **argv)
  97 {
  98   if(argc < 2)
  99     {
 100       PRINT("You need to specify video device path\n");
 101       PRINT("Ex : %s /dev/video0\n", argv[0]);
 102       return EXIT_FAILURE;
 103     }
 104
 105   START_THREAD(app, argv);
 106   JOIN_THREAD(app);
 107
 108   return EXIT_SUCCESS;
 109 }
 110
 111
 112 PROTO_THREAD_ROUTINE(app,argv)
 113 {
 114   vp_api_io_pipeline_t pipeline;
 115   vp_api_io_data_t out;
 116   vp_api_io_stage_t stages[NB_STAGES_MAX];
 117
 118   uint16_t time1,time2;
 119   uint16_t i;
 120
 121   time1 = clock();
 122
 123   vp_os_memset(&ivc,0,sizeof(ivc));
 124   vp_os_memset(&bpc,0,sizeof(bpc));
 125   vp_os_memset(&vec,0,sizeof(vec));
 126   vp_os_memset(&occ,0,sizeof(occ));
 127
 128   ivc.device = ((char**)argv)[1];
 129   ivc.width = ACQ_WIDTH;
 130   ivc.height = ACQ_HEIGHT;
 131   ivc.vp_api_picture = &picture;
 132
 133   vec.width                               = ACQ_WIDTH;
 134   vec.height                              = ACQ_HEIGHT;
 135   vec.block_mode_enable                   = FALSE;
 136   vec.picture                             = &picture;
 137
 138   occ.com                           = COM_VIDEO();
 139   occ.config                        = COM_CONFIG_VIDEO();
 140   occ.connection                    = COM_CONNECTION_VIDEO();
 141   occ.socket.type                   = VP_COM_SERVER;
 142   occ.socket.protocol               = VP_COM_TCP;
 143   occ.socket.port                   = 5555;
 144   occ.buffer_size                   = 1500;
 145
 146   pipeline.nb_stages = 0;
 147
 148   stages[pipeline.nb_stages].type    = VP_API_INPUT_FILE;
 149   stages[pipeline.nb_stages].cfg     = (void *)&ivc;
 150   stages[pipeline.nb_stages++].funcs = vp_stages_input_v4l_funcs;
 151
 152   stages[pipeline.nb_stages].type    = VP_API_FILTER_ENCODER;
 153   stages[pipeline.nb_stages].cfg     = (void*)&vec;
 154   stages[pipeline.nb_stages++].funcs = vlib_encoding_funcs;
 155
 156   stages[pipeline.nb_stages].type    = VP_API_OUTPUT_SOCKET;
 157   stages[pipeline.nb_stages].cfg     = (void *)&occ;
 158   stages[pipeline.nb_stages++].funcs = vp_stages_output_com_funcs;
 159
 160   pipeline.stages = &stages[0];
 161
 162   vp_api_open(&pipeline, &pipeline_handle);
 163
 164   out.status = VP_API_STATUS_PROCESSING;
 165
 166   /////////////////////////////////////////////////////////////////////////////////////////
 167   i = 0;
 168   while(SUCCEED(vp_api_run(&pipeline, &out)) && (out.status == VP_API_STATUS_PROCESSING))
 169     {
 170       i++;
 171       PRINT("image %d \n",i);
 172       //vp_os_delay(50);
 173     }
 174   /////////////////////////////////////////////////////////////////////////////////////////
 175
 176   time2 = clock();
 177   printf("temps ecoule : %d \n",time2-time1);
 178
 179   vp_api_close(&pipeline, &pipeline_handle);
 180
 181   return EXIT_SUCCESS;
 182 }
 183