void video_free( void ) {
video_close();
if( conv_frame );
av_free( conv_frame );
conv_frame = NULL;
}
void
open_picovic ()
{
struct vic20_config config = {
.memory_expansion = have_memory_expansion,
.memory_expansion_3k = have_memory_expansion_3k,
.use_paddles = FALSE,
.manual_screen_updates = FALSE,
.frames_per_second = 50,
.frame_interceptor = NULL
};
struct vic20_config * cfg = malloc (sizeof (struct vic20_config));
memcpy (cfg, &config, sizeof (struct vic20_config));
joystick_open ();
video_open ();
video_map ();
vic20_open (cfg);
init_debugger ();
}
void
close_picovic ()
{
vic20_close ();
video_close ();
joystick_close ();
}
int
main (int argc, char * argv[])
{
struct vic20_config config = {
.memory_expansion_3k = FALSE,
.memory_expansion = 0,
.use_paddles = FALSE,
.manual_screen_updates = FALSE,
.frames_per_second = 50,
.frame_interceptor = NULL
};
printf ("shadowVIC 6502 CPU emulation test\n");
joystick_open ();
video_open ();
video_map ();
vic20_open (&config);
memcpy (&m[0x1000], tests_image, sizeof (tests_image));
vic20_emulate (0x1000);
vic20_close ();
video_close ();
joystick_close ();
printf ("Tests passed.\n");
return 0;
}
void main_close()
{
debug_kill();
#ifdef WIN32
timeEndPeriod(1);
#endif
config_save();
cmos_save(models[curmodel]);
midi_close();
mem_close();
uef_close();
csw_close();
tube_6502_close();
arm_close();
x86_close();
z80_close();
w65816_close();
n32016_close();
disc_close(0);
disc_close(1);
scsi_close();
ide_close();
vdfs_close();
ddnoise_close();
tapenoise_close();
al_close();
video_close();
log_close();
}
/* Free everything: */
void video_quit()
{
video_close();
gst_object_unref(GST_OBJECT(vthread));
if (!audio_disabled) gst_object_unref(GST_OBJECT(athread));
gst_object_unref(GST_OBJECT(pipeline));
}
Image *load(char *path, int index, int *nframes)
{
static video_t *v=NULL;
Image *im=NULL;
if(index>=0)
{ if(!v) TRY(v=video_open(path),ErrorOpen);
if(nframes) *nframes=video_frame_count(v);
TRY(im=video_get(v,index,1),ErrorRead);
} else
{ if(v) video_close(&v);
}
return im;
ErrorRead:
video_close(&v);
return NULL;
ErrorOpen:
return NULL;
}
void *horizontal_velocities_thread_main(void *data)
{
//file_fd = fopen("test.yuv", "wb");
double prevTime = 0;
video_GrabImageGrey(img_old);
for (;;)
{
//double t1=util_timestamp();
video_GrabImageGrey(img_new);
//double t2=util_timestamp();
//printf("video grab took %f ms\n", (t2-t1)*1000);
double currentTime = img_new->timestamp;
int dxi, dyi;
video_blocksum(img_old, img_new, &dxi, &dyi);
//double t3=util_timestamp();
//printf("blocksum took %f ms\n", (t3-t2)*1000);
if (dxi != 0 || dyi != 0)
{
//swap buffers
struct img_struct* tmp = img_new;
img_new = img_old;
img_old = tmp;
}
pthread_mutex_lock(&velocity_access_mutex);
dt = currentTime - prevTime;
xv_buffer[buf_ind] = dxi / dt;
yv_buffer[buf_ind] = dyi / dt;
buf_ind = (buf_ind+1)%BUF_SIZE;
seqNum++;
prevTime = currentTime;
pthread_mutex_unlock(&velocity_access_mutex);
printf("%f\n", util_timestamp());
//printf("\ndxi=%i dyi=%i cur=%f pre=%f dt=%f\n", dxi, dyi, currentTime, prevTime, dt);
//if(writeImagesToDisk)
// fwrite((const void *)img_new->buf, 320*240, 1, file_fd);
// bottom camera = 60Hz
//usleep(10000);
}
video_close();
return 0;
}
int video_open(const char *filename)
{
video_close();
g_object_set (G_OBJECT (src), "location", filename, NULL);
if (!gst_element_set_state(pipeline, GST_STATE_READY))
return VIDEO_ERROR;
return VIDEO_OK;
}
HRESULT qcap_driver_destroy(Capture *capBox)
{
TRACE("%p\n", capBox);
if( capBox->fd != -1 )
video_close(capBox->fd);
capBox->CritSect.DebugInfo->Spare[0] = 0;
DeleteCriticalSection(&capBox->CritSect);
CoTaskMemFree(capBox);
return S_OK;
}
void snap_clear( void ) {
if( video ) {
video_close();
video = 0;
}
else {
if( texture ) {
ogl_free_texture( texture );
}
}
texture = NULL;
platform_texture = NULL;
}
void application_free(application_t *app)
{
DEBUG("application_free()");
assert(app != 0);
video_close(app->video);
gps_free(app->gps);
imu_free(app->imu);
graphics_drawable_free(app->image);
graphics_hud_free(app->hud);
graphics_atlas_free(app->atlas1);
graphics_atlas_free(app->atlas2);
graphics_free(app->graphics);
free(app);
}
void dgreed_close(void) {
malka_states_end();
malka_states_close();
sprsheet_close();
malka_close();
mfx_close();
particles_close();
keyval_close();
sound_close();
video_close();
}
int dgreed_main(int argc, const char** argv) {
params_init(argc, argv);
rand_init(time(NULL));
layouts_init();
layouts_set("dvorak");
bool fullscreen = true;
if(params_find("-windowed") != ~0)
fullscreen = false;
video_init_ex(SCREEN_WIDTH, SCREEN_HEIGHT,
SCREEN_WIDTH, SCREEN_HEIGHT, "KeyMingler", fullscreen);
font = font_load(FONT_FILE);
float text_width = font_width(font, LOADING_TEXT);
float text_height = font_height(font);
Vector2 pos = vec2((SCREEN_WIDTH - text_width) / 2.0f,
(SCREEN_HEIGHT - text_height) / 2.0f);
font_draw(font, LOADING_TEXT, 0, &pos, COLOR_WHITE);
video_present();
system_update();
game_init();
sounds_init();
music = sound_load_stream(MUSIC_FILE);
sound_play(music);
while(system_update()) {
game_update();
game_render();
video_present();
sound_update();
if(key_up(KEY_QUIT))
break;
}
font_free(font);
sound_free(music);
sounds_close();
game_close();
video_close();
layouts_close();
return 0;
}
int main(int argc, char*argv[])
{
if (argc < 2 || strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0) {
usage();
return 0;
}
signal(SIGINT, &onExit);
streaming = 0;
AVOutputFormat *fmt;
AVFormatContext *oc;
avcodec_init();
av_register_all();
fmt = av_guess_format(NULL, ".mkv", NULL);
if (!fmt) {
fprintf(stderr, "Could not find suitable output format\n");
exit(1);
}
fmt->flags = fmt->flags | AVFMT_NOFILE;
// allocate the output media context
oc = avformat_alloc_context();
if (!oc) {
fprintf(stderr, "Memory error\n");
exit(1);
}
oc->oformat = fmt;
// set the output parameters (must be done even if no parameters).
if (av_set_parameters(oc, NULL) < 0) {
fprintf(stderr, "Invalid output format parameters\n");
exit(1);
}
// * Initializiations *
video_record_init(fmt, oc);
video_play_init();
audio_record_init(fmt, oc);
// * Start recording and encoding audio and video *
stopRecording = 0;
pthread_create(&video_thread_id, NULL, startVideoEncoding, NULL);
pthread_create(&audio_thread_id, NULL, startAudioEncoding, NULL);
pthread_create(&keyboard_thread_id, NULL, captureKeyboard, NULL);
// * Connect to nameserver *
char * name = "default";
char* protocol = "0";
char* control_port = CONTROL_PORT_S;
if( argc >= 2)
name = argv[1];
if( argc >= 3)
protocol = argv[2];
if( argc >= 4)
control_port = argv[3];
register_nameserver(name, protocol, control_port);
// * Establish control, audio, and video connections *
if(protocol[0] == TCP)
establish_peer_connections(SOCK_STREAM);
else if(protocol[0] == UDP)
establish_peer_connections(SOCK_DGRAM);
else
exit(1);
send_init_control_packet( oc->streams[0], oc->streams[1] );
// * Transmit data through the network *
pthread_create(&control_network_thread_id, NULL, (void*)listen_control_packets,(void*) NULL);
pthread_create(&video_network_thread_id, NULL, (void*)stream_video_packets, (void*)NULL);
pthread_create(&audio_network_thread_id, NULL, (void*)stream_audio_packets, (void*)NULL);
streaming = 1;
// * Wait for threads to exit *
pthread_join(video_thread_id, NULL);
pthread_join(audio_thread_id, NULL);
pthread_join(keyboard_thread_id, NULL);
pthread_join(control_network_thread_id, NULL);
pthread_join(video_network_thread_id, NULL);
pthread_join(audio_network_thread_id, NULL);
// * Exit *
// pthread_mutex_destroy(&fileMutex);
sdl_quit();
video_close();
audio_close();
av_free(oc);
printf("[RECORDER] Quit Successfully\n");
return 0;
}
int dgreed_main(int argc, const char** argv) {
log_init("pview.log", LOG_LEVEL_INFO);
video_init(800, 600, "PView");
rand_init(666);
GuiDesc style = greed_gui_style(false);
gui_init(&style);
particles_init("greed_assets/", 5);
TexHandle empty = tex_load("greed_assets/empty.png");
if(psystem_descs_count < 1)
LOG_ERROR("No particle systems described!");
int active_backg = 0;
int active_desc = 0;
const char* active_desc_name = psystem_descs[active_desc].name;
RectF gui_area = rectf(0.0f, 0.0f, 520.0f, 80.0f);
RectF gui_area2 = rectf(0.0f, 500.0f, 280.0f, 600.0f);
Vector2 button_prev_pos = vec2(10.0f, 10.0f);
Vector2 button_next_pos = vec2(280.0f, 10.0f);
Vector2 button_backg_pos = vec2(10.0f, 550.0f);
Vector2 label_name_pos = vec2(20.0f, 60.0f);
char label_text[256];
while(system_update()) {
RectF src = rectf_null();
RectF dest = {0.0f, 0.0f, EDITOR_WIDTH, EDITOR_HEIGHT};
Color c = backgrounds[active_backg % ARRAY_SIZE(backgrounds)];
video_draw_rect(empty, 0, &src, &dest, c);
if(mouse_down(MBTN_LEFT)) {
uint x, y;
mouse_pos(&x, &y);
Vector2 pos = vec2((float)x, (float)y);
if(!rectf_contains_point(&gui_area, &pos))
if(!rectf_contains_point(&gui_area2, &pos))
particles_spawn(active_desc_name, &pos, 0.0f);
}
particles_update(time_ms() / 1000.0f);
sprintf(label_text, "Current psystem: %s", active_desc_name);
gui_label(&label_name_pos, label_text);
if(gui_button(&button_prev_pos, "Previuos"))
active_desc = MAX(0, active_desc-1);
if(gui_button(&button_next_pos, "Next"))
active_desc = MIN(psystem_descs_count-1, active_desc+1);
if(gui_button(&button_backg_pos, "Background color"))
active_backg++;
active_desc_name = psystem_descs[active_desc].name;
particles_draw();
draw_grid(0, 12.0f);
video_present();
}
tex_free(empty);
particles_close();
gui_close();
greed_gui_free();
video_close();
log_close();
return 0;
}
int main(int argc, char **argv)
{
int i,j;
int flags = fcntl(0, F_GETFL, 0); /* get current file status flags */
flags |= O_NONBLOCK; /* turn off blocking flag */
fcntl(0, F_SETFL, flags);
int status;
struct VISION_TASK visionTask;
unsigned long nb = 0;
/* Messaging used for GPP/DSP synchronization */
struct DSP_MSG msgToDsp;
struct DSP_MSG msgFromDsp;
system("sysctl -w kernel.shmmax=134217728");
system("sysctl -w kernel.shmall=134217728");
system("./cexec.out -T ddspbase_tiomap3430.dof64P");
//Image structures initailization
struct img_struct* img_new = malloc(sizeof(struct img_struct));
img_new->w = VIDEO_IN_W;
img_new->h = VIDEO_IN_H;
struct img_struct* img_dsp = malloc(sizeof(struct img_struct));
img_dsp->w = VIDEO_OUT_W;
img_dsp->h = VIDEO_OUT_H;
if(DSPVisionOpen(&visionTask,img_new, img_dsp)!=0)
{
printf("Fail to open DSP Vision\n");
return EXIT_FAILURE;
}
//Video streaming initilization
// Video Input
struct vid_struct vid;
vid.device = (char*)"/dev/video1";
vid.w=VIDEO_IN_W;
vid.h=VIDEO_IN_H;
vid.n_buffers = 4;
if (video_init(&vid)<0)
{
printf("Error initialising video\n");
return EXIT_FAILURE;
}
// Video Resizing
uint8_t quality_factor = 50; // From 0 to 99 (99=high)
uint8_t dri_jpeg_header = 0;
int millisleep = 10;
struct img_struct small;
small.w = vid.w / DOWNSIZE_FACTOR;
small.h = vid.h / DOWNSIZE_FACTOR;
small.buf = (uint8_t*)malloc(small.w*small.h*2);
// Video Compression
uint8_t* jpegbuf = (uint8_t*)malloc(vid.h*vid.w*2);
// Network Transmit
struct UdpSocket* vsock;
vsock = udp_socket("192.168.1.255", 5000, 5001, FMS_BROADCAST);
struct sigaction action;
memset(&action, 0, sizeof(action));
action.sa_handler = &sigint_handler;
sigaction(SIGINT, &action, &old_action);
struct timespec start,end;
unsigned long diffTime;
printf("Vision started...\n");
while(visionRun)
{
//usleep(1000 * millisleep);
diffTime = 0;
clock_gettime(CLOCK_MONOTONIC,&start);
while(diffTime<100000)
{
clock_gettime(CLOCK_MONOTONIC, &end);
diffTime = ((end.tv_sec - start.tv_sec)*1000000000 + (end.tv_nsec - start.tv_nsec))/1000;
}
//Get picture
video_grab_image(&vid, img_new);
printf("d... ");
clock_gettime(CLOCK_MONOTONIC, &start);
//Send it to the DSP
DSPProcessor_FlushMemory(visionTask.hProcessor, (PVOID)(visionTask.bufferSend),SIZEBUFF2DSP,0);
msgToDsp.dwCmd = VISION_WRITEREADY;
msgToDsp.dwArg1 = (DWORD)SIZEBUFF2DSP / g_dwDSPWordSize;
status = DSPNode_PutMessage(visionTask.hNode, &msgToDsp, DSP_FOREVER);
if (DSP_FAILED(status)) {
fprintf(stdout, "DSPProcessor_PutMessage failed. Status = 0x%x\n", (UINT)status);
}
//Read back
status = DSPNode_GetMessage(visionTask.hNode, &msgFromDsp, DSP_FOREVER);
if (DSP_FAILED(status)) {
fprintf(stdout, "DSPProcessor_GetMessage failed. Status = 0x%x\n", (UINT)status);
}
// Go ahead and flush here
DSPProcessor_InvalidateMemory(visionTask.hProcessor, (PVOID)(visionTask.bufferReceive),SIZEBUFF2MPU);
clock_gettime(CLOCK_MONOTONIC, &end);
diffTime = ((end.tv_sec - start.tv_sec)*1000000000 + (end.tv_nsec - start.tv_nsec))/1000;
printf("%d us\n", diffTime);
printf("Send picture %d\n", nb++);
send_rtp_frame(
vsock, // UDP
img_dsp->buf,msgFromDsp.dwArg1, // JPEG
img_dsp->w/DOWNSIZE_FACTOR, img_dsp->h/DOWNSIZE_FACTOR, // Img Size
0, // Format 422
quality_factor, // Jpeg-Quality
dri_jpeg_header, // DRI Header
0 // 90kHz time increment
);
}
sigaction(SIGINT, &old_action, NULL);
video_close(&vid);
DSPVisionClose(&visionTask);
return EXIT_SUCCESS;
}
void *computervision_thread_main(void* data)
{
// Video Input
struct vid_struct vid;
vid.device = (char*)"/dev/video1";
vid.w=1280;
vid.h=720;
vid.n_buffers = 4;
if (video_init(&vid)<0) {
printf("Error initialising video\n");
computervision_thread_status = -1;
return 0;
}
// Frame Grabbing
struct img_struct* img_new = video_create_image(&vid);
// Frame Resizing
uint8_t quality_factor = IMAGE_QUALITY_FACTOR;
uint8_t dri_jpeg_header = 1;
struct img_struct small;
small.w = vid.w / IMAGE_DOWNSIZE_FACTOR;
small.h = vid.h / IMAGE_DOWNSIZE_FACTOR;
small.buf = (uint8_t*)malloc(small.w*small.h*2);
// Commpressed image buffer
uint8_t* jpegbuf = (uint8_t*)malloc(vid.h*vid.w*2);
// file index (search from 0)
int file_index = 0;
int microsleep = (int)(1000000. / IMAGE_FPS);
while (computer_vision_thread_command > 0)
{
usleep(microsleep);
video_grab_image(&vid, img_new);
// Resize
resize_uyuv(img_new, &small, IMAGE_DOWNSIZE_FACTOR);
// JPEG encode the image:
uint32_t image_format = FOUR_TWO_TWO; // format (in jpeg.h)
uint8_t* end = encode_image (small.buf, jpegbuf, quality_factor, image_format, small.w, small.h, dri_jpeg_header);
uint32_t size = end-(jpegbuf);
#if IMAGE_SAVE
FILE* save;
char save_name[128];
if (system("mkdir -p /data/video/images") == 0) {
// search available index (max is 99)
for ( ; file_index < 99; file_index++) {
printf("search %d\n",file_index);
sprintf(save_name,"/data/video/images/img_%02d.jpg",file_index);
// test if file exists or not
if (access(save_name, F_OK) == -1) {
printf("access\n");
save = fopen(save_name, "w");
if (save != NULL) {
fwrite(jpegbuf, sizeof(uint8_t), size, save);
fclose(save);
}
else {
printf("Error when opening file %s\n", save_name);
}
// leave for loop
break;
}
else {printf("file exists\n");}
}
}
#endif
// Fork process
int status;
pid_t pid = fork();
if (pid == 0) {
// Open process to send using netcat in child process
char nc_cmd[64];
sprintf(nc_cmd, "nc %s %d", IMAGE_SERVER_IP, IMAGE_SERVER_PORT);
FILE* netcat;
netcat = popen(nc_cmd, "w");
if (netcat != NULL) {
fwrite(jpegbuf, sizeof(uint8_t), size, netcat);
if (pclose(netcat) == 0) {
printf("Sending image succesfully\n");
}
}
else {
printf("Fail sending image\n");
}
exit(0);
}
else if (pid < 0) {
printf("Fork failed\n");
}
else {
// Parent is waiting for child to terminate
wait(&status);
}
}
printf("Thread Closed\n");
video_close(&vid);
computervision_thread_status = -100;
return 0;
}
/*{{{ PROC ..video.close (VAL VIDEO.DEVICE vdev, RESULT BOOL ok)*/
void _video_close (int *w) { *((int *)w[1]) = video_close ((opi_video_device_t *)(w[0])); }
int main(int argc, char *argv[])
{
struct device dev;
int ret;
/* Options parsings */
int do_file = 0, do_capture = 0, do_pause = 0;
int do_set_time_per_frame = 0;
int do_enum_formats = 0, do_set_format = 0;
int do_enum_inputs = 0, do_set_input = 0;
int do_list_controls = 0, do_get_control = 0, do_set_control = 0;
int do_sleep_forever = 0, do_requeue_last = 0;
int no_query = 0;
char *endptr;
int c;
/* Controls */
int ctrl_name = 0;
int ctrl_value = 0;
/* Video buffers */
enum v4l2_memory memtype = V4L2_MEMORY_MMAP;
unsigned int pixelformat = V4L2_PIX_FMT_YUYV;
unsigned int width = 640;
unsigned int height = 480;
unsigned int nbufs = V4L_BUFFERS_DEFAULT;
unsigned int input = 0;
unsigned int skip = 0;
unsigned int quality = (unsigned int)-1;
unsigned int userptr_offset = 0;
struct v4l2_fract time_per_frame = {1, 25};
/* Capture loop */
unsigned int delay = 0, nframes = (unsigned int)-1;
const char *filename = "/dev/shm/capture.output";
opterr = 0;
while ((c = getopt_long(argc, argv, "c::d:f:F::hi:ln:pq:r:s:t:uw:", opts, NULL)) != -1) {
switch (c) {
case 'c':
do_capture = 1;
if (optarg)
nframes = atoi(optarg);
break;
case 'd':
delay = atoi(optarg);
break;
case 'f':
do_set_format = 1;
if (strcasecmp(optarg, "MJPEG") == 0)
pixelformat = V4L2_PIX_FMT_MJPEG;
else if (strcasecmp(optarg, "YUYV") == 0)
pixelformat = V4L2_PIX_FMT_YUYV;
else if (strcasecmp(optarg, "UYVY") == 0)
pixelformat = V4L2_PIX_FMT_UYVY;
else if (strcasecmp(optarg, "Y16") == 0)
pixelformat = V4L2_PIX_FMT_Y16;
else if (strcasecmp(optarg, "SGRBG10_DPMC8") == 0)
pixelformat = V4L2_PIX_FMT_SGRBG10DPCM8;
else if (strcasecmp(optarg, "SGRBG10") == 0)
pixelformat = V4L2_PIX_FMT_SGRBG10;
#ifdef V4L2_PIX_FMT_SGRBG12
else if (strcasecmp(optarg, "SGRBG12") == 0)
pixelformat = V4L2_PIX_FMT_SGRBG12;
#endif
else if (strcasecmp(optarg, "DV") == 0)
pixelformat = V4L2_PIX_FMT_DV;
else {
printf("Unsupported video format '%s'\n", optarg);
return 1;
}
break;
case 'F':
do_file = 1;
if (optarg)
filename = optarg;
break;
case 'h':
usage(argv[0]);
return 0;
case 'i':
do_set_input = 1;
input = atoi(optarg);
break;
case 'l':
do_list_controls = 1;
break;
case 'n':
nbufs = atoi(optarg);
if (nbufs > V4L_BUFFERS_MAX)
nbufs = V4L_BUFFERS_MAX;
break;
case 'p':
do_pause = 1;
break;
case 'q':
quality = atoi(optarg);
break;
case 'r':
ctrl_name = strtol(optarg, &endptr, 0);
if (*endptr != 0) {
printf("Invalid control name '%s'\n", optarg);
return 1;
}
do_get_control = 1;
break;
case 's':
do_set_format = 1;
width = strtol(optarg, &endptr, 10);
if (*endptr != 'x' || endptr == optarg) {
printf("Invalid size '%s'\n", optarg);
return 1;
}
height = strtol(endptr + 1, &endptr, 10);
if (*endptr != 0) {
printf("Invalid size '%s'\n", optarg);
return 1;
}
break;
case 't':
do_set_time_per_frame = 1;
time_per_frame.numerator = strtol(optarg, &endptr, 10);
if (*endptr != '/' || endptr == optarg) {
printf("Invalid time per frame '%s'\n", optarg);
return 1;
}
time_per_frame.denominator = strtol(endptr + 1, &endptr, 10);
if (*endptr != 0) {
printf("Invalid time per frame '%s'\n", optarg);
return 1;
}
break;
case 'u':
memtype = V4L2_MEMORY_USERPTR;
break;
case 'w':
ctrl_name = strtol(optarg, &endptr, 0);
if (*endptr != ' ' || endptr == optarg) {
printf("Invalid control name '%s'\n", optarg);
return 1;
}
ctrl_value = strtol(endptr + 1, &endptr, 0);
if (*endptr != 0) {
printf("Invalid control value '%s'\n", optarg);
return 1;
}
do_set_control = 1;
break;
case OPT_ENUM_FORMATS:
do_enum_formats = 1;
break;
case OPT_ENUM_INPUTS:
do_enum_inputs = 1;
break;
case OPT_NO_QUERY:
no_query = 1;
break;
case OPT_REQUEUE_LAST:
do_requeue_last = 1;
break;
case OPT_SKIP_FRAMES:
skip = atoi(optarg);
break;
case OPT_SLEEP_FOREVER:
do_sleep_forever = 1;
break;
case OPT_USERPTR_OFFSET:
userptr_offset = atoi(optarg);
break;
default:
printf("Invalid option -%c\n", c);
printf("Run %s -h for help.\n", argv[0]);
return 1;
}
}
if (optind >= argc) {
usage(argv[0]);
return 1;
}
if (!do_file)
filename = NULL;
/* Open the video device. */
ret = video_open(&dev, argv[optind], no_query);
if (ret < 0)
return 1;
dev.memtype = memtype;
if (do_get_control)
uvc_get_control(&dev, ctrl_name);
if (do_set_control)
uvc_set_control(&dev, ctrl_name, ctrl_value);
if (do_list_controls)
video_list_controls(&dev);
if (do_enum_formats) {
printf("- Available formats:\n");
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_CAPTURE);
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OUTPUT);
video_enum_formats(&dev, V4L2_BUF_TYPE_VIDEO_OVERLAY);
}
if (do_enum_inputs) {
printf("- Available inputs:\n");
video_enum_inputs(&dev);
}
if (do_set_input) {
video_set_input(&dev, input);
ret = video_get_input(&dev);
printf("Input %d selected\n", ret);
}
/* Set the video format. */
if (do_set_format) {
if (video_set_format(&dev, width, height, pixelformat) < 0) {
video_close(&dev);
return 1;
}
}
if (!no_query || do_capture)
video_get_format(&dev);
/* Set the frame rate. */
if (do_set_time_per_frame) {
if (video_set_framerate(&dev, &time_per_frame) < 0) {
video_close(&dev);
return 1;
}
}
while (do_sleep_forever)
sleep(1000);
if (!do_capture) {
video_close(&dev);
return 0;
}
/* Set the compression quality. */
if (video_set_quality(&dev, quality) < 0) {
video_close(&dev);
return 1;
}
if (video_prepare_capture(&dev, nbufs, userptr_offset, filename)) {
video_close(&dev);
return 1;
}
if (do_pause) {
printf("Press enter to start capture\n");
getchar();
}
if (video_do_capture(&dev, nframes, skip, delay, filename, do_requeue_last) < 0) {
video_close(&dev);
return 1;
}
video_close(&dev);
return 0;
}
application_t *application_init(struct config *cfg)
{
DEBUG("application_init()");
assert(cfg != 0);
application_t *app = calloc(1, sizeof(struct _application));
assert(app != 0);
// Initialize graphics
if(!(app->graphics = graphics_init(cfg->app_window_id)))
{
ERROR("Cannot initialize graphics");
goto error;
}
// Create atlases
if(!(app->atlas1 = graphics_atlas_create(cfg->graphics_font_file, cfg->graphics_font_size_1)) ||
!(app->atlas2 = graphics_atlas_create(cfg->graphics_font_file, cfg->graphics_font_size_2)))
{
ERROR("Cannot create atlas");
goto error;
}
// Create image
if(!(app->image = graphics_image_create(app->graphics, cfg->video_width, cfg->video_height, cfg->video_format, ANCHOR_CENTER)))
{
ERROR("Cannot create image");
goto error;
}
// Create HUD
if(!(app->hud = graphics_hud_create(app->graphics, app->atlas1, cfg->graphics_font_color_1, cfg->graphics_font_size_1, cfg->video_hfov, cfg->video_vfov)))
{
ERROR("Cannot create HUD");
goto error;
}
// Initialize GPS
memcpy(&app->gps_config, &cfg->gps_conf, sizeof(struct gps_config));
app->gps_config.userdata = app;
app->gps_config.create_label = create_label_handler;
app->gps_config.delete_label = delete_label_handler;
if(!(app->gps = gps_init(cfg->gps_device, &app->gps_config)))
{
ERROR("Cannot initialize GPS");
goto error;
}
// Initialize IMU
memcpy(&app->imu_config, &cfg->imu_conf, sizeof(struct imu_config));
if(!(app->imu = imu_init(cfg->imu_device, &app->imu_config)))
{
ERROR("Cannot initialize IMU");
goto error;
}
// Open video
if(!(app->video = video_open(cfg->video_device, cfg->video_width, cfg->video_height, cfg->video_format, cfg->video_interlace)))
{
ERROR("Cannot open video device");
goto error;
}
// Copy arguments
app->video_width = cfg->video_width;
app->video_height = cfg->video_height;
app->window_width = cfg->window_width;
app->window_height = cfg->window_height;
app->video_hfov = cfg->video_hfov;
app->video_vfov = cfg->video_vfov;
app->visible_distance = cfg->app_landmark_vis_dist;
memcpy(app->label_color, cfg->graphics_font_color_2, 4);
return app;
error:
if(app->video) video_close(app->video);
if(app->gps) gps_free(app->gps);
if(app->imu) imu_free(app->imu);
if(app->image) graphics_drawable_free(app->image);
if(app->hud) graphics_hud_free(app->hud);
if(app->atlas1) graphics_atlas_free(app->atlas1);
if(app->atlas2) graphics_atlas_free(app->atlas2);
if(app->graphics) graphics_free(app->graphics);
free(app);
return NULL;
}
void horizontal_velocities_close()
{
fclose(file_fd);
video_close();
}