void video_clean()
{
if(close(sock_video) < 0)
perror("Error stopping video connection");
video_stop_decoder();
video_queue_free();
}
int jakopter_init_video() {
pthread_mutex_lock(&mutex_init);
//do not try to initialize the thread if it's already running !
pthread_mutex_lock(&mutex_terminated);
if(!terminated) {
pthread_mutex_unlock(&mutex_terminated);
fprintf(stderr, "Video thread already running.\n");
pthread_mutex_unlock(&mutex_init);
return -1;
}
pthread_mutex_unlock(&mutex_terminated);
//make the thread detached so that it can close itself without us having
//to join with it in order to free its resources.
pthread_attr_t thread_attribs;
pthread_attr_init(&thread_attribs);
pthread_attr_setdetachstate(&thread_attribs, PTHREAD_CREATE_DETACHED);
addr_drone_video.sin_family = AF_INET;
addr_drone_video.sin_addr.s_addr = inet_addr(WIFI_ARDRONE_IP);
addr_drone_video.sin_port = htons(PORT_VIDEO);
//initialiser le fdset
FD_ZERO(&vid_fd_set);
/* NOT NEEDED NOW
//initialize the video buffer's extremity to zero to prevent
//possible errors during the decoding process by ffmpeg.
//Do not reference FF_INPUT_BUFFER_PADDING_SIZE directly to keep tasks as separated as possible.
memset(tcp_buf+BASE_VIDEO_BUF_SIZE, 0, TCP_VIDEO_BUF_SIZE-BASE_VIDEO_BUF_SIZE);
*/
//initialize the video decoder
if(video_init_decoder() < 0) {
fprintf(stderr, "Error initializing decoder, aborting.\n");
pthread_attr_destroy(&thread_attribs);
pthread_mutex_unlock(&mutex_init);
return -1;
}
sock_video = socket(AF_INET, SOCK_STREAM, 0);
if(sock_video < 0) {
fprintf(stderr, "Error : couldn't bind TCP socket.\n");
video_stop_decoder();
pthread_attr_destroy(&thread_attribs);
pthread_mutex_unlock(&mutex_init);
return -1;
}
//bind du socket client pour le forcer sur le port choisi
if(connect(sock_video, (struct sockaddr*)&addr_drone_video, sizeof(addr_drone_video)) < 0) {
perror("Error connecting to video stream");
video_clean();
pthread_attr_destroy(&thread_attribs);
pthread_mutex_unlock(&mutex_init);
return -1;
}
//ajouter le socket au set pour select
FD_SET(sock_video, &vid_fd_set);
stopped = 0;
terminated = 0;
//démarrer la réception des packets vidéo
if(pthread_create(&video_thread, &thread_attribs, video_routine, NULL) < 0) {
perror("Error creating the main video thread");
stopped = 1;
terminated = 1;
video_clean();
pthread_attr_destroy(&thread_attribs);
pthread_mutex_unlock(&mutex_init);
return -1;
}
pthread_attr_destroy(&thread_attribs);
//now that we're done initializing, release the lock.
pthread_mutex_unlock(&mutex_init);
return 0;
}
int jakopter_init_video()
{
//do not try to initialize the thread if it's already running !
pthread_mutex_lock(&mutex_stopped);
if(!stopped) {
fprintf(stderr, "Video thread already running.\n");
pthread_mutex_unlock(&mutex_stopped);
return -1;
}
//make sure the thread is terminated
video_join_thread();
addr_drone_video.sin_family = AF_INET;
addr_drone_video.sin_addr.s_addr = inet_addr(WIFI_ARDRONE_IP);
addr_drone_video.sin_port = htons(PORT_VIDEO);
//initialize the fdset
FD_ZERO(&vid_fd_set);
//initialize the video decoder
if(video_init_decoder() < 0) {
fprintf(stderr, "Error initializing decoder, aborting.\n");
pthread_mutex_unlock(&mutex_stopped);
return -1;
}
sock_video = socket(AF_INET, SOCK_STREAM, 0);
if(sock_video < 0) {
fprintf(stderr, "Error : couldn't bind TCP socket.\n");
video_stop_decoder();
pthread_mutex_unlock(&mutex_stopped);
return -1;
}
//bind the client socket to force it on the drone's port
if(connect(sock_video, (struct sockaddr*)&addr_drone_video, sizeof(addr_drone_video)) < 0) {
perror("Error connecting to video stream");
video_clean();
pthread_mutex_unlock(&mutex_stopped);
return -1;
}
//add the socket to the set, for use with select()
FD_SET(sock_video, &vid_fd_set);
//initialize the queue structure that handles decoding->processing data passing
video_queue_init();
//start the threads responsible for video processing and reception
if(pthread_create(&processing_thread, NULL, processing_routine, NULL) < 0) {
perror("Error creating the video processing thread");
video_clean();
pthread_mutex_unlock(&mutex_stopped);
return -1;
}
//make the reception thread detached so that it can close itself without us having
//to join with it in order to free its resources.
/*pthread_attr_t thread_attribs;
pthread_attr_init(&thread_attribs);
pthread_attr_setdetachstate(&thread_attribs, PTHREAD_CREATE_DETACHED);*/
if(pthread_create(&video_thread, NULL, video_routine, NULL) < 0) {
perror("Error creating the main video thread");
video_clean();
//pthread_attr_destroy(&thread_attribs);
pthread_mutex_unlock(&mutex_stopped);
return -1;
}
//pthread_attr_destroy(&thread_attribs);
//Initialization went OK -> set the guard variables so that the threads can start.
if(frame_processing_init != NULL)
frame_processing_init();
stopped = 0;
terminated = 0;
pthread_mutex_unlock(&mutex_stopped);
return 0;
}
