C_RESULT output_gtk_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
vp_os_mutex_lock(&video_update_lock);
/* Get a reference to the last decoded picture */
pixbuf_data = (uint8_t*)in->buffers[0]; // we casten het naar een pointer van type uint8_t!!
// returns: A newly-created GdkPixbuf structure with a reference count of 1.
pixbuf = gdk_pixbuf_new_from_data(pixbuf_data, // image data in 8-bit/sample packed format
GDK_COLORSPACE_RGB,
FALSE, // has alpha
8, // bits per sample
imageWidth,
imageHeight,
imageWidth * 3, // distance in bites between rowstride
NULL, // GdkPixbufDestroyNotify detroy_fn
NULL); // gpoint destroy_fn_data);
sprintf(imageName, "images/frame%05d.jpg", ++imageCounter);
gdk_pixbuf_save(pixbuf, imageName, "jpeg", NULL, "quality", "100", NULL);
vp_os_mutex_unlock(&video_update_lock);
// Check if we need to switch the video feed to bottom or horizontal camera
if(videoSwitch != oldVideoSwitch)
{
oldVideoSwitch = videoSwitch;
if(videoSwitch > 0)
{
ardrone_at_zap(ZAP_CHANNEL_HORI);
imageWidth = 320;
imageHeight = 240;
}
else
{
ardrone_at_zap(ZAP_CHANNEL_VERT);
imageWidth = 320;
imageHeight = 144;
}
}
return (SUCCESS);
}
C_RESULT output_gtk_stage_open( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
g_type_init();
//ardrone_at_zap(ZAP_CHANNEL_VERT);
ardrone_at_zap(ZAP_CHANNEL_HORI);
//ardrone_at_zap(ZAP_CHANNEL_LARGE_HORI_SMALL_VERT);
imageCounter = 0;
/*
int cdResult, rmResult;
cdResult = system("cd images");
if (cdResult == 1)
{
rmResult = system("rm frame*.jpg");
if (rmResult == 1)
return (SUCCESS);
}
*/
return (SUCCESS);
}
void ardrone_at_zapC(ZAP_VIDEO_CHANNEL channel){ardrone_at_zap(channel);}
int _stdcall ChangeToBottomCamera() {
ardrone_at_zap(ZAP_CHANNEL_VERT);
return 0;
}
int _stdcall ChangeToFrontCamera() {
ardrone_at_zap(ZAP_CHANNEL_HORI);
return 0;
}
void checkErrors(void)
{
input_state_t* input_state = ardrone_tool_get_input_state();
strcpy(ctrldata.error_msg, "");
if(!ctrldata.wifiReachabled)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_WIFI_NOT_REACHABLED]);
strcat(ctrldata.error_msg, "\n");
resetControlData();
}
else
{
if(ctrldata.needAnimation >= 0)
{
ardrone_at_set_anim(ctrldata.needAnimation, MAYDAY_TIMEOUT[ctrldata.needAnimation]);
ctrldata.needAnimation = -1;
}
if(ctrldata.needVideoSwitch >= 0)
{
ardrone_at_zap(ctrldata.needVideoSwitch);
ctrldata.needVideoSwitch = -1;
}
if(ctrldata.needChangeCameraDetection >= 0)
{
ardrone_at_cad(ctrldata.needChangeCameraDetection, ctrldata.tag_size);
ctrldata.needChangeCameraDetection = -1;
}
if(ctrldata.needLedAnimation >= 0)
{
ardrone_at_set_led_animation(ctrldata.needLedAnimation, ctrldata.ledAnimFreq, ctrldata.ledAnimDuration);
ctrldata.needLedAnimation = -1;
}
if(ctrldata.needSetEmergency)
{
ctrldata.isInEmergency = ctrlnavdata.emergencyLanding;
ardrone_tool_set_ui_pad_select(1);
ctrldata.needSetEmergency = FALSE;
}
if( ctrldata.needSetNavdataDemo)
{
if( control_ack_configure_navdata_demo(ctrldata.navdata_demo))
ctrldata.needSetNavdataDemo = FALSE;
}
else if( ctrldata.needSetPairing )
{
if(control_ack_configure_mac_address((const char*)&iphone_mac_address[0]))
ctrldata.needSetPairing = FALSE;
}
else if(ctrldata.needSetFrequency)
{
if(control_ack_configure_ultrasound_frequency(!ctrldata.is_client))
ctrldata.needSetFrequency = FALSE;
}
else if(ctrldata.needSetManualTrim)
{
if(control_ack_configure_manual_trim(ctrldata.manual_trim))
{
ctrldata.needSetManualTrim = FALSE;
ctrldata.manual_trim_enabled = ctrldata.manual_trim;
}
}
else if(ctrldata.needGetConfiguration)
{
//PRINT("Request configuration file\n");
if(control_get_configuration())
ctrldata.needGetConfiguration = FALSE;
}
if((ctrldata.framecounter % (kFPS / 2)) == 0)
{
if(ctrlnavdata.bootstrap)
{
setNavdataDemo(TRUE);
ctrldata.needSetFrequency = TRUE;
ctrldata.needGetConfiguration = TRUE;
ctrldata.needSetPairing = TRUE;
}
}
if(ardrone_navdata_client_get_num_retries() >= NAVDATA_MAX_RETRIES)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_CANT_CONNECT_TO_TOY]);
strcat(ctrldata.error_msg, "\n");
resetControlData();
}
else if(ctrlnavdata.emergencyLanding)
{
if(!ctrldata.isInEmergency && input_state->select)
ardrone_tool_set_ui_pad_select(0);
strcpy(ctrldata.emergency_msg, "reset");
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_PRESS_RESET]);
strcat(ctrldata.error_msg, "\n");
if(ctrlnavdata.ultrasoundProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_ULTRASOUND]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.cutoutProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_CUT_OUT]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.motorsProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_MOTORS]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.cameraProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_CAMERA]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.adcProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_PIC_WATCHDOG]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.adcVersionProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_PIC_VERSION]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.anglesProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_TOO_MUCH_ANGLE]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.vbatLowProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_BATTERY_LOW]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.userEmergency)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_USER]);
strcat(ctrldata.error_msg, "\n");
}
else
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_EMERGENCY_UNKNOWN]);
strcat(ctrldata.error_msg, "\n");
}
resetControlData();
ardrone_tool_start_reset();
if(ctrlnavdata.startPressed)
switchTakeOff();
}
else if(!ctrlnavdata.emergencyLanding)
{
if(ctrldata.isInEmergency && input_state->select)
ardrone_tool_set_ui_pad_select(0);
if(video_stage_get_num_retries() > VIDEO_MAX_RETRIES)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_ALERT_NO_VIDEO_CONNECTION]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.vbatLowProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_ALERT_BATTERY_LOW]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.ultrasoundProblem)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_ALERT_ULTRASOUND]);
strcat(ctrldata.error_msg, "\n");
}
else if(ctrlnavdata.visionProblem && ctrlnavdata.flyingState)
{
strcat(ctrldata.error_msg, messages[MESSAGEBOX_ALERT_VISION]);
strcat(ctrldata.error_msg, "\n");
}
if(!ctrlnavdata.timerElapsed)
strcpy(ctrldata.emergency_msg, "emergency");
if(input_state->start)
{
if(ctrlnavdata.startPressed)
{
strcpy(ctrldata.takeoff_msg, "take_land");
}
else
{
strcpy(ctrldata.takeoff_msg, "take_off");
strcat(ctrldata.error_msg, messages[MESSAGEBOX_START_NOT_RECEIVED]);
strcat(ctrldata.error_msg, "\n");
}
}
else
{
strcpy(ctrldata.takeoff_msg, "take_off");
}
}
}
}
