C_RESULT
vp_stages_frame_pipe_receiver_transform(vp_stages_frame_pipe_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
vp_os_mutex_lock(&out->lock);
if(out->status == VP_API_STATUS_INIT)
{
out->numBuffers = 1;
out->indexBuffer = 0;
out->status = VP_API_STATUS_PROCESSING;
}
if( out->status == VP_API_STATUS_PROCESSING )
{
vp_os_mutex_lock(&(cfg->pipe_mut));
{
if (cfg->pipe_state != SENDER_ERROR)
{
if (cfg->pipe_state == FETCH_PAUSE)
{
// a frame has alerady been fetched by a fetch stage
cfg->pipe_state = PAUSE;
}
else
{
// no fetch stage was executed, ask for a frame transfer
cfg->pipe_state = WAIT_RECEPTION;
vp_os_cond_wait (&(cfg->buffer_sent));
}
if (cfg->mode == FAST && cfg->pipe_state != SENDER_ERROR)
{
// at this point a new frame is available in the copy buffer
// swap the two output buffer to make new picture available in outPicture
vp_api_picture_t temp = cfg->outPicture;
cfg->outPicture = cfg->copyPicture;
cfg->copyPicture = temp;
// trigger a new frame transfert
cfg->pipe_state = FETCH;
}
// at this point, we are sure that cfg->outPicture was initialized by the sender
out->buffers = &(cfg->outPicture.raw);
out->size = cfg->frame_size;
}
}
vp_os_mutex_unlock(&(cfg->pipe_mut));
if (cfg->callback != NULL)
cfg->callback();
}
vp_os_mutex_unlock(&out->lock);
return C_OK;
}
C_RESULT vp_com_wait_for_server_up(void)
{
if( server_init_not_finished )
{
vp_os_mutex_lock(&server_initialisation_mutex);
vp_os_cond_wait(&server_initialisation_wait);
vp_os_mutex_unlock(&server_initialisation_mutex);
}
return C_OK;
}
int8_t *videoServer_waitForNewFrame() {
/* Wait for a new available frame */
vp_os_mutex_lock(&frameBufferMutex);
//C_RESULT res = vp_os_cond_timed_wait(&frameBufferCond, MAX_FRAME_WAIT_SECONDS * 1000);
//if (SUCCEED(res) && availVideoBuffer != NULL)
vp_os_cond_wait(&frameBufferCond);
if (availVideoBuffer != NULL) {
((VideoFrameHeader *)frameBuffer)->videoData.timeCodeH = (unsigned int)(videoServer_lastFrameTimeCode >> 32);
((VideoFrameHeader *)frameBuffer)->videoData.timeCodeL = (unsigned int)(videoServer_lastFrameTimeCode & 0xFFFFFFFF);
((VideoFrameHeader *)frameBuffer)->videoData.encoding = videoServer_frameSourceEncoding;
((VideoFrameHeader *)frameBuffer)->videoData.width = videoServer_frameWidth;
((VideoFrameHeader *)frameBuffer)->videoData.height = videoServer_frameHeight;
((VideoFrameHeader *)frameBuffer)->videoData.dataLength = videoServer_framePacketLength - sizeof(VideoFrameHeader);
vp_os_memcpy(&frameBuffer[sizeof(VideoFrameHeader)], availVideoBuffer, videoServer_framePacketLength - sizeof(VideoFrameHeader));
vp_os_mutex_unlock(&frameBufferMutex);
availVideoBuffer = NULL;
return frameBuffer;
}
PROTO_THREAD_ROUTINE(dct, params)
{
uint32_t i;
PRINT("DCT thread start\n");
while(1)
{
if( current_io_buffer == NULL )
{
vp_os_mutex_lock(&dct_start_mutex);
vp_os_cond_wait(&dct_start_cond);
vp_os_mutex_unlock(&dct_start_mutex);
}
if( current_io_buffer->dct_mode == DCT_MODE_FDCT )
{
for( i = 0; i < current_io_buffer->num_total_blocks; i++ )
{
fdct(current_io_buffer->input[i], current_io_buffer->output[i]);
}
}
else if( current_io_buffer->dct_mode == DCT_MODE_IDCT )
{
for( i = 0; i < current_io_buffer->num_total_blocks; i++ )
{
idct(current_io_buffer->input[i], current_io_buffer->output[i]);
}
}
vp_os_mutex_lock(&critical_section);
result_io_buffer = current_io_buffer;
current_io_buffer = NULL;
vp_os_mutex_unlock(&critical_section);
}
return 0;
}
DEFINE_THREAD_ROUTINE(video_stage, data)
{
C_RESULT res;
vp_api_io_pipeline_t pipeline;
vp_api_io_data_t out;
vp_api_io_stage_t stages[NB_STAGES];
vp_api_picture_t picture;
vlib_stage_decoding_config_t vec;
vp_os_memset(&icc, 0, sizeof( icc ));
vp_os_memset(&vec, 0, sizeof( vec ));
vp_os_memset(&picture, 0, sizeof( picture ));
//#ifdef RECORD_VIDEO
// video_stage_recorder_config_t vrc;
//#endif
/// Picture configuration
picture.format = /*PIX_FMT_YUV420P */ PIX_FMT_RGB565;
picture.width = 512;
picture.height = 512;
picture.framerate = 15;
picture.y_buf = vp_os_malloc( picture.width * picture.height * 2);
picture.cr_buf = NULL;
picture.cb_buf = NULL;
picture.y_line_size = picture.width * 2;
picture.cb_line_size = 0;
picture.cr_line_size = 0;
icc.com = COM_VIDEO();
icc.buffer_size = 100000;
icc.protocol = VP_COM_UDP;
COM_CONFIG_SOCKET_VIDEO(&icc.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
vec.width = 512;
vec.height = 512;
vec.picture = &picture;
vec.luma_only = FALSE;
vec.block_mode_enable = TRUE;
pipeline.nb_stages = 0;
stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
stages[pipeline.nb_stages].cfg = (void *)&icc;
stages[pipeline.nb_stages].funcs = video_com_funcs;
pipeline.nb_stages++;
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void*)&vec;
stages[pipeline.nb_stages].funcs = vlib_decoding_funcs;
pipeline.nb_stages++;
/*
#ifdef RECORD_VIDEO
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void*)&vrc;
stages[pipeline.nb_stages].funcs = video_recorder_funcs;
pipeline.nb_stages++;
#endif
*/
stages[pipeline.nb_stages].type = VP_API_OUTPUT_LCD;
stages[pipeline.nb_stages].cfg = (void*)&vec;
stages[pipeline.nb_stages].funcs = video_stage_funcs;
pipeline.nb_stages++;
pipeline.stages = &stages[0];
if( !ardrone_tool_exit() )
{
PRINT("\nvideo stage thread initialisation\n\n");
// NICK
video_stage_init();
res = vp_api_open(&pipeline, &pipeline_handle);
if( VP_SUCCEEDED(res) )
{
int loop = VP_SUCCESS;
out.status = VP_API_STATUS_PROCESSING;
#ifdef RECORD_VIDEO
{
DEST_HANDLE dest;
dest.stage = 2;
dest.pipeline = pipeline_handle;
vp_api_post_message( dest, PIPELINE_MSG_START, NULL, (void*)NULL);
}
#endif
video_stage_in_pause = FALSE;
while( !ardrone_tool_exit() && (loop == VP_SUCCESS) )
{
if(video_stage_in_pause)
{
vp_os_mutex_lock(&video_stage_mutex);
icc.num_retries = VIDEO_MAX_RETRIES;
vp_os_cond_wait(&video_stage_condition);
vp_os_mutex_unlock(&video_stage_mutex);
}
if( VP_SUCCEEDED(vp_api_run(&pipeline, &out)) ) {
if( (out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING) ) {
loop = VP_SUCCESS;
}
}
else loop = -1; // Finish this thread
}
vp_api_close(&pipeline, &pipeline_handle);
}
}
PRINT(" video stage thread ended\n\n");
return (THREAD_RET)0;
}
DEFINE_THREAD_ROUTINE( navdata_update, nomParams )
{
C_RESULT res;
int32_t i, size;
uint32_t cks, navdata_cks, sequence = NAVDATA_SEQUENCE_DEFAULT-1;
struct timeval tv;
#ifdef _WIN32
int timeout_for_windows=1000/*milliseconds*/;
#endif
navdata_t* navdata = (navdata_t*) &navdata_buffer[0];
tv.tv_sec = 1/*second*/;
tv.tv_usec = 0;
res = C_OK;
if( VP_FAILED(vp_com_open(COM_NAVDATA(), &navdata_socket, &navdata_read, &navdata_write)) )
{
printf("VP_Com : Failed to open socket for navdata\n");
res = C_FAIL;
}
if( VP_SUCCEEDED(res) )
{
PRINT("Thread navdata_update in progress...\n");
#ifdef _WIN32
setsockopt((int32_t)navdata_socket.priv, SOL_SOCKET, SO_RCVTIMEO, (const char*)&timeout_for_windows, sizeof(timeout_for_windows));
/* Added by Stephane to force the drone start sending data. */
if(navdata_write)
{
int sizeinit = 5;
navdata_write( (void*)&navdata_socket, (int8_t*)"Init", &sizeinit );
}
#else
setsockopt((int32_t)navdata_socket.priv, SOL_SOCKET, SO_RCVTIMEO, (const char*)&tv, sizeof(tv));
#endif
i = 0;
while( ardrone_navdata_handler_table[i].init != NULL )
{
// if init failed for an handler we set its process function to null
// We keep its release function for cleanup
if( VP_FAILED( ardrone_navdata_handler_table[i].init(ardrone_navdata_handler_table[i].data) ) )
ardrone_navdata_handler_table[i].process = NULL;
i ++;
}
navdata_thread_in_pause = FALSE;
while( VP_SUCCEEDED(res)
&& !ardrone_tool_exit()
&& bContinue )
{
if(navdata_thread_in_pause)
{
vp_os_mutex_lock(&navdata_client_mutex);
num_retries = NAVDATA_MAX_RETRIES + 1;
vp_os_cond_wait(&navdata_client_condition);
vp_os_mutex_unlock(&navdata_client_mutex);
}
if( navdata_read == NULL )
{
res = C_FAIL;
continue;
}
size = NAVDATA_MAX_SIZE;
navdata->header = 0; // Soft reset
res = navdata_read( (void*)&navdata_socket, (int8_t*)&navdata_buffer[0], &size );
#ifdef _WIN32
if( size <= 0 )
#else
if( size == 0 )
#endif
{
// timeout
PRINT("Timeout\n");
ardrone_navdata_open_server();
sequence = NAVDATA_SEQUENCE_DEFAULT-1;
num_retries++;
}
else
num_retries = 0;
if( VP_SUCCEEDED( res ) )
{
if( navdata->header == NAVDATA_HEADER )
{
if( ardrone_get_mask_from_state(navdata->ardrone_state, ARDRONE_COM_WATCHDOG_MASK) )
{
// reset sequence number because of com watchdog
// This code is mandatory because we can have a com watchdog without detecting it on mobile side :
// Reconnection is fast enough (less than one second)
sequence = NAVDATA_SEQUENCE_DEFAULT-1;
if( ardrone_get_mask_from_state(navdata->ardrone_state, ARDRONE_NAVDATA_BOOTSTRAP) == FALSE )
ardrone_tool_send_com_watchdog(); // acknowledge
}
if( navdata->sequence > sequence )
{
i = 0;
ardrone_navdata_unpack_all(&navdata_unpacked, navdata, &navdata_cks);
cks = ardrone_navdata_compute_cks( &navdata_buffer[0], size - sizeof(navdata_cks_t) );
if( cks == navdata_cks )
{
while( ardrone_navdata_handler_table[i].init != NULL )
{
if( ardrone_navdata_handler_table[i].process != NULL )
ardrone_navdata_handler_table[i].process( &navdata_unpacked );
i++;
}
}
else
{
PRINT("[Navdata] Checksum failed : %d (distant) / %d (local)\n", navdata_cks, cks);
}
}
else
{
PRINT("[Navdata] Sequence pb : %d (distant) / %d (local)\n", navdata->sequence, sequence);
}
// remaining = sizeof(navdata);
sequence = navdata->sequence;
}
}
}
// Release resources alllocated by handlers
i = 0;
while( ardrone_navdata_handler_table[i].init != NULL )
{
ardrone_navdata_handler_table[i].release();
i ++;
}
}
vp_com_close(COM_NAVDATA(), &navdata_socket);
DEBUG_PRINT_SDK("Thread navdata_update ended\n");
return (THREAD_RET)res;
}
DEFINE_THREAD_ROUTINE(main_application_thread, data)
{
/* Mutexes for synchronisation */
vp_os_mutex_init(&test_mutex);
vp_os_cond_init(&test_condition,&test_mutex);
vp_os_delay(1000);
//fflush(stdin);
printf("[IMPORTANT] Please check you deleted all configuration files on the drone before starting.\n");
printf("\n Resetting the drone to the default configuration \n");
/* Switch to the default configuration file */
/* Always start by setting the session, then the application, then the user */
set_string(session_id,"00000000");
set_string(application_id,"00000000");
set_string(profile_id,"00000000");
/* Suppress all other settings. A session and an application were automatically created
* at application startup by ARDrone Tool ; we must delete them.
* The '-' symbol means 'delete'.
* '-all' deletes all the existing configurations.
*/
set_string(session_id,"-all");
set_string(application_id,"-all");
set_string(profile_id,"-all");
set_int(navdata_demo,1);
mypause();
/* Ask the drone configuration and compare it to the expected values */
/* Send time to the drone */
//gettimeofday(&tv,NULL);
//set_int(time,(int32_t)tv.tv_sec);
title("\nGetting the drone configuration ...\n");
ARDRONE_TOOL_CONFIGURATION_GET(test_callback); vp_os_cond_wait(&test_condition);
title("Comparing received values to the config_keys.h defaults ...\n");
#define ARDRONE_CONFIG_KEY_IMM_a9(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK,SCOPE) \
test_float(NAME,DEFAULT);
#undef ARDRONE_CONFIG_KEY_REF_a9
#define ARDRONE_CONFIG_KEY_STR_a9(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, DEFAULT, CALLBACK,SCOPE) \
test_string(NAME,DEFAULT);
#include <config_keys.h>
/* Modify one value of each category and see what happens */
/* To test the 'COMMON' category */
set_string(ardrone_name,"TEST_CONFIG");
/* To test the 'APPLIS' category */
test_nint(bitrate_ctrl_mode,1); /* 0 is the default value */
set_int(bitrate_ctrl_mode,1);
/* To test the 'PROFILE' (aka. 'USER') category */
test_nfloat(outdoor_euler_angle_max,F1);
set_float(outdoor_euler_angle_max,F1);
/* To test the 'SESSION' category */
test_string(leds_anim,"0,0,0");
set_string(leds_anim,"1,1,1");
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); /* CAT_COMMON param */
test_int(bitrate_ctrl_mode,1); /* CAT_APPLI param */
test_float(outdoor_euler_angle_max,F1); /* CAT_USER param */
test_string(leds_anim,"1,1,1"); /* CAT_SESSION param */
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
/*---------------------------------------------------------------------------------------------------------*/
/* Create an application configuration file */
title("\nCreating the application ID 11111111 ...\n");
set_string(application_id,"11111111");
set_string(application_desc,APPDESC1);
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); /* CAT_COMMON param; its value should not be changed by creating an application config. */
test_int(bitrate_ctrl_mode,0); /* 0 is the default value ; default values are affected to newly created configurations */
test_float(outdoor_euler_angle_max,F1); /* CAT_USER param ; its value should not be changed by creating an application config. */
test_int(detect_type,CAD_TYPE_NONE); /* CAT_SESSION param; its value should not be changed by creating an application config. */
test_string(application_id,"11111111");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc,APPDESC1);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
set_int(bitrate_ctrl_mode,1);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1);
set_int(bitrate_ctrl_mode,0);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,0);
mypause();
title("\nGoing back to the default application configuration ...\n");
set_string(application_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc,DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the newly created application configuration ...\n");
set_string(application_id,"11111111");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,0);
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"11111111");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , APPDESC1);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
set_string(application_id,"00000000");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Create a user profile configuration file */
title("\nCreating the user profile ID 22222222 ...\n");
set_string(profile_id,"22222222");
set_string(profile_desc,PROFDESC2);
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,default_outdoor_euler_angle_ref_max);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"22222222");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, PROFDESC2);//DEFAULT_PROFILE_DESC
test_string(session_desc, DEFAULT_SESSION_DESC);
set_float(outdoor_euler_angle_max,F2);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
mypause();
title("\nGoing back to the default user profile configuration ...\n");
set_string(profile_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
/* The default value for this is 1 after the first test */
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the newly created user profile configuration ...\n");
set_string(profile_id,"22222222");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* 1 was the value of the config.ini configuration */
test_float(outdoor_euler_angle_max,F2);
test_int(detect_type,CAD_TYPE_NONE);
test_string(ardrone_name,"TEST_CONFIG");
test_string(application_id,"00000000");
test_string(profile_id,"22222222");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, PROFDESC2);//DEFAULT_PROFILE_DESC
test_string(session_desc, DEFAULT_SESSION_DESC);
set_string(profile_id,"00000000");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Create a session configuration file */
title("\nCreating the session ID 33333333 ...\n");
set_string(session_id,"33333333");
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); /* CAT_COMMON param; its value should not be changed by creating a session */
test_int(bitrate_ctrl_mode,1); /* CAT_APPLI param; its value should not be changed by creating a session */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_NONE); /* CAT_SESSION param; its value should be the default one */
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC ); //DEFAULT_SESSION_DESC);
/* Test changing a value in the session */
set_int(detect_type,CAD_TYPE_VISION);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(detect_type,CAD_TYPE_VISION);
mypause();
title("\nGoing back to the default session configuration ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* value in default config.ini */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the newly created session configuration ...\n");
set_string(session_id,"33333333");
set_string(session_desc,SESSDESC3);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1); /* value in default config.ini */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_VISION);
test_string(ardrone_name,"TEST_CONFIG");
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, SESSDESC3 ); //DEFAULT_SESSION_DESC);
set_int(detect_type,CAD_TYPE_COCARDE);
set_string(session_id,"00000000");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Create a session configuration file */
title("\nCreating the session ID 44444444 ...\n");
set_string(session_id,"44444444");
title("\nGetting the drone configuration ...\n");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(detect_type,CAD_TYPE_NONE);
test_string(ardrone_name,"TEST_CONFIG");
test_int(bitrate_ctrl_mode,1);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"44444444");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC ); //FAULT_SESSION_DESC);
set_int(detect_type,CAD_TYPE_VISION);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(detect_type,CAD_TYPE_VISION);
set_string(application_id,"11111111");
set_string(profile_id,"22222222");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG"); set_string(ardrone_name,"TEST_CONFIG2");
test_string(application_id,"11111111");
test_string(profile_id,"22222222");
test_string(session_id,"44444444");
test_string(application_desc , APPDESC1);
test_string(profile_desc, PROFDESC2);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
while(1){
title("\nGoing back to the default session ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG2");
test_int(bitrate_ctrl_mode,1);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title("\nGoing back to the 44444444 session ...\n");
set_string(session_id,"44444444");
set_string(session_desc,SESSDESC4);
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG2");
test_int(bitrate_ctrl_mode,0);
test_string(application_id,"11111111");
test_string(profile_id,"22222222");
test_string(session_id,"44444444");
test_string(application_desc , APPDESC1);
test_string(profile_desc, PROFDESC2);
test_string(session_desc, SESSDESC4);
mypause();
title("\nGoing back to the default session ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG2"); set_string(ardrone_name,"TEST_CONFIG3");
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
mypause();
title(" Going back to the 33333333 session ...\n");
set_string(session_id,"33333333");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG3");
test_int(bitrate_ctrl_mode,1); /* value in default config.ini */
test_float(outdoor_euler_angle_max,F1); /* value in default config.ini */
test_int(detect_type,CAD_TYPE_COCARDE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, SESSDESC3);
mypause();
title("\nGoing back to the 44444444 session ...\n");
set_string(session_id,"44444444");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG3"); set_string(ardrone_name,"TEST_CONFIG4");
test_int(bitrate_ctrl_mode,0);
test_float(outdoor_euler_angle_max,F2);
test_int(detect_type,CAD_TYPE_VISION);
test_string(application_id,"11111111");
test_string(profile_id,"22222222");
test_string(session_id,"44444444");
test_string(application_desc , APPDESC1);
test_string(profile_desc, PROFDESC2);
test_string(session_desc, SESSDESC4);
mypause();
title(" Going back to the 33333333 session ...\n");
set_string(session_id,"33333333");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_int(bitrate_ctrl_mode,1);
test_int(detect_type,CAD_TYPE_COCARDE);
test_string(ardrone_name,"TEST_CONFIG4");
test_int(bitrate_ctrl_mode,1);
test_float(outdoor_euler_angle_max,F1);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"33333333");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, SESSDESC3);
mypause();
title("\nGoing back to the default session ...\n");
set_string(session_id,"00000000");
{ARDRONE_TOOL_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
test_string(ardrone_name,"TEST_CONFIG4"); /* common parameter whose value should never be reset */
test_int(bitrate_ctrl_mode,1);
test_float(outdoor_euler_angle_max,F1);
test_int(detect_type,CAD_TYPE_NONE);
test_string(application_id,"00000000");
test_string(profile_id,"00000000");
test_string(session_id,"00000000");
test_string(application_desc , DEFAULT_APPLICATION_DESC);
test_string(profile_desc, DEFAULT_PROFILE_DESC);
test_string(session_desc, DEFAULT_SESSION_DESC);
set_string(ardrone_name,"TEST_CONFIG2");
mypause();
/*-----------------------------------------------------------------------------------------------*/
/* Read the list of custom configurations */
title("\nReading the list of custom configuration files ...\n");
{ARDRONE_TOOL_CUSTOM_CONFIGURATION_GET(test_callback);vp_os_cond_wait(&test_condition);}
printf("\n\n ====================================== \n\n");
if(available_configurations[CAT_APPLI].nb_configurations!=1) { printf("Bad number of custom applis.\n"); }
if(available_configurations[CAT_USER].nb_configurations!=1) { printf("Bad number of custom applis.\n"); }
if(available_configurations[CAT_SESSION].nb_configurations!=2) { printf("Bad number of custom applis.\n"); }
if (available_configurations[CAT_APPLI].list[0].id==NULL) { printf("Unexpected custom app 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_APPLI].list[0].id,"11111111")) { printf("Unexpected custom app : <%s>\n",available_configurations[CAT_APPLI].list[0].id); }
if (available_configurations[CAT_USER].list[0].id==NULL) { printf("Unexpected custom user 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_USER].list[0].id,"22222222")) { printf("Unexpected custom profile : <%s>\n",available_configurations[CAT_USER].list[0].id); }
if (available_configurations[CAT_SESSION].list[0].id==NULL) { printf("Unexpected custom session 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[0].id,"33333333")) { printf("Unexpected custom session 0 : <%s>\n",available_configurations[CAT_SESSION].list[0].id); }
if (available_configurations[CAT_SESSION].list[1].id==NULL) { printf("Unexpected custom session 1 NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[1].id,"44444444")) { printf("Unexpected custom session 1 : <%s>\n",available_configurations[CAT_SESSION].list[1].id); }
if (available_configurations[CAT_APPLI].list[0].description==NULL) { printf("Unexpected custom appli descrition 0 NULL\n"); }
else if (strcmp(available_configurations[CAT_APPLI].list[0].description,APPDESC1)) { printf("Unexpected custom app description : <%s>\n",available_configurations[CAT_APPLI].list[0].description); }
if (available_configurations[CAT_USER].list[0].description==NULL) { printf("Unexpected custom user 0 description NULL\n"); }
else if (strcmp(available_configurations[CAT_USER].list[0].description,PROFDESC2)) { printf("Unexpected custom profile description : <%s>\n",available_configurations[CAT_USER].list[0].description); }
if (available_configurations[CAT_SESSION].list[0].description==NULL) { printf("Unexpected custom session 0 description NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[0].description,SESSDESC3)) { printf("Unexpected custom session 0 description : <%s>\n",available_configurations[CAT_SESSION].list[0].description); }
if (available_configurations[CAT_SESSION].list[1].description==NULL) { printf("Unexpected custom session 1 description NULL\n"); }
else if (strcmp(available_configurations[CAT_SESSION].list[1].description,SESSDESC4)) { printf("Unexpected custom session 1 description : <%s>\n",available_configurations[CAT_SESSION].list[1].description); }
printf(" Custom config list checked.\n");
mypause();
/*-----------------------------------------------------------------------------------------------*/
printf("\n\n ====================================== \n\n");
title("\nEnd of the test.\n");
}
}
DEFINE_THREAD_ROUTINE(video_recorder, data)
{
if (1 >= ARDRONE_VERSION ()) // Run only for ARDrone 2 and upper
{
return (THREAD_RET)0;
}
C_RESULT res = C_OK;
vp_api_io_pipeline_t pipeline;
vp_api_io_data_t out;
vp_api_io_stage_t stages[3];
PIPELINE_HANDLE video_recorder_pipeline_handle;
video_recorder_thread_param_t *video_recorder_thread_param = (video_recorder_thread_param_t *)data;
video_stage_tcp_config_t tcpConf;
if(video_recorder_thread_param != NULL)
{
CHANGE_THREAD_PRIO(video_recorder, video_recorder_thread_param->priority);
video_stage_encoded_recorder_config.finish_callback = video_recorder_thread_param->finish_callback;
}
vp_os_memset (&record_icc, 0x0, sizeof (record_icc));
record_icc.com = COM_VIDEO ();
record_icc.buffer_size = (8*1024);
record_icc.protocol = VP_COM_TCP;
record_icc.forceNonBlocking = &tcpConf.tcpStageHasMoreData;
COM_CONFIG_SOCKET_VIDEO (&record_icc.socket, VP_COM_CLIENT, VIDEO_RECORDER_PORT, wifi_ardrone_ip);
record_icc.timeoutFunc = &video_stage_encoded_recorder_com_timeout;
record_icc.timeoutFuncAfterSec = 10;
vp_os_memset (&tcpConf, 0, sizeof (tcpConf));
tcpConf.maxPFramesPerIFrame = 30;
tcpConf.frameMeanSize = 160*1024;
tcpConf.latencyDrop = 0;
pipeline.nb_stages = 0;
pipeline.stages = &stages[0];
// Com
stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
stages[pipeline.nb_stages].cfg = (void *)&record_icc;
stages[pipeline.nb_stages++].funcs = video_com_funcs;
// TCP
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void *) &tcpConf;
stages[pipeline.nb_stages++].funcs = video_stage_tcp_funcs;
// Record
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void *) &video_stage_encoded_recorder_config;
stages[pipeline.nb_stages++].funcs = video_encoded_recorder_funcs;
while (FALSE == isInit)
{
printf ("Waiting for init\n");
}
if (! ardrone_tool_exit ())
{
PRINT ("Video recorder thread initialisation\n");
res = vp_api_open (&pipeline, &video_recorder_pipeline_handle);
if (SUCCEED (res))
{
int loop = SUCCESS;
out.status = VP_API_STATUS_PROCESSING;
while (! ardrone_tool_exit () && (SUCCESS == loop))
{
if (video_recorder_in_pause)
{
vp_os_mutex_lock (&video_recorder_mutex);
record_icc.num_retries = VIDEO_MAX_RETRIES;
vp_os_cond_wait (&video_recorder_condition);
vp_os_mutex_unlock (&video_recorder_mutex);
}
if (SUCCEED (vp_api_run (&pipeline, &out)))
{
if ((VP_API_STATUS_PROCESSING == out.status) ||
(VP_API_STATUS_STILL_RUNNING == out.status))
{
loop = SUCCESS;
}
else loop = -1;
}
else loop = -1;
}
vp_api_close (&pipeline, &video_recorder_pipeline_handle);
}
}
PRINT ("Video recorder thread ended\n");
return (THREAD_RET)res;
}
DEFINE_THREAD_ROUTINE(academy_upload, data)
{
char *directoryList = NULL;
char *fileList = NULL;
char dirname[ACADEMY_MAX_FILENAME];
_ftp_t *academy_ftp = NULL;
_ftp_status academy_status;
char *ptr = NULL;
academy_upload_t *academy = (academy_upload_t *)data;
printf("Start thread %s\n", __FUNCTION__);
while( academy_upload_started && !ardrone_tool_exit() )
{
vp_os_mutex_lock(&academy->mutex);
vp_os_memset(&academy->user, 0, sizeof(academy_user_t));
academy->callback = &academy_upload_private_callback;
academy->connected = FALSE;
academy_upload_resetState(academy);
vp_os_cond_wait(&academy->cond);
vp_os_mutex_unlock(&academy->mutex);
while(academy_upload_started && academy->connected)
{
academy_status = FTP_FAIL;
academy_upload_nextState(academy);
switch(academy->state.state)
{
case ACADEMY_STATE_CONNECTION:
{
struct dirent *dirent = NULL;
DIR *dir = NULL;
academy_status = FTP_FAIL;
// Check if flight_* directory exist in local dir
if((dir = opendir(flight_dir)) != NULL)
{
struct stat statbuf;
while(FTP_FAILED(academy_status) && (dirent = readdir(dir)) != NULL)
{
if((strncmp(dirent->d_name, "flight_", strlen("flight_")) == 0))
{
char local_dir[ACADEMY_MAX_FILENAME];
sprintf(dirname, "%s", dirent->d_name);
sprintf(local_dir, "%s/%s", flight_dir, dirname);
if((stat(local_dir, &statbuf) == 0) && S_ISDIR(statbuf.st_mode))
academy_status = FTP_SUCCESS;
}
}
closedir(dir);
}
if(FTP_SUCCEDED(academy_status))
{
if(academy_ftp == NULL)
academy_ftp = ftpConnectFromName(ACADEMY_SERVERNAME, ACADEMY_PORT, academy->user.username, academy->user.password, &academy_status);
}
}
break;
case ACADEMY_STATE_PREPARE_PROCESS:
academy_status = ftpCd(academy_ftp, "/Uploaded");
if(FTP_FAILED(academy_status))
{
ftpMkdir(academy_ftp, "/Uploaded");
academy_status = ftpCd(academy_ftp, "/Uploaded");
}
if(FTP_SUCCEDED(academy_status))
{
academy_status = ftpList(academy_ftp, &directoryList, NULL);
if(FTP_SUCCEDED(academy_status))
{
bool_t found = FALSE;
char *next_dir = NULL;
while(!found && (ptr = academy_get_next_item_with_prefix(directoryList, &next_dir, "flight_", TRUE)))
{
if(strcmp(ptr, dirname) == 0)
{
found = TRUE;
academy_upload_setState(academy, ACADEMY_STATE_FINISH_PROCESS);
}
}
if(directoryList != NULL)
{
vp_os_free(directoryList);
directoryList = NULL;
}
}
}
break;
case ACADEMY_STATE_PROCESS:
academy_status = ftpCd(academy_ftp, "/Uploading");
if(FTP_FAILED(academy_status))
{
ftpMkdir(academy_ftp, "/Uploading");
academy_status = ftpCd(academy_ftp, "/Uploading");
}
if(FTP_SUCCEDED(academy_status))
{
ftpMkdir(academy_ftp, dirname);
academy_status = ftpCd(academy_ftp, dirname);
if(FTP_SUCCEDED(academy_status))
{
char local_dir[ACADEMY_MAX_FILENAME];
struct dirent *dirent = NULL;
DIR *dir = NULL;
sprintf(local_dir, "%s/%s", flight_dir, dirname);
if((dir = opendir(local_dir)) != NULL)
{
char local_filename[ACADEMY_MAX_FILENAME];
struct stat statbuf;
while(FTP_SUCCEDED(academy_status) && ((dirent = readdir(dir)) != NULL))
{
if((strncmp(dirent->d_name, "picture_", strlen("picture_")) == 0) || (strncmp(dirent->d_name, "userbox_", strlen("userbox_")) == 0))
{
sprintf(local_filename, "%s/%s", local_dir, dirent->d_name);
if((stat(local_filename, &statbuf) == 0) && !S_ISDIR(statbuf.st_mode))
{
PA_DEBUG("Put %s from local directory to server...", dirent->d_name);
academy_status = ftpPut(academy_ftp, local_filename, dirent->d_name, 1, NULL);
if(FTP_SUCCEDED(academy_status))
PA_DEBUG("OK\n");
else
PA_DEBUG("ERROR\n");
}
}
}
closedir(dir);
}
}
}
break;
case ACADEMY_STATE_FINISH_PROCESS:
{
char local_dir[ACADEMY_MAX_FILENAME];
char src[ACADEMY_MAX_FILENAME];
char dest[ACADEMY_MAX_FILENAME];
sprintf(src, "/Uploading/%s", dirname);
sprintf(dest, "/Uploaded/%s", dirname);
academy_status = ftpRename(academy_ftp, src, dest);
// Penser à supprimer le fichier local
academy_status = FTP_FAIL;
sprintf(local_dir, "%s/%s", flight_dir, dirname);
if(!ftw(local_dir, &academy_remove, 1))
{
rmdir(local_dir);
academy_status = FTP_SUCCESS;
}
}
break;
case ACADEMY_STATE_DISCONNECTION:
if(academy_ftp != NULL)
ftpClose(&academy_ftp);
academy_status = FTP_SUCCESS;
break;
default:
// Nothing to do
break;
}
if(FTP_SUCCEDED(academy_status))
{
PA_DEBUG("continue state from %d to %d\n", academy->state.state, (academy->state.state + 1) % ACADEMY_STATE_MAX);
academy_upload_stateOK(academy);
}
else
{
PA_DEBUG("stop\n");
academy_upload_stateERROR(academy);
if(fileList != NULL)
{
vp_os_free(fileList);
fileList = NULL;
}
if(academy_ftp)
ftpClose(&academy_ftp);
vp_os_delay(1000);
}
}
if(fileList != NULL)
{
vp_os_free(fileList);
fileList = NULL;
}
if(academy_ftp)
ftpClose(&academy_ftp);
} // while
THREAD_RETURN(C_OK);
}
DEFINE_THREAD_ROUTINE(video_stage, data) {
C_RESULT res;
vp_api_io_pipeline_t pipeline;
vp_api_io_data_t out;
vp_api_io_stage_t * stages;
video_stage_merge_slices_config_t merge_slices_cfg;
uint8_t i;
specific_parameters_t * params = (specific_parameters_t *)(data);
if (1 == params->needSetPriority)
{
CHANGE_THREAD_PRIO (video_stage, params->priority);
}
vp_os_memset(&icc_tcp, 0, sizeof ( icc_tcp));
vp_os_memset(&icc_udp, 0, sizeof ( icc_udp));
// Video Communication config
icc_tcp.com = COM_VIDEO();
icc_tcp.buffer_size = (1024*1024);
icc_tcp.protocol = VP_COM_TCP;
COM_CONFIG_SOCKET_VIDEO(&icc_tcp.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
// Video Communication config
icc_udp.com = COM_VIDEO();
icc_udp.buffer_size = (1024*1024);
icc_udp.protocol = VP_COM_UDP;
COM_CONFIG_SOCKET_VIDEO(&icc_udp.socket, VP_COM_CLIENT, VIDEO_PORT, wifi_ardrone_ip);
icc.nb_sockets = 2;
icc.configs = icc_tab;
icc.forceNonBlocking = &(tcpConf.tcpStageHasMoreData);
icc_tab[1] = &icc_tcp;
icc_tab[0] = &icc_udp;
icc.buffer_size = (1024*1024);
vp_os_memset(&vec, 0, sizeof ( vec));
stages = (vp_api_io_stage_t*) (vp_os_calloc(
NB_STAGES + params->pre_processing_stages_list->length + params->post_processing_stages_list->length,
sizeof (vp_api_io_stage_t)
));
vec.src_picture = params->in_pic;
vec.dst_picture = params->out_pic;
vp_os_memset(&tcpConf, 0, sizeof ( tcpConf));
tcpConf.maxPFramesPerIFrame = 30;
tcpConf.frameMeanSize = 160*1024;
tcpConf.tcpStageHasMoreData = FALSE;
tcpConf.latencyDrop = 1;
pipeline.name = "video_stage_pipeline";
pipeline.nb_stages = 0;
pipeline.stages = &stages[0];
//ENCODED FRAME PROCESSING STAGES
stages[pipeline.nb_stages].type = VP_API_INPUT_SOCKET;
stages[pipeline.nb_stages].cfg = (void *) &icc;
stages[pipeline.nb_stages++].funcs = video_com_multisocket_funcs;
printf("thread_video_stage: adding multisocket_funcs as %d th stage (input type) to video_pipeline of AR.Drone with version %d.%d.%d\n", pipeline.nb_stages, ardroneVersion.majorVersion, ardroneVersion.minorVersion, ardroneVersion.revision );
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void *) &tcpConf;
stages[pipeline.nb_stages++].funcs = video_stage_tcp_funcs;
printf("thread_video_stage: adding tcp_funcs to video_pipeline as %d nd stage (filter type) of AR.Drone\n", pipeline.nb_stages );
// Record Encoded video
if(1 == ARDRONE_VERSION())
{
ardrone_academy_stage_recorder_config.dest.pipeline = video_pipeline_handle;
ardrone_academy_stage_recorder_config.dest.stage = pipeline.nb_stages;
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void*)&ardrone_academy_stage_recorder_config;
stages[pipeline.nb_stages++].funcs = ardrone_academy_stage_recorder_funcs;
printf("thread_video_stage: adding academy_recorder_funcs to video_pipeline as %d rd stage (filter type) of AR.Drone\n", pipeline.nb_stages );
}
else
{
// Nothing to do for AR.Drone 2 as we have a separated thread for recording
}
//PRE-DECODING STAGES ==> recording, ...
for(i=0;i<params->pre_processing_stages_list->length;i++){
stages[pipeline.nb_stages].type = params->pre_processing_stages_list->stages_list[i].type;
stages[pipeline.nb_stages].cfg = params->pre_processing_stages_list->stages_list[i].cfg;
stages[pipeline.nb_stages++].funcs = params->pre_processing_stages_list->stages_list[i].funcs;
}
printf("thread_video_stage: adding pre_processing_stages_list to video_pipeline (now %d stages) of AR.Drone\n", pipeline.nb_stages );
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void *)&merge_slices_cfg;
stages[pipeline.nb_stages++].funcs = video_stage_merge_slices_funcs;
printf("thread_video_stage: adding merge_slices_funcs to video_pipeline (now %d stages) of AR.Drone\n", pipeline.nb_stages );
//DECODING STAGES
stages[pipeline.nb_stages].type = VP_API_FILTER_DECODER;
stages[pipeline.nb_stages].cfg = (void*) &vec;
stages[pipeline.nb_stages++].funcs = video_decoding_funcs;
printf("thread_video_stage: adding video_decoding_funcs to video_pipeline (now %d stages) of AR.Drone\n", pipeline.nb_stages );
//POST-DECODING STAGES ==> transformation, display, ...
for(i=0;i<params->post_processing_stages_list->length;i++){
stages[pipeline.nb_stages].type = params->post_processing_stages_list->stages_list[i].type;
stages[pipeline.nb_stages].cfg = params->post_processing_stages_list->stages_list[i].cfg;
stages[pipeline.nb_stages++].funcs = params->post_processing_stages_list->stages_list[i].funcs;
}
printf("thread_video_stage: adding post_processing_stages_list to video_pipeline (now %d stages) of AR.Drone\n", pipeline.nb_stages );
if (!ardrone_tool_exit()) {
PRINT("\nvideo stage thread initialisation\n\n");
res = vp_api_open(&pipeline, &video_pipeline_handle);
if (SUCCEED(res)) {
int loop = SUCCESS;
out.status = VP_API_STATUS_PROCESSING;
while (!ardrone_tool_exit() && (loop == SUCCESS)) {
if (video_stage_in_pause) {
vp_os_mutex_lock(&video_stage_mutex);
icc.num_retries = VIDEO_MAX_RETRIES;
vp_os_cond_wait(&video_stage_condition);
vp_os_mutex_unlock(&video_stage_mutex);
}
if (SUCCEED(vp_api_run(&pipeline, &out))) {
if ((out.status == VP_API_STATUS_PROCESSING || out.status == VP_API_STATUS_STILL_RUNNING)) {
loop = SUCCESS;
}
} else loop = -1; // Finish this thread
}
vp_os_free(params->pre_processing_stages_list->stages_list);
vp_os_free(params->post_processing_stages_list->stages_list);
vp_os_free(params->pre_processing_stages_list);
vp_os_free(params->post_processing_stages_list);
vp_os_free(params->in_pic);
vp_os_free(params->out_pic);
vp_os_free(params);
vp_api_close(&pipeline, &video_pipeline_handle);
}
}
PRINT("\nvideo stage thread ended\n\n");
return (THREAD_RET) 0;
}
