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Copy pathBebopDroneDecodeStream.c
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BebopDroneDecodeStream.c
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/*
Copyright (C) 2014 Parrot SA
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
* Neither the name of Parrot nor the names
of its contributors may be used to endorse or promote products
derived from this software without specific prior written
permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
*/
/**
* @file BebopDroneDecodeStream.c
* @brief This file contains sources about basic arsdk example decoding video stream from a BebopDrone with ffmpeg
* @date 08/01/2015
*/
/*****************************************
*
* include file :
*
*****************************************/
#include <stdlib.h>
#include <stdio.h>
#include <fcntl.h>
#include <string.h>
#include <unistd.h>
#include <signal.h>
#include <libavformat/avformat.h>
#include <libavcodec/avcodec.h>
#include <libavutil/imgutils.h>
#include <libARSAL/ARSAL.h>
#include <libARSAL/ARSAL_Print.h>
#include <libARNetwork/ARNetwork.h>
#include <libARNetworkAL/ARNetworkAL.h>
#include <libARDiscovery/ARDiscovery.h>
#include <libARStream/ARStream.h>
#include "BebopDroneDecodeStream.h"
//++++++++++++++ More Headers ++++++++++
#include <time.h>
#include <math.h>
//++++++++++++++++++++++++++++++++++++++
/*****************************************
*
* define :
*
*****************************************/
#define TAG "BebopDroneReceiveStream"
#define BD_IP_ADDRESS "192.168.42.1"
#define BD_DISCOVERY_PORT 44444
#define BD_C2D_PORT 54321 // should be read from Json
#define BD_D2C_PORT 43210
#define BD_NET_CD_NONACK_ID 10
#define BD_NET_CD_ACK_ID 11
#define BD_NET_CD_EMERGENCY_ID 12
#define BD_NET_CD_VIDEO_ACK_ID 13
#define BD_NET_DC_NAVDATA_ID 127
#define BD_NET_DC_EVENT_ID 126
#define BD_NET_DC_VIDEO_DATA_ID 125
#define BD_NET_DC_VIDEO_FRAG_SIZE 1000
#define BD_NET_DC_VIDEO_MAX_NUMBER_OF_FRAG 128
#define BD_RAW_FRAME_BUFFER_SIZE 50
#define BD_RAW_FRAME_POOL_SIZE 50
#define ERROR_STR_LENGTH 2048
#define PI 3.1415926
int getNextDataCallback(uint8_t **data, void *customData);
void* Decode_RunDataThread(void *customData);
RawFrame_t *getFreeRawFrame(BD_MANAGER_t *deviceManager);
void addFreeRawFrameToFifo(BD_MANAGER_t *deviceManager, RawFrame_t *rawFrame);
void flushFifo(BD_MANAGER_t *deviceManager);
void putRawFrameBackToPool(BD_MANAGER_t *deviceManager, int fifoIdx);
RawFrame_t *getFrameFromData(BD_MANAGER_t *deviceManager, uint8_t *data);
/**
* @brief Component of a frame.
*/
struct RawFrame_t
{
uint8_t *data; /**< data buffer*/
uint32_t size; /**< size of the buffer */
uint8_t isIframe;
};
/*****************************************
*
* implementation :
*
*****************************************/
static ARNETWORK_IOBufferParam_t c2dParams[] = {
/* Non-acknowledged commands. */
{
.ID = BD_NET_CD_NONACK_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_DATA,
.sendingWaitTimeMs = 20,
.ackTimeoutMs = ARNETWORK_IOBUFFERPARAM_INFINITE_NUMBER,
.numberOfRetry = ARNETWORK_IOBUFFERPARAM_INFINITE_NUMBER,
.numberOfCell = 2,
.dataCopyMaxSize = 128,
.isOverwriting = 1,
},
/* Acknowledged commands. */
{
.ID = BD_NET_CD_ACK_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK,
.sendingWaitTimeMs = 20,
.ackTimeoutMs = 500,
.numberOfRetry = 3,
.numberOfCell = 20,
.dataCopyMaxSize = 128,
.isOverwriting = 0,
},
/* Emergency commands. */
{
.ID = BD_NET_CD_EMERGENCY_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK,
.sendingWaitTimeMs = 10,
.ackTimeoutMs = 100,
.numberOfRetry = ARNETWORK_IOBUFFERPARAM_INFINITE_NUMBER,
.numberOfCell = 1,
.dataCopyMaxSize = 128,
.isOverwriting = 0,
},
/* Video ACK (Initialized later) */
{
.ID = BD_NET_CD_VIDEO_ACK_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_UNINITIALIZED,
.sendingWaitTimeMs = 0,
.ackTimeoutMs = 0,
.numberOfRetry = 0,
.numberOfCell = 0,
.dataCopyMaxSize = 0,
.isOverwriting = 0,
},
};
static const size_t numC2dParams = sizeof(c2dParams) / sizeof(ARNETWORK_IOBufferParam_t);
static ARNETWORK_IOBufferParam_t d2cParams[] = {
{
.ID = BD_NET_DC_NAVDATA_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_DATA,
.sendingWaitTimeMs = 20,
.ackTimeoutMs = ARNETWORK_IOBUFFERPARAM_INFINITE_NUMBER,
.numberOfRetry = ARNETWORK_IOBUFFERPARAM_INFINITE_NUMBER,
.numberOfCell = 20,
.dataCopyMaxSize = 128,
.isOverwriting = 0,
},
{
.ID = BD_NET_DC_EVENT_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_DATA_WITH_ACK,
.sendingWaitTimeMs = 20,
.ackTimeoutMs = 500,
.numberOfRetry = 3,
.numberOfCell = 20,
.dataCopyMaxSize = 128,
.isOverwriting = 0,
},
/* Video data (Initialized later) */
{
.ID = BD_NET_DC_VIDEO_DATA_ID,
.dataType = ARNETWORKAL_FRAME_TYPE_UNINITIALIZED,
.sendingWaitTimeMs = 0,
.ackTimeoutMs = 0,
.numberOfRetry = 0,
.numberOfCell = 0,
.dataCopyMaxSize = 0,
.isOverwriting = 0,
},
};
static const size_t numD2cParams = sizeof(d2cParams) / sizeof(ARNETWORK_IOBufferParam_t);
static int commandBufferIds[] = {
BD_NET_DC_NAVDATA_ID,
BD_NET_DC_EVENT_ID,
};
static const size_t numOfCommandBufferIds = sizeof(commandBufferIds) / sizeof(int);
int gIHMRun = 0;
char gErrorStr[ERROR_STR_LENGTH];
//+++++++++++++++++++++++++++ More Instances +++++++++++
clock_t startTime, currentTime;
double timePassed;
//++++++++++++++++++++++++++++++++++++++++++++++++++
// reader thread
void *readerRun (void* data)
{
BD_MANAGER_t *deviceManager = NULL;
int bufferId = 0;
int failed = 0;
// Allocate some space for incoming data.
const size_t maxLength = 128 * 1024;
void *readData = malloc (maxLength);
if (readData == NULL)
{
failed = 1;
}
if (!failed)
{
// get thread data.
if (data != NULL)
{
bufferId = ((READER_THREAD_DATA_t *)data)->readerBufferId;
deviceManager = ((READER_THREAD_DATA_t *)data)->deviceManager;
if (deviceManager == NULL)
{
failed = 1;
}
}
else
{
failed = 1;
}
}
if (!failed)
{
while (deviceManager->run)
{
eARNETWORK_ERROR netError = ARNETWORK_OK;
int length = 0;
int skip = 0;
// read data
netError = ARNETWORK_Manager_ReadDataWithTimeout (deviceManager->netManager, bufferId, readData, maxLength, &length, 1000);
if (netError != ARNETWORK_OK)
{
if (netError != ARNETWORK_ERROR_BUFFER_EMPTY)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "ARNETWORK_Manager_ReadDataWithTimeout () failed : %s", ARNETWORK_Error_ToString(netError));
}
skip = 1;
}
if (!skip)
{
// Forward data to the CommandsManager
eARCOMMANDS_DECODER_ERROR cmdError = ARCOMMANDS_DECODER_OK;
cmdError = ARCOMMANDS_Decoder_DecodeBuffer ((uint8_t *)readData, length);
if ((cmdError != ARCOMMANDS_DECODER_OK) && (cmdError != ARCOMMANDS_DECODER_ERROR_NO_CALLBACK))
{
char msg[128];
ARCOMMANDS_Decoder_DescribeBuffer ((uint8_t *)readData, length, msg, sizeof(msg));
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "ARCOMMANDS_Decoder_DecodeBuffer () failed : %d %s", cmdError, msg);
}
}
}
}
if (readData != NULL)
{
free (readData);
readData = NULL;
}
return NULL;
}
// decoder thread
void* Decode_RunDataThread(void *customData)
{
BD_MANAGER_t *deviceManager = (BD_MANAGER_t *)customData;
eARCODECS_ERROR error;
ARCODECS_Manager_Frame_t *decodedFrame = NULL;
while (!deviceManager->decodingCanceled)
{
ARSAL_Mutex_Lock (&(deviceManager->mutex));
RawFrame_t *rawFrame = deviceManager->rawFrameFifo[deviceManager->fifoReadIdx];
ARSAL_Mutex_Unlock (&(deviceManager->mutex));
if (rawFrame != NULL && rawFrame->isIframe == 1)
{
deviceManager->hasReceivedFirstIFrame = 1;
}
if (rawFrame != NULL)
{
if (deviceManager->hasReceivedFirstIFrame)
{
decodedFrame = ARCODECS_Manager_Decode(deviceManager->decoder, &error);
}
if (decodedFrame != NULL)
{
//ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Frame has been decoded ");
// this part is only needed to copy the YUV frame into the file
int pic_size = avpicture_get_size(PIX_FMT_YUV420P, decodedFrame->width, decodedFrame->height);
uint8_t *decodedOut = malloc(pic_size);
// in case your install of FFMpeg supports av_image_copy_to_buffer, you can replace the AVFrame creation and initialisation by this block
/*uint8_t *src_data[4];
src_data[0] = decodedFrame->componentArray[0].data;
src_data[1] = decodedFrame->componentArray[1].data;
src_data[2] = decodedFrame->componentArray[2].data;
src_data[3] = NULL;
int src_linesize[4];
src_linesize[0] = decodedFrame->componentArray[0].lineSize;
src_linesize[1] = decodedFrame->componentArray[1].lineSize;
src_linesize[2] = decodedFrame->componentArray[2].lineSize;
src_linesize[3] = 0;
av_image_copy_to_buffer(decodedOut, pic_size,
(const uint8_t *const *)src_data, src_linesize,
PIX_FMT_YUV420P, decodedFrame->width, decodedFrame->height, 1);*/
AVFrame *avFrame = avcodec_alloc_frame();
if (avFrame != NULL)
{
avFrame->width = decodedFrame->width;
avFrame->height = decodedFrame->height;
avFrame->format = AV_PIX_FMT_YUV420P;
avpicture_fill((AVPicture*)avFrame, NULL, PIX_FMT_YUV420P, decodedFrame->width, decodedFrame->height);
avFrame->linesize[0] = decodedFrame->componentArray[0].lineSize;
avFrame->linesize[1] = decodedFrame->componentArray[1].lineSize;
avFrame->linesize[2] = decodedFrame->componentArray[2].lineSize;
avFrame->data[0] = decodedFrame->componentArray[0].data;
avFrame->data[1] = decodedFrame->componentArray[1].data;
avFrame->data[2] = decodedFrame->componentArray[2].data;
avpicture_layout((AVPicture*)avFrame, PIX_FMT_YUV420P, decodedFrame->width, decodedFrame->height, decodedOut, pic_size);
avcodec_free_frame(&avFrame);
}
if (decodedOut != NULL)
{
fwrite(decodedOut, pic_size, 1, deviceManager->video_out);
}
free (decodedOut);
decodedOut = NULL;
}
ARSAL_Mutex_Lock (&(deviceManager->mutex));
putRawFrameBackToPool(deviceManager, deviceManager->fifoReadIdx);
deviceManager->fifoReadIdx = (deviceManager->fifoReadIdx + 1) % BD_RAW_FRAME_BUFFER_SIZE;
ARSAL_Mutex_Unlock (&(deviceManager->mutex));
}
}
return (void*)0;
}
// looper thread
void *looperRun (void* data)
{
BD_MANAGER_t *deviceManager = (BD_MANAGER_t *)data;
if(deviceManager != NULL)
{
while (deviceManager->run)
{
//++++++++++++ Read Time ++++++++++
currentTime = clock();
timePassed = (double) (currentTime - startTime)/CLOCKS_PER_SEC;
deviceManager->timePassed = timePassed;
IHM_PrintTimePassed(deviceManager->ihm,deviceManager->timePassed);
if(deviceManager->logingFlag){
fprintf(deviceManager->logFileCallback,"%f %f %f %f %f %f %f %f \n",
deviceManager->timePassed, deviceManager->speed.speedX,deviceManager->speed.speedY,deviceManager->speed.speedZ,
deviceManager->pos.roll, deviceManager->pos.pitch, deviceManager->pos.yaw, deviceManager->pos.altitude);
fprintf(deviceManager->logFileControlA,"%f %f %f %f %f %f %f %f %f %f \n",
deviceManager->timePassed, deviceManager->desiredStates.x_posd, deviceManager->desiredStates.y_posd,deviceManager->desiredStates.z_posd,
deviceManager->desiredStates.x_veld, deviceManager->desiredStates.y_veld, deviceManager->desiredStates.z_veld,
deviceManager->odometry.x_pos, deviceManager->odometry.y_pos, deviceManager->odometry.z_pos);
fprintf(deviceManager->logFileControlB, "%f %d %d %d %f %f %f %f\n", deviceManager->timePassed, deviceManager->dataPCMD.roll, deviceManager->dataPCMD.pitch, deviceManager->dataPCMD.gaz,
deviceManager->droneSpeed.speedX, deviceManager->droneSpeed.speedY, deviceManager->droneSpeed.speedZ, deviceManager->flyStartYaw);
fprintf(deviceManager->logFileControlC, "%f %f %f %f %f\n", deviceManager->timePassed, deviceManager->printData.x_veld, deviceManager->printData.y_veld, deviceManager->printData.pitch_error, deviceManager->printData.roll_error);
}
//+++++++++++++++++++++++++++++++++
sendPCMD(deviceManager);
sendCameraOrientation(deviceManager);
usleep(50000);
}
}
return NULL;
}
int main (int argc, char *argv[])
{
/* local declarations */
int failed = 0;
BD_MANAGER_t *deviceManager = malloc(sizeof(BD_MANAGER_t));
pid_t child = 0;
// fork the process to launch ffplay
if ((child = fork()) == 0)
{
// redirect stdout and stderr of mplayer to dev/null to avoid messing with ncurse
int stdout_fd = open("/dev/null", O_RDONLY);
if (stdout_fd == -1)
return -1;
dup2(stdout_fd, STDOUT_FILENO);
close(stdout_fd);
int stderr_fd = open("/dev/null", O_RDONLY);
if (stderr_fd == -1)
return -1;
dup2(stderr_fd, STDERR_FILENO);
close(stderr_fd);
execlp("mplayer", "mplayer", "./video_decoded_fifo", "-demuxer", "rawvideo", "-rawvideo", "w=640:h=368:fps=30:format=i420", ">/dev/null", "2>/dev/null", NULL);
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Missing mplayer, you will not see the video. Please install mplayer.");
return -1;
}
if (deviceManager == NULL)
{
failed = 1;
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "deviceManager alloc error !");
}
if (!failed)
{
ARSAL_PRINT (ARSAL_PRINT_INFO, TAG, "-- Starting --");
// initialize jsMnager
deviceManager->alManager = NULL;
deviceManager->netManager = NULL;
deviceManager->streamReader = NULL;
deviceManager->looperThread = NULL;
deviceManager->rxThread = NULL;
deviceManager->txThread = NULL;
deviceManager->videoRxThread = NULL;
deviceManager->videoTxThread = NULL;
deviceManager->d2cPort = BD_D2C_PORT;
deviceManager->c2dPort = BD_C2D_PORT; //deviceManager->c2dPort = 0; // Should be read from json
deviceManager->arstreamAckDelay = 0; // Should be read from json
deviceManager->arstreamFragSize = BD_NET_DC_VIDEO_FRAG_SIZE; // Should be read from json
deviceManager->arstreamFragNb = BD_NET_DC_VIDEO_MAX_NUMBER_OF_FRAG; // Should be read from json
deviceManager->video_out = fopen("./video_decoded_fifo", "w");
deviceManager->decoder = NULL;
deviceManager->decodingCanceled = 1;
deviceManager->decodingThread = NULL;
deviceManager->ihm = NULL;
deviceManager->hasReceivedFirstIFrame = 0;
deviceManager->freeRawFramePool = NULL;
deviceManager->rawFramePoolCapacity = 0;
deviceManager->lastRawFrameFreeIdx = 0;
deviceManager->rawFrameFifo = NULL;
deviceManager->fifoReadIdx = 0;
deviceManager->fifoWriteIdx = BD_RAW_FRAME_BUFFER_SIZE - 1;
deviceManager->run = 1;
deviceManager->dataPCMD.flag = 0;
deviceManager->dataPCMD.roll = 0;
deviceManager->dataPCMD.pitch = 0;
deviceManager->dataPCMD.yaw = 0;
deviceManager->dataPCMD.gaz = 0;
deviceManager->dataCam.tilt = 0;
deviceManager->dataCam.pan = 0;
deviceManager->flyingState = ARCOMMANDS_ARDRONE3_PILOTINGSTATE_FLYINGSTATECHANGED_STATE_MAX;
//+++++ States Added ++++++++++++++++++++++++++++
deviceManager->speed.speedX = 0;
deviceManager->speed.speedY = 0;
deviceManager->speed.speedZ = 0;
deviceManager->timePassed = 0;
deviceManager->pos.roll = 0;
deviceManager->pos.pitch = 0;
deviceManager->pos.yaw = 0;
deviceManager->pos.altitude = 0;
deviceManager->autoStartTime = 0;
deviceManager->pid_Coe.kPxy = 100; //100
deviceManager->pid_Coe.kIxy = 0;
deviceManager->pid_Coe.kDxy = 100; // 60
deviceManager->pid_Coe.kPz = 225; // 300
deviceManager->pid_Coe.kIz = 0;
deviceManager->pid_Coe.kDz = 180; // 40
deviceManager->logFileCallback = NULL;
deviceManager->logFileControlA = NULL;
deviceManager->logFileControlB = NULL;
deviceManager->logFileControlC = NULL;
deviceManager->logNum = 0;
deviceManager->autoFly = 0; // 0 for manully ; 1 for line; 2 for squre; 3 for circle; 4 for figure 8;
deviceManager->logingFlag = 0;
// deviceManager->wobbleEnable = 0;
deviceManager->desiredStates.x_posd = 0;
deviceManager->desiredStates.y_posd = 0;
deviceManager->desiredStates.z_posd = 0;
deviceManager->desiredStates.x_veld = 0;
deviceManager->desiredStates.y_veld = 0;
deviceManager->desiredStates.z_veld = 0;
deviceManager->odometry.x_pos = 0;
deviceManager->odometry.y_pos = 0;
deviceManager->odometry.z_pos = 0;
deviceManager->dtime = 0;
deviceManager->previousTime = 0;
deviceManager->droneSpeed.speedX = 0;
deviceManager->droneSpeed.speedY = 0;
deviceManager->droneSpeed.speedZ = 0;
deviceManager->lineTrajCoe = malloc (sizeof(lineTrajCoe_t));
deviceManager->squareTrajCoe = malloc(sizeof(squareTrajCoe_t));
deviceManager->circleTrajCoe = malloc(sizeof(circleTrajCoe_t));
deviceManager->eightTrajCoe = malloc(sizeof(eightTrajCoe_t));
deviceManager->worldSpeed.speedX = 0;
deviceManager->worldSpeed.speedY = 0;
deviceManager->worldSpeed.speedZ = 0;
deviceManager->flyStartYaw = 0;
deviceManager->printData.x_veld = 0;
deviceManager->printData.y_veld = 0;
deviceManager->printData.pitch_error = 0;
deviceManager->printData.roll_error = 0;
deviceManager->flyStartAltitude = 0;
//+++++++++++++++++++++++++++++++++++++++++++++++
}
if (!failed)
{
failed = ardiscoveryConnect (deviceManager);
}
if (!failed)
{
ARSTREAM_Reader_InitStreamDataBuffer (&d2cParams[2], BD_NET_DC_VIDEO_DATA_ID, deviceManager->arstreamFragSize, deviceManager->arstreamFragNb);
ARSTREAM_Reader_InitStreamAckBuffer (&c2dParams[3], BD_NET_CD_VIDEO_ACK_ID);
}
if (!failed)
{
/* start */
failed = startNetwork (deviceManager);
}
if (!failed)
{
failed = startDecoder(deviceManager);
}
if (!failed)
{
failed = startVideo (deviceManager);
}
if (!failed)
{
int cmdSend = sendDate(deviceManager);
failed = !cmdSend;
}
if (!failed)
{
int cmdSend = sendAllSettings(deviceManager);
failed = !cmdSend;
}
if (!failed)
{
int cmdSend = sendAllStates(deviceManager);
failed = !cmdSend;
}
// //+++++++++++++++ Wobble cancellation state +++++++
// if (!failed)
// {
// int cmdSend = sendWobble(deviceManager);
// failed = !cmdSend;
// }
// //++++++++++++++++++++++++++++++++++++++++
if (!failed)
{
int cmdSend = sendBeginStream(deviceManager);
failed = !cmdSend;
}
if (!failed)
{
// allocate reader thread array.
deviceManager->readerThreads = calloc(numOfCommandBufferIds, sizeof(ARSAL_Thread_t));
if (deviceManager->readerThreads == NULL)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Allocation of reader threads failed.");
failed = 1;
}
}
if (!failed)
{
// allocate reader thread data array.
deviceManager->readerThreadsData = calloc(numOfCommandBufferIds, sizeof(READER_THREAD_DATA_t));
if (deviceManager->readerThreadsData == NULL)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Allocation of reader threads data failed.");
failed = 1;
}
}
if (!failed)
{
// Create and start reader threads.
int readerThreadIndex = 0;
for (readerThreadIndex = 0 ; readerThreadIndex < numOfCommandBufferIds ; readerThreadIndex++)
{
// initialize reader thread data
deviceManager->readerThreadsData[readerThreadIndex].deviceManager = deviceManager;
deviceManager->readerThreadsData[readerThreadIndex].readerBufferId = commandBufferIds[readerThreadIndex];
if (ARSAL_Thread_Create(&(deviceManager->readerThreads[readerThreadIndex]), readerRun, &(deviceManager->readerThreadsData[readerThreadIndex])) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of reader thread failed.");
failed = 1;
}
}
}
if (!failed)
{
// Create and start looper thread.
startTime = clock();//++++++++++++++ Start Time Set ++++++++++++++
if (ARSAL_Thread_Create(&(deviceManager->looperThread), looperRun, deviceManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of looper thread failed.");
failed = 1;
}
}
if (!failed)
{
deviceManager->ihm = IHM_New (&onInputEvent);
if (deviceManager->ihm != NULL)
{
gErrorStr[0] = '\0';
ARSAL_Print_SetCallback (customPrintCallback); //use a custom callback to print, for not disturb ncurses IHM
IHM_PrintHeader(deviceManager->ihm, "-- Bebop Drone Decode Video Stream --");
registerARCommandsCallbacks (deviceManager);
IHM_setCustomData(deviceManager->ihm, deviceManager);
gIHMRun = 1;
}
else
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of IHM failed.");
failed = 1;
}
}
if (!failed)
{
IHM_PrintInstruction(deviceManager->ihm, "Arrow keys to move ; \n'a' = auto fly ; 'z' = up ; 's' = down ; 'q' = yaw left ; 'd' = yaw right; \nSpacebar to take off/land ; \n'k' = move camera down ; 'i' = move camera up ; 'j' = move camera left ; 'l' = move camera right ;\n'm' = EMERGENCY\n'esc' to quit");
while (gIHMRun)
{
usleep(50);
}
IHM_PrintInfo(deviceManager->ihm, "Disconnecting ...");
}
if (deviceManager != NULL)
{
deviceManager->run = 0; // break threads loops
// Stop looper Thread
if (deviceManager->looperThread != NULL)
{
ARSAL_Thread_Join(deviceManager->looperThread, NULL);
ARSAL_Thread_Destroy(&(deviceManager->looperThread));
deviceManager->looperThread = NULL;
}
/* stop */
if (deviceManager->readerThreads != NULL)
{
// Stop reader Threads
int readerThreadIndex = 0;
for (readerThreadIndex = 0 ; readerThreadIndex < numOfCommandBufferIds ; readerThreadIndex++)
{
if (deviceManager->readerThreads[readerThreadIndex] != NULL)
{
ARSAL_Thread_Join(deviceManager->readerThreads[readerThreadIndex], NULL);
ARSAL_Thread_Destroy(&(deviceManager->readerThreads[readerThreadIndex]));
deviceManager->readerThreads[readerThreadIndex] = NULL;
}
}
// free reader thread array
free (deviceManager->readerThreads);
deviceManager->readerThreads = NULL;
}
if (deviceManager->readerThreadsData != NULL)
{
// free reader thread data array
free (deviceManager->readerThreadsData);
deviceManager->readerThreadsData = NULL;
}
stopVideo (deviceManager);
stopDecoder (deviceManager);
stopNetwork (deviceManager);
fclose (deviceManager->video_out);
free (deviceManager);
}
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "-- END --");
if (child > 0)
{
kill(child, SIGKILL);
}
return 0;
}
/************************** Connection part **************************/
int ardiscoveryConnect (BD_MANAGER_t *deviceManager)
{
int failed = 0;
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- ARDiscovery Connection");
eARDISCOVERY_ERROR err = ARDISCOVERY_OK;
ARDISCOVERY_Connection_ConnectionData_t *discoveryData = ARDISCOVERY_Connection_New (ARDISCOVERY_Connection_SendJsonCallback, ARDISCOVERY_Connection_ReceiveJsonCallback, deviceManager, &err);
if (discoveryData == NULL || err != ARDISCOVERY_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Error while creating discoveryData : %s", ARDISCOVERY_Error_ToString(err));
failed = 1;
}
if (!failed)
{
eARDISCOVERY_ERROR err = ARDISCOVERY_Connection_ControllerConnection(discoveryData, BD_DISCOVERY_PORT, BD_IP_ADDRESS);
if (err != ARDISCOVERY_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Error while opening discovery connection : %s", ARDISCOVERY_Error_ToString(err));
failed = 1;
}
}
ARDISCOVERY_Connection_Delete(&discoveryData);
return failed;
}
eARDISCOVERY_ERROR ARDISCOVERY_Connection_SendJsonCallback (uint8_t *dataTx, uint32_t *dataTxSize, void *customData)
{
BD_MANAGER_t *deviceManager = (BD_MANAGER_t *)customData;
eARDISCOVERY_ERROR err = ARDISCOVERY_OK;
if ((dataTx != NULL) && (dataTxSize != NULL) && (deviceManager != NULL))
{
*dataTxSize = sprintf((char *)dataTx, "{ \"%s\": %d,\n \"%s\": \"%s\",\n \"%s\": \"%s\" }",
ARDISCOVERY_CONNECTION_JSON_D2CPORT_KEY, deviceManager->d2cPort,
ARDISCOVERY_CONNECTION_JSON_CONTROLLER_NAME_KEY, "toto",
ARDISCOVERY_CONNECTION_JSON_CONTROLLER_TYPE_KEY, "tata") + 1;
}
else
{
err = ARDISCOVERY_ERROR;
}
return err;
}
eARDISCOVERY_ERROR ARDISCOVERY_Connection_ReceiveJsonCallback (uint8_t *dataRx, uint32_t dataRxSize, char *ip, void *customData)
{
BD_MANAGER_t *deviceManager = (BD_MANAGER_t *)customData;
eARDISCOVERY_ERROR err = ARDISCOVERY_OK;
if ((dataRx != NULL) && (dataRxSize != 0) && (deviceManager != NULL))
{
char *json = malloc(dataRxSize + 1);
strncpy(json, (char *)dataRx, dataRxSize);
json[dataRxSize] = '\0';
//read c2dPort ...
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, " - ReceiveJson:%s ", json);
free(json);
}
else
{
err = ARDISCOVERY_ERROR;
}
return err;
}
/************************** Network part **************************/
int startNetwork (BD_MANAGER_t *deviceManager)
{
int failed = 0;
eARNETWORK_ERROR netError = ARNETWORK_OK;
eARNETWORKAL_ERROR netAlError = ARNETWORKAL_OK;
int pingDelay = 0; // 0 means default, -1 means no ping
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Start ARNetwork");
// Create the ARNetworkALManager
deviceManager->alManager = ARNETWORKAL_Manager_New(&netAlError);
if (netAlError != ARNETWORKAL_OK)
{
failed = 1;
}
if (!failed)
{
// Initilize the ARNetworkALManager
netAlError = ARNETWORKAL_Manager_InitWifiNetwork(deviceManager->alManager, BD_IP_ADDRESS, BD_C2D_PORT, BD_D2C_PORT, 1);
if (netAlError != ARNETWORKAL_OK)
{
failed = 1;
}
}
if (!failed)
{
// Create the ARNetworkManager.
deviceManager->netManager = ARNETWORK_Manager_New(deviceManager->alManager, numC2dParams, c2dParams, numD2cParams, d2cParams, pingDelay, onDisconnectNetwork, deviceManager, &netError);
if (netError != ARNETWORK_OK)
{
failed = 1;
}
}
if (!failed)
{
// Create and start Tx and Rx threads.
if (ARSAL_Thread_Create(&(deviceManager->rxThread), ARNETWORK_Manager_ReceivingThreadRun, deviceManager->netManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of Rx thread failed.");
failed = 1;
}
if (ARSAL_Thread_Create(&(deviceManager->txThread), ARNETWORK_Manager_SendingThreadRun, deviceManager->netManager) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of Tx thread failed.");
failed = 1;
}
}
// Print net error
if (failed)
{
if (netAlError != ARNETWORKAL_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "ARNetWorkAL Error : %s", ARNETWORKAL_Error_ToString(netAlError));
}
if (netError != ARNETWORK_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "ARNetWork Error : %s", ARNETWORK_Error_ToString(netError));
}
}
return failed;
}
void stopNetwork (BD_MANAGER_t *deviceManager)
{
int failed = 0;
eARNETWORK_ERROR netError = ARNETWORK_OK;
eARNETWORKAL_ERROR netAlError = ARNETWORKAL_OK;
int pingDelay = 0; // 0 means default, -1 means no ping
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Stop ARNetwork");
// ARNetwork cleanup
if (deviceManager->netManager != NULL)
{
ARNETWORK_Manager_Stop(deviceManager->netManager);
if (deviceManager->rxThread != NULL)
{
ARSAL_Thread_Join(deviceManager->rxThread, NULL);
ARSAL_Thread_Destroy(&(deviceManager->rxThread));
deviceManager->rxThread = NULL;
}
if (deviceManager->txThread != NULL)
{
ARSAL_Thread_Join(deviceManager->txThread, NULL);
ARSAL_Thread_Destroy(&(deviceManager->txThread));
deviceManager->txThread = NULL;
}
}
if (deviceManager->alManager != NULL)
{
ARNETWORKAL_Manager_Unlock(deviceManager->alManager);
ARNETWORKAL_Manager_CloseWifiNetwork(deviceManager->alManager);
}
ARNETWORK_Manager_Delete(&(deviceManager->netManager));
ARNETWORKAL_Manager_Delete(&(deviceManager->alManager));
}
void onDisconnectNetwork (ARNETWORK_Manager_t *manager, ARNETWORKAL_Manager_t *alManager, void *customData)
{
ARSAL_PRINT(ARSAL_PRINT_DEBUG, TAG, "onDisconnectNetwork ...");
gIHMRun = 0;
}
/************************** Video part **************************/
int startVideo(BD_MANAGER_t *deviceManager)
{
int failed = 0;
eARSTREAM_ERROR err = ARSTREAM_OK;
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Start ARStream");
deviceManager->videoFrameSize = deviceManager->arstreamFragSize * deviceManager->arstreamFragNb;
deviceManager->videoFrame = malloc (deviceManager->videoFrameSize);
if (deviceManager->videoFrame == NULL)
{
failed = 1;
}
if (! failed)
{
deviceManager->streamReader = ARSTREAM_Reader_New (deviceManager->netManager, BD_NET_DC_VIDEO_DATA_ID, BD_NET_CD_VIDEO_ACK_ID, frameCompleteCallback, deviceManager->videoFrame, deviceManager->videoFrameSize, deviceManager->arstreamFragSize, deviceManager->arstreamAckDelay, deviceManager, &err);
if (err != ARSTREAM_OK)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Error during ARStream creation : %s", ARSTREAM_Error_ToString(err));
failed = 1;
}
}
if (!failed)
{
// Create and start Tx and Rx threads.
if (ARSAL_Thread_Create(&(deviceManager->videoRxThread), ARSTREAM_Reader_RunDataThread, deviceManager->streamReader) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of video Rx thread failed.");
failed = 1;
}
if (ARSAL_Thread_Create(&(deviceManager->videoTxThread), ARSTREAM_Reader_RunAckThread, deviceManager->streamReader) != 0)
{
ARSAL_PRINT(ARSAL_PRINT_ERROR, TAG, "Creation of video Tx thread failed.");
failed = 1;
}
}
return failed;
}
void stopVideo(BD_MANAGER_t *deviceManager)
{
int failed = 0;
eARSTREAM_ERROR err = ARSTREAM_OK;
ARSAL_PRINT(ARSAL_PRINT_INFO, TAG, "- Stop ARStream");
if (deviceManager->streamReader)
{