[video_thread] simulation

paparazzi · Sep 3, 2015 · 16bbf7d · 16bbf7d
1 parent e6ef983
commit 16bbf7d
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Showing 10 changed files with 65 additions and 17 deletions.
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
@@ -30,16 +30,18 @@
     <!--load name="logger_file.xml">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
-    <load name="video_rtp_stream.xml">
-      <define name="VIEWVIDEO_FPS" value="60"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
+    <load name="video_thread.xml">
+      <define name="VIEWVIDEO_FPS" value="4"/>
       <define name="VIEWVIDEO_DEVICE" value="/dev/video0"/>
       <define name="VIEWVIDEO_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIEWVIDEO_DEVICE_SIZE" value="320,240"/>
+      <define name="VIEWVIDEO_DEVICE_SIZE" value="640,480"/>
       <define name="VIEWVIDEO_DEVICE_BUFFERS" value="60"/>
       <define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
+    <load name="video_rtp_stream.xml">
+      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
+      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
+    </load>
   </modules>
 
   <commands>

diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
@@ -35,16 +35,18 @@
     <!--load name="logger_file.xml">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
-    <load name="video_rtp_stream.xml">
-      <define name="VIEWVIDEO_FPS" value="60"/>
-      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
-      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
+    <load name="video_thread.xml">
+      <define name="VIEWVIDEO_FPS" value="4"/>
       <define name="VIEWVIDEO_DEVICE" value="/dev/video0"/>
       <define name="VIEWVIDEO_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIEWVIDEO_DEVICE_SIZE" value="320,240"/>
+      <define name="VIEWVIDEO_DEVICE_SIZE" value="640,480"/>
       <define name="VIEWVIDEO_DEVICE_BUFFERS" value="60"/>
       <define name="VIEWVIDEO_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
+    <load name="video_rtp_stream.xml">
+      <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
+      <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
+    </load>
   </modules>
 
   <commands>

diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
@@ -36,6 +36,7 @@
     <load name="agl_dist.xml">
       <define name="USE_SONAR"/>
     </load>
+    <load name="video_thread.xml"/>
     <load name="video_rtp_stream.xml">
       <configure name="VIEWVIDEO_USE_NC" value="TRUE"/>
     </load>

diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml b/conf/airframes/ENAC/quadrotor/ard2_base_vision.xml
@@ -36,6 +36,7 @@
     <load name="agl_dist.xml">
       <define name="USE_SONAR"/>
     </load>
+    <load name="video_thread.xml"/>
     <load name="video_rtp_stream.xml">
       <define name="VIDEO_SOCK_OUT_OFFSET" value="$(AC_ID)"/>
       <define name="VIDEO_DOWNSIZE_FACTOR" value="2"/>

diff --git a/conf/airframes/examples/ardrone2.xml b/conf/airframes/examples/ardrone2.xml
@@ -32,6 +32,7 @@
     <load name="air_data.xml"/>
     <load name="geo_mag.xml"/>
     <!--load name="logger_file.xml"/-->
+    <!--load name="video_thread.xml"/-->
     <!--load name="video_rtp_stream.xml"/-->
   </modules>
 

diff --git a/conf/modules/digital_cam_video.xml b/conf/modules/digital_cam_video.xml
@@ -34,7 +34,7 @@
     </dl_settings>
   </settings>
 
-  <depends>video_rtp_stream</depends>
+  <depends>video_thread</depends>
 
   <conflicts>digital_cam,digital_cam_servo,digital_cam_i2c,digital_cam_uart</conflicts>
 

diff --git a/conf/modules/video_exif.xml b/conf/modules/video_exif.xml
@@ -10,6 +10,8 @@
     </description>
   </doc>
 
+  <depends>video_thread</depends>
+
   <header>
     <file name="lib/exif/exif_module.h"/>
   </header>

diff --git a/sw/airborne/modules/computer_vision/video_thread.c b/sw/airborne/modules/computer_vision/video_thread.c
@@ -1,6 +1,5 @@
-/*
- * Copyright (C) 2012-2014 The Paparazzi Community
- *               2015 Freek van Tienen <freek.v.tienen@gmail.com>
+	/*
+ * Copyright (C) 2015
  *
  * This file is part of Paparazzi.
  *

diff --git a/sw/airborne/modules/computer_vision/video_thread_nps.c b/sw/airborne/modules/computer_vision/video_thread_nps.c
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2015
+ *
+ * This file is part of Paparazzi.
+ *
+ * Paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * Paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * Dummy C implementation for simulation
+ * The V4L2 could also work in simulation, but must be adapted a bit.
+ */
+
+// Own header
+#include "video_thread.h"
+
+// Initialize the video_thread structure with the defaults
+struct video_thread_t video_thread = {
+  .is_running = FALSE,
+  .fps = 30,
+  .take_shot = FALSE,
+  .shot_number = 0
+};
+
+// All dummy functions
+void video_thread_init(void) {}
+void video_thread_periodic(void) {}
+void video_thread_start(void) {}
+void video_thread_stop(void) {}
+void video_thread_take_shot(bool_t take __attribute__((unused))) {}
diff --git a/sw/airborne/modules/computer_vision/viewvideo_nps.c b/sw/airborne/modules/computer_vision/viewvideo_nps.c
@@ -32,9 +32,6 @@ struct viewvideo_t viewvideo = {
   .is_streaming = FALSE,
   .downsize_factor = 1,
   .quality_factor = 99,
-  .fps = 30,
-  .take_shot = FALSE,
-  .shot_number = 0
 };
 
 // All dummy functions