[video] use video_config in video_thread

Each "board" (e.g. ARDrone2 or Bebop) defines a video_config_t for each camera, then you only need to specify 'front_camera' or 'bottom_camera' instead of setting all parameters
paparazzi · Sep 14, 2015 · 6dd0b56 · 6dd0b56
1 parent f94ccb8
commit 6dd0b56
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Showing 16 changed files with 85 additions and 75 deletions.
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
@@ -33,11 +33,8 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
     <load name="video_thread.xml">
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
     <load name="video_rtp_stream.xml">

diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
@@ -39,10 +39,7 @@
     </load-->
     <load name="video_thread.xml">
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
     <load name="cv_blob_locator.xml"/>

diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
@@ -38,11 +38,8 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
     <load name="video_thread.xml">
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
     <load name="video_rtp_stream.xml">

diff --git a/conf/airframes/BR/bebop_indi_frog_flip.xml b/conf/airframes/BR/bebop_indi_frog_flip.xml
@@ -38,11 +38,8 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </load-->
     <load name="video_thread.xml">
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
     <load name="video_rtp_stream.xml">

diff --git a/conf/airframes/CDW/bebop.xml b/conf/airframes/CDW/bebop.xml
@@ -39,10 +39,7 @@
     </load-->
     <load name="video_thread.xml">
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
     <load name="cv_blob_locator.xml"/>

diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml
@@ -36,7 +36,9 @@
     <load name="agl_dist.xml">
       <define name="USE_SONAR"/>
     </load>
-    <load name="video_thread.xml"/>
+    <load name="video_thread.xml">
+      <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
+    </load>
     <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
@@ -36,7 +36,9 @@
     <load name="agl_dist.xml">
       <define name="USE_SONAR"/>
     </load>
-    <load name="video_thread.xml"/>
+    <load name="video_thread.xml">
+      <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
+    </load>
     <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
@@ -32,7 +32,11 @@
     <load name="air_data.xml"/>
     <load name="geo_mag.xml"/>
     <!--load name="logger_file.xml"/-->
-    <!--load name="video_thread.xml"/-->
+    <!--
+    <load name="video_thread.xml">
+        <define name="VIDEO_THREAD_CAMERA" value="front_camera"/>
+    </load>
+    -->
     <!--load name="video_rtp_stream.xml"/-->
   </modules>
 

diff --git a/conf/airframes/examples/bebop.xml b/conf/airframes/examples/bebop.xml
@@ -33,10 +33,7 @@
     </load-->
     <load name="video_thread.xml">
       <define name="VIDEO_THREAD_FPS" value="4"/>
-      <define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/>
-      <define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
-      <define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
-      <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
+      <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
     </load>
     <load name="video_rtp_stream.xml">

diff --git a/conf/modules/video_thread.xml b/conf/modules/video_thread.xml
@@ -3,16 +3,20 @@
 <module name="video_thread" dir="computer_vision">
   <doc>
     <description>
-      Video streaming for Linux devices
+      Read video in a thread.
+      Only for Linux devices.
+      To be used in other modules for further processing (e.g. opticflow, QR code, streaming).
 
-      - Sends a RTP/UDP stream of the camera
       - Possibility to save an image(shot) on the internal memory (JPEG, full size, best quality)
     </description>
-    <define name="VIDEO_THREAD_DEVICE" value="/dev/video1" description="The video device to capture from"/>
-    <define name="VIDEO_THREAD_DEVICE_SIZE" value="1280,720" description="Video capture size (width, height)"/>
-    <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="10" description="Amount of V4L2 image buffers"/>
+    <define name="VIDEO_THREAD_CAMERA" value="bottom_camera|front_camera" description="which camera video config to use"/>
     <define name="VIDEO_THREAD_FPS" value="4" description="Video stream frame rate"/>
     <define name="VIDEO_THREAD_SHOT_PATH" value="/data/video/images" description="Path where the images should be saved"/>
+    <define name="VIDEO_THREAD_DEVICE" value="/dev/video1" description="The video device to capture from (only if VIDEO_THREAD_CAMERA is not defined)"/>
+    <define name="VIDEO_THREAD_DEVICE_VIDEO_WIDTH" value="1280" description="Video capture width (only if VIDEO_THREAD_CAMERA is not defined)"/>
+    <define name="VIDEO_THREAD_DEVICE_VIDEO_HEIGHT" value="720" description="Video capture height (only if VIDEO_THREAD_CAMERA is not defined)"/>
+    <define name="VIDEO_THREAD_DEVICE_BUFFERS" value="10" description="Amount of V4L2 image buffers (only if VIDEO_THREAD_CAMERA is not defined)"/>
+
   </doc>
   <settings>
     <dl_settings>

diff --git a/sw/airborne/boards/ardrone/board.c b/sw/airborne/boards/ardrone/board.c
@@ -36,21 +36,23 @@
 
 #include "peripherals/video_device.h"
 
-struct video_device_t front_camera = {
+struct video_config_t front_camera = {
   .w = 1280,
   .h = 720,
   .dev_name = "/dev/video1",
   .subdev_name = NULL,
   .format = V4L2_PIX_FMT_UYVY,
+  .buf_cnt = 10,
   .filters = NULL
 };
 
-struct video_device_t bottom_camera = {
+struct video_config_t bottom_camera = {
   .w = 320,
   .h = 240,
   .dev_name = "/dev/video2",
   .subdev_name = NULL,
   .format = V4L2_PIX_FMT_UYVY,
+  .buf_cnt = 10,
   .filters = NULL
 };
 

diff --git a/sw/airborne/boards/ardrone2.h b/sw/airborne/boards/ardrone2.h
@@ -10,8 +10,8 @@
 #endif
 
 /* Cameras */
-extern struct video_device_t bottom_camera;
-extern struct video_device_t front_camera;
+extern struct video_config_t bottom_camera;
+extern struct video_config_t front_camera;
 
 /* Default actuators driver */
 #define DEFAULT_ACTUATORS "boards/ardrone/actuators.h"

diff --git a/sw/airborne/boards/bebop.h b/sw/airborne/boards/bebop.h
@@ -37,8 +37,8 @@
 #define ActuatorsDefaultCommit() ActuatorsBebopCommit()
 
 /* Cameras */
-extern struct video_device_t bottom_camera;
-extern struct video_device_t front_camera;
+extern struct video_config_t bottom_camera;
+extern struct video_config_t front_camera;
 
 /* by default activate onboard baro */
 #ifndef USE_BARO_BOARD

diff --git a/sw/airborne/boards/bebop/video.c b/sw/airborne/boards/bebop/video.c
@@ -39,21 +39,23 @@
 
 #include "boards/bebop.h"
 
-struct video_device_t bottom_camera = {
+struct video_config_t bottom_camera = {
   .w = 640,
   .h = 480,
   .dev_name = "/dev/video0",
   .subdev_name = NULL,
   .format = V4L2_PIX_FMT_UYVY,
+  .buf_cnt = 60,
   .filters = NULL
 };
 
-struct video_device_t front_camera = {
+struct video_config_t front_camera = {
   .w = 1408,
   .h = 2112,
   .dev_name = "/dev/video1",
   .subdev_name = "/dev/v4l-subdev1",
   .format = V4L2_PIX_FMT_SGBRG10,
+  .buf_cnt = 80,
   .filters = NULL //{DeMosaic, AEC, ABW}
 };
 

diff --git a/sw/airborne/modules/computer_vision/video_thread.c b/sw/airborne/modules/computer_vision/video_thread.c
@@ -38,6 +38,10 @@
 #include "lib/v4l/v4l2.h"
 #include "lib/vision/image.h"
 #include "lib/encoding/jpeg.h"
+#include "peripherals/video_device.h"
+
+// include board for bottom_camera and front_camera on ARDrone2 and Bebop
+#include BOARD_CONFIG
 
 #if JPEG_WITH_EXIF_HEADER
 #include "lib/exif/exif_module.h"
@@ -47,25 +51,32 @@
 #include <pthread.h>
 #include "rt_priority.h"
 
-// The video device
-#ifndef VIDEO_THREAD_DEVICE
-#define VIDEO_THREAD_DEVICE /dev/video1
-#endif
-PRINT_CONFIG_VAR(VIDEO_THREAD_DEVICE)
-
-// The video device size (width, height)
-#ifndef VIDEO_THREAD_DEVICE_SIZE
-#define VIDEO_THREAD_DEVICE_SIZE 1280,720
-#endif
-#define __SIZE_HELPER(x, y) #x", "#y
-#define _SIZE_HELPER(x) __SIZE_HELPER(x)
-PRINT_CONFIG_MSG("VIDEO_THREAD_DEVICE_SIZE = " _SIZE_HELPER(VIDEO_THREAD_DEVICE_SIZE))
-
+/// The camera video config (usually bottom_camera or front_camera)
+#ifndef VIDEO_THREAD_CAMERA
+#warning "Are you sure you don't want to use the bottom_camera or front_camera?"
 // The video device buffers (the amount of V4L2 buffers)
 #ifndef VIDEO_THREAD_DEVICE_BUFFERS
 #define VIDEO_THREAD_DEVICE_BUFFERS 10
 #endif
 PRINT_CONFIG_VAR(VIDEO_THREAD_DEVICE_BUFFERS)
+#ifndef VIDEO_THREAD_SUBDEV
+#define VIDEO_THREAD_SUBDEV NULL
+#endif
+#ifndef VIDEO_THREAD_FILTERS
+#define VIDEO_THREAD_FILTERS NULL
+#endif
+struct video_config_t custom_camera = {
+  .w = VIDEO_THREAD_VIDEO_WIDTH,
+  .h = VIDEO_THREAD_VIDEO_HEIGHT,
+  .dev_name = STRINGIFY(VIDEO_THREAD_DEVICE),
+  .subdev_name = VIDEO_THREAD_SUBDEV,
+  .buf_cnt = VIDEO_THREAD_DEVICE_BUFFERS,
+  .filters = VIDEO_THREAD_FILTERS
+};
+#define VIDEO_THREAD_CAMERA custom_camera
+#endif
+PRINT_CONFIG_VAR(VIDEO_THREAD_CAMERA)
+
 
 // Frames Per Seconds
 #ifndef VIDEO_THREAD_FPS
@@ -95,8 +106,26 @@ struct video_thread_t video_thread = {
  * Handles all the video streaming and saving of the image shots
  * This is a sepereate thread, so it needs to be thread safe!
  */
-static void *video_thread_function(void *data __attribute__((unused)))
+static void *video_thread_function(void *data)
 {
+  struct video_config_t *vid = (struct video_config_t *)data;
+
+  // Initialize the V4L2 subdevice if needed
+  if (vid->subdev_name != NULL) {
+    if (!v4l2_init_subdev(vid->subdev_name, 0, 1, vid->format, vid->w, vid->h)) {
+      printf("[video_thread] Could not initialize the %s subdevice.\n", vid->subdev_name);
+      return 0;
+    }
+  }
+
+  // Initialize the V4L2 device
+  video_thread.dev = v4l2_init(vid->dev_name, vid->w, vid->h, vid->buf_cnt, vid->format);
+  if (video_thread.dev == NULL) {
+    printf("[video_thread] Could not initialize the %s V4L2 device.\n", vid->dev_name);
+    return 0;
+  }
+
+
   // Start the streaming of the V4L2 device
   if (!v4l2_start_capture(video_thread.dev)) {
     printf("[video_thread-thread] Could not start capture of %s.\n", video_thread.dev->name);
@@ -176,24 +205,6 @@ static void *video_thread_function(void *data __attribute__((unused)))
  */
 void video_thread_init(void)
 {
-#ifdef VIDEO_THREAD_SUBDEV
-  PRINT_CONFIG_MSG("[video_thread] Configuring a subdevice!")
-  PRINT_CONFIG_VAR(VIDEO_THREAD_SUBDEV)
-
-  // Initialize the V4L2 subdevice (TODO: fix hardcoded path, which and code)
-  if (!v4l2_init_subdev(STRINGIFY(VIDEO_THREAD_SUBDEV), 0, 1, V4L2_MBUS_FMT_UYVY8_2X8, VIDEO_THREAD_DEVICE_SIZE)) {
-    printf("[video_thread] Could not initialize the %s subdevice.\n", STRINGIFY(VIDEO_THREAD_SUBDEV));
-    return;
-  }
-#endif
-
-  // Initialize the V4L2 device
-  video_thread.dev = v4l2_init(STRINGIFY(VIDEO_THREAD_DEVICE), VIDEO_THREAD_DEVICE_SIZE, VIDEO_THREAD_DEVICE_BUFFERS,  V4L2_PIX_FMT_UYVY);
-  if (video_thread.dev == NULL) {
-    printf("[video_thread] Could not initialize the %s V4L2 device.\n", STRINGIFY(VIDEO_THREAD_DEVICE));
-    return;
-  }
-
   // Create the shot directory
   char save_name[128];
   sprintf(save_name, "mkdir -p %s", STRINGIFY(VIDEO_THREAD_SHOT_PATH));
@@ -215,7 +226,7 @@ void video_thread_start(void)
 
   // Start the streaming thread
   pthread_t tid;
-  if (pthread_create(&tid, NULL, video_thread_function, NULL) != 0) {
+  if (pthread_create(&tid, NULL, video_thread_function, (void*)(&VIDEO_THREAD_CAMERA)) != 0) {
     printf("[vievideo] Could not create streaming thread.\n");
     return;
   }

diff --git a/sw/airborne/peripherals/video_device.h b/sw/airborne/peripherals/video_device.h
@@ -32,12 +32,13 @@
 #include "modules/computer_vision/lib/v4l/v4l2.h"
 
 /** V4L2 device settings */
-struct video_device_t {
+struct video_config_t {
   int w;              ///< Width
   int h;              ///< Height
   char* dev_name;     ///< path to device
   char* subdev_name;  ///< path to sub device
   uint32_t format;    ///< Video format
+  uint8_t buf_cnt;    ///< Amount of V4L2 video device buffers
   void* filters;      ///< filters to use
 };