diff --git a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml index e948a401df..8ab5c8f96c 100644 --- a/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml +++ b/conf/airframes/ENAC/quadrotor/ard2_base_digit.xml @@ -36,7 +36,9 @@ - + + + diff --git a/conf/modules/image_nc_send.xml b/conf/modules/image_nc_send.xml deleted file mode 100644 index 9f031137a0..0000000000 --- a/conf/modules/image_nc_send.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - Download Images from ARDone 2 with netcat - - - - - - - -
- -
- - - - - - - - - - - - - - - - - - - diff --git a/conf/modules/video_rtp_stream.xml b/conf/modules/video_rtp_stream.xml index 989a33ca2f..cc82f6f202 100644 --- a/conf/modules/video_rtp_stream.xml +++ b/conf/modules/video_rtp_stream.xml @@ -49,16 +49,19 @@ VIEWVIDEO_BROADCAST ?= $(MODEM_BROADCAST) VIEWVIDEO_DEV_LOWER = $(shell echo $(VIEWVIDEO_DEV) | tr A-Z a-z) - STREAM_CFLAGS = -DUSE_$(VIEWVIDEO_DEV) -DVIEWVIDEO_DEV=$(VIEWVIDEO_DEV_LOWER) -DVIEWVIDEO_PORT_OUT=$(VIEWVIDEO_PORT_OUT) - STREAM_CFLAGS += -D$(VIEWVIDEO_DEV)_PORT_OUT=$(VIEWVIDEO_PORT_OUT) -D$(VIEWVIDEO_DEV)_PORT_IN=$(VIEWVIDEO_PORT_IN) - STREAM_CFLAGS += -D$(VIEWVIDEO_DEV)_BROADCAST=$(VIEWVIDEO_BROADCAST) -D$(VIEWVIDEO_DEV)_HOST=\"$(VIEWVIDEO_HOST)\" - ap.CFLAGS += $(STREAM_CFLAGS) + VIEWVID_G_CFLAGS = -DVIEWVIDEO_HOST=\"$(VIEWVIDEO_HOST)\" -DVIEWVIDEO_PORT_OUT=$(VIEWVIDEO_PORT_OUT) + VIEWVID_CFLAGS = -DUSE_$(VIEWVIDEO_DEV) -DVIEWVIDEO_DEV=$(VIEWVIDEO_DEV_LOWER) + VIEWVID_CFLAGS += -D$(VIEWVIDEO_DEV)_PORT_OUT=$(VIEWVIDEO_PORT_OUT) -D$(VIEWVIDEO_DEV)_PORT_IN=$(VIEWVIDEO_PORT_IN) + VIEWVID_CFLAGS += -D$(VIEWVIDEO_DEV)_BROADCAST=$(VIEWVIDEO_BROADCAST) -D$(VIEWVIDEO_DEV)_HOST=\"$(VIEWVIDEO_HOST)\" + ifeq ($(VIEWVIDEO_USE_NC),) + ap.CFLAGS += $(VIEWVID_G_CFLAGS) $(VIEWVID_CFLAGS) + else + ap.CFLAGS += $(VIEWVID_G_CFLAGS) -DVIEWVIDEO_USE_NC + endif - - diff --git a/sw/airborne/modules/computer_vision/image_nc_send.c b/sw/airborne/modules/computer_vision/image_nc_send.c deleted file mode 100644 index 3c90244778..0000000000 --- a/sw/airborne/modules/computer_vision/image_nc_send.c +++ /dev/null @@ -1,214 +0,0 @@ -/* - * Copyright (C) 2014 Gautier Hattenberger - * - * 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, see - * . - * - */ - -/** - * @file modules/computer_vision/image_nc_send.c - * - * Capture an image on an ARDrone2 and send it to the ground with netcat (nc) - */ - -// Own header -#include "modules/computer_vision/image_nc_send.h" - -#include -#include -#include -#include -#include - -// Video -#include "modules/computer_vision/lib/v4l/v4l2.h" -#include "modules/computer_vision/cv/resize.h" -#include "modules/computer_vision/cv/encoding/jpeg.h" - -// Threaded computer vision -#include - -// Default netcat server IP (destination) -#ifndef IMAGE_SERVER_IP -#define IMAGE_SERVER_IP "192.168.1.2" -#endif - -// Default netcat port -#ifndef IMAGE_SERVER_PORT -#define IMAGE_SERVER_PORT 4900 -#endif - -// Default downsize factor -#ifndef IMAGE_DOWNSIZE_FACTOR -#define IMAGE_DOWNSIZE_FACTOR 1 -#endif - -// JPEG compression quality factor from 0 to 99 (99=high) -#ifndef IMAGE_QUALITY_FACTOR -#define IMAGE_QUALITY_FACTOR 99 -#endif - -// Frame Per Second -#ifndef IMAGE_FPS -#define IMAGE_FPS (1./6.) -#endif - -// Save images by default -#ifndef IMAGE_SAVE -#define IMAGE_SAVE 1 -#endif - -void image_nc_send_run(void) {} - - -///////////////////////////////////////////////////////////////////////// -// COMPUTER VISION THREAD - -pthread_t computervision_thread; -volatile uint8_t computervision_thread_status = 0; -volatile uint8_t computer_vision_thread_command = 0; -void *computervision_thread_main(void *data); -void *computervision_thread_main(void *data) -{ - // Create a V4L2 device -#if USE_BOTTOM_CAMERA - struct v4l2_device *dev = v4l2_init("/dev/video2", 320, 240, 10); -#else - struct v4l2_device *dev = v4l2_init("/dev/video1", 1280, 720, 4); -#endif - if (dev == NULL) { - printf("Error initialising video\n"); - return 0; - } - - - // Start the streaming on the V4L2 device - if(!v4l2_start_capture(dev)) { - printf("Could not start capture\n"); - return 0; - } - - - // Frame Resizing - uint8_t quality_factor = IMAGE_QUALITY_FACTOR; - uint8_t dri_jpeg_header = 1; - - struct img_struct small; - small.w = dev->w / IMAGE_DOWNSIZE_FACTOR; - small.h = dev->h / IMAGE_DOWNSIZE_FACTOR; - small.buf = (uint8_t *)malloc(small.w * small.h * 2); - - // Commpressed image buffer - uint8_t *jpegbuf = (uint8_t *)malloc(dev->h * dev->w * 2); - - // file index (search from 0) - int file_index = 0; - - int microsleep = (int)(1000000. / IMAGE_FPS); - - while (computer_vision_thread_command > 0) { - usleep(microsleep); - // Wait for a new frame - struct v4l2_img_buf *img = v4l2_image_get(dev); - struct img_struct input; - input.buf = img->buf; - input.w = dev->w; - input.h = dev->h; - - // Resize - resize_uyuv(&input, &small, IMAGE_DOWNSIZE_FACTOR); - - // Free the image - v4l2_image_free(dev, img); - - // JPEG encode the image: - uint32_t image_format = FOUR_TWO_TWO; // format (in jpeg.h) - uint8_t *end = encode_image(small.buf, jpegbuf, quality_factor, image_format, small.w, small.h, dri_jpeg_header); - uint32_t size = end - (jpegbuf); - -#if IMAGE_SAVE - FILE *save; - char save_name[128]; - if (system("mkdir -p /data/video/images") == 0) { - // search available index (max is 99) - for (; file_index < 99; file_index++) { - printf("search %d\n", file_index); - sprintf(save_name, "/data/video/images/img_%02d.jpg", file_index); - // test if file exists or not - if (access(save_name, F_OK) == -1) { - printf("access\n"); - save = fopen(save_name, "w"); - if (save != NULL) { - fwrite(jpegbuf, sizeof(uint8_t), size, save); - fclose(save); - } else { - printf("Error when opening file %s\n", save_name); - } - // leave for loop - break; - } else {printf("file exists\n");} - } - } -#endif - - // Fork process - int status; - pid_t pid = fork(); - - if (pid == 0) { - // Open process to send using netcat in child process - char nc_cmd[64]; - sprintf(nc_cmd, "nc %s %d", IMAGE_SERVER_IP, IMAGE_SERVER_PORT); - FILE *netcat; - netcat = popen(nc_cmd, "w"); - if (netcat != NULL) { - fwrite(jpegbuf, sizeof(uint8_t), size, netcat); - if (pclose(netcat) == 0) { - printf("Sending image succesfully\n"); - } - } else { - printf("Fail sending image\n"); - } - exit(0); - } else if (pid < 0) { - printf("Fork failed\n"); - } else { - // Parent is waiting for child to terminate - wait(&status); - } - - } - printf("Thread Closed\n"); - v4l2_close(dev); - computervision_thread_status = -100; - return 0; -} - -void image_nc_send_start(void) -{ - computer_vision_thread_command = 1; - int rc = pthread_create(&computervision_thread, NULL, computervision_thread_main, NULL); - if (rc) { - printf("ctl_Init: Return code from pthread_create(mot_thread) is %d\n", rc); - } -} - -void image_nc_send_stop(void) -{ - computer_vision_thread_command = 0; -} - diff --git a/sw/airborne/modules/computer_vision/image_nc_send.h b/sw/airborne/modules/computer_vision/image_nc_send.h deleted file mode 100644 index c7bab94da6..0000000000 --- a/sw/airborne/modules/computer_vision/image_nc_send.h +++ /dev/null @@ -1,37 +0,0 @@ -/* - * Copyright (C) 2014 Gautier Hattenberger - * - * 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, see - * . - * - */ - -/** - * @file modules/computer_vision/image_nc_send.h - * - * Capture an image on an ARDrone2 and send it to the ground with netcat (nc) - */ - -#ifndef IMAGE_NC_SEND_H -#define IMAGE_NC_SEND_H - -// Module functions -extern void image_nc_send_run(void); -extern void image_nc_send_start(void); -extern void image_nc_send_stop(void); - -#endif /* IMAGE_NC_SEND_H */ - diff --git a/sw/airborne/modules/computer_vision/image_nc_send_nps.c b/sw/airborne/modules/computer_vision/image_nc_send_nps.c deleted file mode 100644 index f2ca1ff16b..0000000000 --- a/sw/airborne/modules/computer_vision/image_nc_send_nps.c +++ /dev/null @@ -1,31 +0,0 @@ -/* - * Copyright (C) 2014 Gautier Hattenberger - * - * 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. - */ - - -// Own header -#include "image_capture.h" - -void image_capture_run(void) {} - -void image_capture_start(void) {} - -void image_capture_stop(void) {} - diff --git a/sw/airborne/modules/computer_vision/viewvideo.c b/sw/airborne/modules/computer_vision/viewvideo.c index 8c662217a2..d802f53032 100644 --- a/sw/airborne/modules/computer_vision/viewvideo.c +++ b/sw/airborne/modules/computer_vision/viewvideo.c @@ -93,8 +93,16 @@ PRINT_CONFIG_VAR(VIEWVIDEO_FPS); #endif PRINT_CONFIG_VAR(VIEWVIDEO_SHOT_PATH); -/* These are defined with configure */ +// Check if we are using netcat instead of RTP/UDP +#ifdef VIEWVIDEO_NC_IP +PRINT_CONFIG_MSG("[viewvideo] Using netcat."); +#else +PRINT_CONFIG_MSG("[viewvideo] Using RTP/UDP stream."); PRINT_CONFIG_VAR(VIEWVIDEO_DEV); +#endif + +/* These are defined with configure */ +PRINT_CONFIG_VAR(VIEWVIDEO_HOST); PRINT_CONFIG_VAR(VIEWVIDEO_PORT_OUT); // Main thread @@ -202,6 +210,20 @@ static void *viewvideo_thread(void *data __attribute__((unused))) uint8_t *end = jpeg_encode_image(small.buf, jpegbuf, VIEWVIDEO_QUALITY_FACTOR, FOUR_TWO_TWO, small.w, small.h, FALSE); uint32_t size = end - (jpegbuf); +#ifdef VIEWVIDEO_USE_NC + // Open process to send using netcat + char nc_cmd[64]; + sprintf(nc_cmd, "nc %s %d", VIEWVIDEO_HOST, VIEWVIDEO_PORT_OUT); + FILE *netcat = popen(nc_cmd, "w"); + if (netcat != NULL) { + fwrite(jpegbuf, sizeof(uint8_t), size, netcat); + if (pclose(netcat) != 0) { + printf("[viewvideo] Sending image trough netcat failed.\n"); + } + } else { + printf("[viewvideo] Failed to open netcat process.\n"); + } +#else // Send image with RTP rtp_frame_send( &VIEWVIDEO_DEV, // UDP device @@ -220,6 +242,7 @@ static void *viewvideo_thread(void *data __attribute__((unused))) // the timestamp is always "late" so the frame is displayed immediately). // Here, we set the time increment to the lowest possible value // (1 = 1/90000 s) which is probably stupid but is actually working. +#endif // Free the image v4l2_image_free(viewvideo.dev, img);