From 5565f8c4571bf83f2e157c187962bdca9d198369 Mon Sep 17 00:00:00 2001
From: Gautier Hattenberger <gautier.hattenberger@enac.fr>
Date: Wed, 25 Mar 2015 14:29:09 +0100
Subject: [PATCH] [parrot] improve/fix tools to grab video on parrot UAVs

---
 .../modules/computer_vision/viewvideo.c       |  8 ++-
 sw/tools/parrot/ardrone2/start_mplayer.sh     |  8 +--
 sw/tools/parrot/bebop.py                      | 10 ++--
 sw/tools/parrot/bebop/dump_images.sh          | 20 ++++++++
 sw/tools/parrot/bebop/start_avplay.sh         | 21 ++++++++
 sw/tools/parrot/bebop/start_mplayer.sh        | 50 +++++++++++++++++++
 6 files changed, 107 insertions(+), 10 deletions(-)
 create mode 100755 sw/tools/parrot/bebop/dump_images.sh
 create mode 100755 sw/tools/parrot/bebop/start_avplay.sh
 create mode 100755 sw/tools/parrot/bebop/start_mplayer.sh

diff --git a/sw/airborne/modules/computer_vision/viewvideo.c b/sw/airborne/modules/computer_vision/viewvideo.c
index 85ebd24e3e..85c276b419 100644
--- a/sw/airborne/modules/computer_vision/viewvideo.c
+++ b/sw/airborne/modules/computer_vision/viewvideo.c
@@ -81,6 +81,12 @@ PRINT_CONFIG_VAR(VIEWVIDEO_DOWNSIZE_FACTOR);
 #endif
 PRINT_CONFIG_VAR(VIEWVIDEO_QUALITY_FACTOR);
 
+// RTP time increment at 90kHz (default: 0 for automatic)
+#ifndef VIEWVIDEO_RTP_TIME_INC
+#define VIEWVIDEO_RTP_TIME_INC 0
+#endif
+PRINT_CONFIG_VAR(VIEWVIDEO_RTP_TIME_INC);
+
 // Frames Per Seconds
 #ifndef VIEWVIDEO_FPS
 #define VIEWVIDEO_FPS 4
@@ -251,7 +257,7 @@ static void *viewvideo_thread(void *data __attribute__((unused)))
       0,                        // Format 422
       VIEWVIDEO_QUALITY_FACTOR, // Jpeg-Quality
       0,                        // DRI Header
-      0                         // 90kHz time increment
+      VIEWVIDEO_RTP_TIME_INC    // 90kHz time increment
     );
     // Extra note: when the time increment is set to 0,
     // it is automaticaly calculated by the send_rtp_frame function
diff --git a/sw/tools/parrot/ardrone2/start_mplayer.sh b/sw/tools/parrot/ardrone2/start_mplayer.sh
index fa3c09a22e..f6f8c2704e 100755
--- a/sw/tools/parrot/ardrone2/start_mplayer.sh
+++ b/sw/tools/parrot/ardrone2/start_mplayer.sh
@@ -18,7 +18,7 @@ pid=0
 
 function quit {
   echo "Stop video"
-  if [ $pid > 0 ]
+  if [ "$pid" -gt 0 ]
   then
     kill -9 $pid
   fi
@@ -30,9 +30,9 @@ trap quit SIGINT
 
 # fetch sdp file on the ARDrone
 mkdir -p $SDP_DIR/$ADDR
-../ardrone2.py --host=$ADDR download_file $SDP_DIR/$ADDR/x86_config-mjpeg.sdp sdp
+../ardrone2.py --host=$ADDR download_file $SDP_DIR/$ADDR/stream.sdp images
 
-if [ ! -f $SDP_DIR/$ADDR/x86_config-mjpeg.sdp ];
+if [ ! -f $SDP_DIR/$ADDR/stream.sdp ];
 then
   echo "Unable to download sdp file from $ADDR"
   exit 0
@@ -42,7 +42,7 @@ fi
 echo "Start video"
 while [ 1 ]
 do
-  /usr/bin/mplayer -really-quiet $SDP_DIR/$ADDR/x86_config-mjpeg.sdp&
+  /usr/bin/mplayer -really-quiet $SDP_DIR/$ADDR/stream.sdp&
   pid=$!
   wait $pid
   echo "Restart video"
diff --git a/sw/tools/parrot/bebop.py b/sw/tools/parrot/bebop.py
index c10f364eec..ff86b8d813 100755
--- a/sw/tools/parrot/bebop.py
+++ b/sw/tools/parrot/bebop.py
@@ -75,15 +75,15 @@ subparser_upload_and_run.add_argument('file', help='Filename of an executable')
 subparser_upload_and_run.add_argument('folder', help='Destination subfolder (raw or sdk for Paparazzi autopilot)')
 subparser_upload = subparsers.add_parser('upload_file', help='Upload a file to the Bebop')
 subparser_upload.add_argument('file', help='Filename')
-subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/video)')
+subparser_upload.add_argument('folder', help='Destination subfolder (base destination folder is /data/ftp)')
 subparser_download = subparsers.add_parser('download_file', help='Download a file from the Bebop')
 subparser_download.add_argument('file', help='Filename (with the path on the local machine)')
-subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
+subparser_download.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
 subparser_download_dir = subparsers.add_parser('download_dir', help='Download all files from a folder from the Bebop')
 subparser_download_dir.add_argument('dest', help='destination folder (on the local machine)')
-subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
+subparser_download_dir.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
 subparser_rm_dir = subparsers.add_parser('rm_dir', help='Remove a directory and all its files from the Bebop')
-subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/video)')
+subparser_rm_dir.add_argument('folder', help='Remote subfolder (base folder is /data/ftp)')
 subparser_insmod = subparsers.add_parser('insmod', help='Upload and insert kernel module')
 subparser_insmod.add_argument('file', help='Filename of *.ko kernel module')
 subparser_start = subparsers.add_parser('start', help='Start a program on the Bebop')
@@ -143,7 +143,7 @@ elif args.command == 'upload_file':
     f = parrot_utils.split_into_path_and_file(args.file)
 
     parrot_utils.execute_command(tn, "mkdir -p /data/ftp/" + args.folder)
-    print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/video/" + args.folder)
+    print('Uploading \'' + f[1] + "\' from " + f[0] + " to /data/ftp/" + args.folder)
     parrot_utils.uploadfile(ftp, args.folder + "/" + f[1], file(args.file, "rb"))
     print("#pragma message: Upload of " + f[1] + " to Bebop Succes!")
 
diff --git a/sw/tools/parrot/bebop/dump_images.sh b/sw/tools/parrot/bebop/dump_images.sh
new file mode 100755
index 0000000000..5c09ca4fd7
--- /dev/null
+++ b/sw/tools/parrot/bebop/dump_images.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# base address for Bebop
+ADDR_BASE=192.168.42.1
+
+# tmp folder for images files (relative path by default)
+IMAGES_DIR=${PAPARAZZI_HOME=../../../..}/var/images_tmp
+
+# test if a complete IP address is passed as first argument
+if [ `grep -c '\.' <<< $1` == 1 ]
+then
+  ADDR=$1
+else
+  ADDR=$ADDR_BASE
+fi
+
+# download images folder from ARDrone
+mkdir -p $IMAGES_DIR/$ADDR
+../ardrone2.py --host=$ADDR download_dir $IMAGES_DIR/$ADDR images
+
diff --git a/sw/tools/parrot/bebop/start_avplay.sh b/sw/tools/parrot/bebop/start_avplay.sh
new file mode 100755
index 0000000000..49c3266a23
--- /dev/null
+++ b/sw/tools/parrot/bebop/start_avplay.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+
+# base address for Bebop
+ADDR_BASE=192.168.42.1
+PORT_BASE=5000
+
+# test if a complete IP address is passed as first argument
+if [ `grep -c '\.' <<< $1` == 1 ]
+then
+  ADDR=$1
+  PORT=$2
+else
+  ADDR=$ADDR_BASE
+  PORT=$PORT_BASE
+fi
+
+pid=0
+
+echo "Start video for $ADDR on port $PORT"
+/usr/bin/avplay -loglevel quiet -max_delay 50 -fflags nobuffer rtp://$ADDR:$PORT
+
diff --git a/sw/tools/parrot/bebop/start_mplayer.sh b/sw/tools/parrot/bebop/start_mplayer.sh
new file mode 100755
index 0000000000..1f858632dd
--- /dev/null
+++ b/sw/tools/parrot/bebop/start_mplayer.sh
@@ -0,0 +1,50 @@
+#!/bin/bash
+
+# base address for Bebop
+ADDR_BASE=192.168.42.1
+
+# tmp folder for sdp files (relative path by default)
+SDP_DIR=${PAPARAZZI_HOME=../../../..}/var/sdp_tmp
+
+# test if a complete IP address is passed as first argument
+if [ `grep -c '\.' <<< $1` == 1 ]
+then
+  ADDR=$1
+else
+  ADDR=$ADDR_BASE
+fi
+
+pid=0
+
+function quit {
+  echo "Stop video"
+  if [ "$pid" -gt 0 ]
+  then
+    kill -9 $pid
+  fi
+  exit 0
+}
+
+# trap control+c to stop mplayer
+trap quit SIGINT
+
+# fetch sdp file on the ARDrone
+mkdir -p $SDP_DIR/$ADDR
+../bebop.py --host=$ADDR download_file $SDP_DIR/$ADDR/stream.sdp internal_000/images
+
+if [ ! -f $SDP_DIR/$ADDR/stream.sdp ];
+then
+  echo "Unable to download sdp file from $ADDR"
+  exit 0
+fi
+
+# start mplayer and respawn if needed
+echo "Start video"
+while [ 1 ]
+do
+  /usr/bin/mplayer -really-quiet $SDP_DIR/$ADDR/stream.sdp&
+  pid=$!
+  wait $pid
+  echo "Restart video"
+done
+