video_thread.c File Reference

#include "modules/computer_vision/video_thread.h"
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <unistd.h>
#include <sys/time.h>
#include <math.h>
#include "lib/v4l/v4l2.h"
#include "lib/vision/image.h"
#include "lib/vision/bayer.h"
#include "mcu_periph/sys_time.h"
#include <BOARD_CONFIG>
#include <pthread.h>
#include "rt_priority.h"

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Macros
#define	VIDEO_THREAD_NICE_LEVEL   5
#define	VIDEO_THREAD_MAX_CAMERAS   4
#define	IMG_FLT_SIZE   272

Functions
static void *	video_thread_function (void *data)
	Handles all the video streaming and saving of the image shots This is a separate thread, so it needs to be thread safe! More...
static bool	initialize_camera (struct video_config_t *camera)
static void	start_video_thread (struct video_config_t *camera)
static void	stop_video_thread (struct video_config_t *device)
void	video_thread_periodic (void)
	A dummy for now. More...
bool	add_video_device (struct video_config_t *device)
void	video_thread_init (void)
	Initialize the view video. More...
void	video_thread_start ()
	Starts the streaming of a all cameras. More...
void	video_thread_stop ()
	Stops the streaming of all cameras This could take some time, because the thread is stopped asynchronous. More...

Variables
static struct video_config_t *	cameras [VIDEO_THREAD_MAX_CAMERAS] = {NULL}

Macro Definition Documentation

#define IMG_FLT_SIZE   272

Referenced by video_thread_function().

#define VIDEO_THREAD_MAX_CAMERAS   4

Definition at line 65 of file video_thread.c.

Referenced by add_video_device(), video_thread_start(), and video_thread_stop().

#define VIDEO_THREAD_NICE_LEVEL   5

Definition at line 59 of file video_thread.c.

Referenced by video_thread_function().

Function Documentation

bool add_video_device

(

struct video_config_t *

device

)

Definition at line 195 of file video_thread.c.

References cameras, video_config_t::dev_name, initialize_camera(), and VIDEO_THREAD_MAX_CAMERAS.

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static bool initialize_camera ( struct video_config_t *  camera )

static

Definition at line 170 of file video_thread.c.

References video_config_t::buf_cnt, video_config_t::crop, video_thread_t::dev, video_config_t::dev_name, video_config_t::format, video_config_t::output_size, video_config_t::sensor_size, video_config_t::subdev_format, video_config_t::subdev_name, video_config_t::thread, v4l2_init(), and v4l2_init_subdev().

Referenced by add_video_device().

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static void start_video_thread ( struct video_config_t *  camera )

static

Definition at line 231 of file video_thread.c.

References video_config_t::dev_name, video_thread_t::is_running, video_config_t::thread, and video_thread_function().

Referenced by video_thread_start().

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static void stop_video_thread ( struct video_config_t *  device )

static

Definition at line 246 of file video_thread.c.

References video_thread_t::dev, video_thread_t::is_running, v4l2_device::name, video_config_t::thread, and v4l2_stop_capture().

Referenced by video_thread_stop().

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static void * video_thread_function ( void *  data )

static

Handles all the video streaming and saving of the image shots This is a separate thread, so it needs to be thread safe!

Definition at line 87 of file video_thread.c.

References BayerToYUV(), configure_isp(), cv_run_device(), video_thread_t::dev, video_config_t::dev_name, video_config_t::filters, video_config_t::fps, image_create(), image_free(), IMAGE_YUV422, IMG_FLT_SIZE, video_thread_t::is_running, set_nice_level(), sys_time_elapsed_us(), video_config_t::thread, v4l2_image_free(), v4l2_image_get(), v4l2_start_capture(), VIDEO_FILTER_DEBAYER, VIDEO_FILTER_ISP, and VIDEO_THREAD_NICE_LEVEL.

Referenced by start_video_thread().

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void video_thread_init

(

void

)

Initialize the view video.

Definition at line 264 of file video_thread.c.

void video_thread_periodic

(

void

)

A dummy for now.

Definition at line 77 of file video_thread.c.

void video_thread_start

(

void

)

Starts the streaming of a all cameras.

Definition at line 271 of file video_thread.c.

void video_thread_stop

(

void

)

Stops the streaming of all cameras This could take some time, because the thread is stopped asynchronous.

Definition at line 286 of file video_thread.c.

Variable Documentation

struct video_config_t* cameras[VIDEO_THREAD_MAX_CAMERAS] = {NULL}

static

Definition at line 69 of file video_thread.c.

Referenced by add_video_device(), video_thread_start(), and video_thread_stop().