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 <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	VIDEO_THREAD_VERBOSE   0
#define	printf_debug   if(VIDEO_THREAD_VERBOSE > 0) printf
#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

IMG_FLT_SIZE

#define IMG_FLT_SIZE   272

printf_debug

#define printf_debug   if(VIDEO_THREAD_VERBOSE > 0) printf

Definition at line 71 of file video_thread.c.

VIDEO_THREAD_MAX_CAMERAS

#define VIDEO_THREAD_MAX_CAMERAS   4

Definition at line 63 of file video_thread.c.

VIDEO_THREAD_NICE_LEVEL

#define VIDEO_THREAD_NICE_LEVEL   5

Definition at line 57 of file video_thread.c.

VIDEO_THREAD_VERBOSE

#define VIDEO_THREAD_VERBOSE   0

Definition at line 68 of file video_thread.c.

Function Documentation

add_video_device()

bool add_video_device

(

struct video_config_t *

device

)

Definition at line 197 of file video_thread.c.

initialize_camera()

static bool initialize_camera ( struct video_config_t *  camera )

static

Definition at line 172 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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start_video_thread()

static void start_video_thread ( struct video_config_t *  camera )

static

Definition at line 233 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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stop_video_thread()

static void stop_video_thread ( struct video_config_t *  device )

static

Definition at line 251 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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video_thread_function()

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 90 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, get_sys_time_usec(), image_create(), image_free(), IMAGE_YUV422, IMG_FLT_SIZE, video_thread_t::is_running, set_nice_level(), sys_time_usleep(), 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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video_thread_init()

void video_thread_init

(

void

)

Initialize the view video.

Definition at line 269 of file video_thread.c.

References cameras, and VIDEO_THREAD_MAX_CAMERAS.

video_thread_periodic()

void video_thread_periodic

(

void

)

A dummy for now.

Definition at line 81 of file video_thread.c.

video_thread_start()

void video_thread_start

(

void

)

Starts the streaming of a all cameras.

Definition at line 280 of file video_thread.c.

References cameras, start_video_thread(), and VIDEO_THREAD_MAX_CAMERAS.

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video_thread_stop()

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 294 of file video_thread.c.

References cameras, stop_video_thread(), and VIDEO_THREAD_MAX_CAMERAS.

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Variable Documentation

cameras

struct video_config_t* cameras[VIDEO_THREAD_MAX_CAMERAS] = {NULL}

static

Definition at line 73 of file video_thread.c.

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