Video streaming for the Bebop front camera

Module XML file: bebop_front_camera.xml

No detailed description...

Example for airframe file

This example contains all possible configuration options, not all of them are mandatory!

<modules>
  <load name="bebop_front_camera.xml">
    <define name="BEBOP_FRONT_CAMERA_SHOT_PATH" value="/data/ftp/internal_000/images" />
    <configure name="BEBOP_FRONT_CAMERA_HOST" value="192.168.1.255" />
    <configure name="BEBOP_FRONT_CAMERA_PORT_OUT" value="6000" />
    <configure name="BEBOP_FRONT_CAMERA_BROADCAST" value="FALSE|TRUE" />
  </load>
</modules>

Module configuration options

Configure Options

• name: BEBOP_FRONT_CAMERA_HOST value: 192.168.1.255
  Description: GCS IP (default: MODEM_HOST)
• name: BEBOP_FRONT_CAMERA_PORT_OUT value: 6000
  Description: Port (default: 5000)
• name: BEBOP_FRONT_CAMERA_BROADCAST value: FALSE|TRUE
  Description: Enable broadcast of image stream (default: TRUE)

Define Options

• name: BEBOP_FRONT_CAMERA_SHOT_PATH value: /data/ftp/internal_000/images
  Description: Path where the images should be saved

Module functions

Init Functions

These initialization functions are called once on startup.

• bebop_front_camera_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• bebop_front_camera_periodic()
  • Frequency in Hz: 1
  • Autorun: TRUE
    Periodic function automatically starts after init.
  • Start function: bebop_front_camera_start()
    Executed before the periodic function starts.
  • Stop function: bebop_front_camera_stop()
    Executed after the periodic function stops.

Files

Header Files

The following headers are automatically included in modules.h

• bebop_front_camera.h

Source Files

• modules/computer_vision/bebop_front_camera.c
• modules/computer_vision/lib/vision/image.c
• modules/computer_vision/lib/v4l/v4l2.c
• modules/computer_vision/lib/encoding/jpeg.c
• modules/computer_vision/lib/encoding/rtp.c
• modules/computer_vision/BEBOP_FRONT_CAMERA_nps.c

Raw bebop_front_camera.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="bebop_front_camera" dir="computer_vision">
  <doc>
    <description>
      Video streaming for the Bebop front camera

    </description>
    <define name="BEBOP_FRONT_CAMERA_SHOT_PATH" value="/data/ftp/internal_000/images" description="Path where the images should be saved"/>
    <configure name="BEBOP_FRONT_CAMERA_HOST" value="192.168.1.255" description="GCS IP (default: MODEM_HOST)"/>
    <configure name="BEBOP_FRONT_CAMERA_PORT_OUT" value="6000" description="Port (default: 5000)"/>
    <configure name="BEBOP_FRONT_CAMERA_BROADCAST" value="FALSE|TRUE" description="Enable broadcast of image stream (default: TRUE)"/>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings name="video">
        <dl_setting var="bebop_front_camera.take_shot" min="0" step="1" max="1" shortname="take_shot" module="computer_vision/bebop_front_camera" handler="take_shot">
          <strip_button name="Shoot" icon="digital-camera.png" value="1" group="video"/>
        </dl_setting>
      </dl_settings>
    </dl_settings>
  </settings>


  <header>
    <file name="bebop_front_camera.h"/>
  </header>

  <init fun="bebop_front_camera_init()"/>
  <periodic fun="bebop_front_camera_periodic()" freq="1" start="bebop_front_camera_start()" stop="bebop_front_camera_stop()" autorun="TRUE"/>
  <makefile target="ap">
    <file name="bebop_front_camera.c"/>

    <!-- Include the needed Computer Vision files -->
    <define name="modules/computer_vision" type="include"/>
    <file name="image.c" dir="modules/computer_vision/lib/vision"/>
    <file name="v4l2.c" dir="modules/computer_vision/lib/v4l"/>
    <file name="jpeg.c" dir="modules/computer_vision/lib/encoding"/>
    <file name="rtp.c" dir="modules/computer_vision/lib/encoding"/>

    <!-- Random flags -->
    <define name="__USE_GNU"/>
    <flag name="LDFLAGS" value="lrt"/>
    <flag name="LDFLAGS" value="static-libgcc"/>

    <raw>
      include $(CFG_SHARED)/udp.makefile

      BEBOP_FRONT_CAMERA_HOST        ?= $(MODEM_HOST)
      BEBOP_FRONT_CAMERA_PORT_OUT    ?= 6000
      BEBOP_FRONT_CAMERA_BROADCAST   ?= TRUE

      BEBOPVIEWVID_CFLAGS  = -DBEBOP_FRONT_CAMERA_HOST=$(BEBOP_FRONT_CAMERA_HOST) -DBEBOP_FRONT_CAMERA_PORT_OUT=$(BEBOP_FRONT_CAMERA_PORT_OUT)
      ifeq ($(BEBOP_FRONT_CAMERA_USE_NETCAT),)
        ap.CFLAGS += $(BEBOPVIEWVID_CFLAGS) -DBEBOP_FRONT_CAMERA_BROADCAST=$(BEBOP_FRONT_CAMERA_BROADCAST)
      else
        ap.CFLAGS += $(BEBOPVIEWVID_CFLAGS) -DBEBOP_FRONT_CAMERA_USE_NETCAT
      endif
    </raw>

  </makefile>
  <makefile target="nps">
    <file name="BEBOP_FRONT_CAMERA_nps.c"/>
  </makefile>
</module>