video_thread.c File Reference

#include "modules/computer_vision/video_thread.h"
#include "modules/computer_vision/cv.h"
#include <stdlib.h>
#include <stdio.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 "lib/encoding/jpeg.h"
#include "peripherals/video_device.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_DEVICE_BUFFERS   10
	The camera video config (usually bottom_camera or front_camera) More...
#define	VIDEO_THREAD_SUBDEV   NULL
#define	VIDEO_THREAD_FILTERS   0
#define	VIDEO_THREAD_CAMERA   custom_camera
#define	VIDEO_THREAD_FPS   4
#define	VIDEO_THREAD_SHOT_PATH   "/data/video/images"
#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 sepereate thread, so it needs to be thread safe! More...
void	video_thread_periodic (void)
	A dummy for now. More...
static void	video_thread_save_shot (struct image_t *img, struct image_t *img_jpeg)
void	video_thread_init (void)
	Initialize the view video. More...
void	video_thread_start (void)
	Start with streaming. More...
void	video_thread_stop (void)
	Stops the streaming This could take some time, because the thread is stopped asynchronous. More...
void	video_thread_take_shot (bool_t take)
	Take a shot and save it This will only work when the streaming is enabled. More...

Variables
struct video_config_t	custom_camera
struct video_thread_t	video_thread

Macro Definition Documentation

#define IMG_FLT_SIZE   272

Referenced by video_thread_function().

#define VIDEO_THREAD_CAMERA   custom_camera

Definition at line 79 of file video_thread.c.

Referenced by video_thread_function(), video_thread_init(), and video_thread_start().

#define VIDEO_THREAD_DEVICE_BUFFERS   10

The camera video config (usually bottom_camera or front_camera)

Definition at line 62 of file video_thread.c.

#define VIDEO_THREAD_FILTERS   0

Definition at line 69 of file video_thread.c.

#define VIDEO_THREAD_FPS   4

Definition at line 86 of file video_thread.c.

#define VIDEO_THREAD_SHOT_PATH   "/data/video/images"

Definition at line 92 of file video_thread.c.

Referenced by video_thread_init(), and video_thread_save_shot().

#define VIDEO_THREAD_SUBDEV   NULL

Definition at line 66 of file video_thread.c.

Function Documentation

static void * video_thread_function ( void *  data )

static

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

Definition at line 145 of file video_thread.c.

References BayerToYUV(), cv_run(), video_thread_t::dev, FALSE, video_config_t::filters, video_thread_t::fps, video_config_t::h, image_create(), image_free(), IMAGE_JPEG, IMAGE_YUV422, IMG_FLT_SIZE, video_thread_t::is_running, v4l2_device::name, set_nice_level(), sys_time_elapsed_us(), video_thread_t::take_shot, TRUE, v4l2_image_free(), v4l2_image_get(), v4l2_start_capture(), VIDEO_FILTER_DEBAYER, VIDEO_THREAD_CAMERA, video_thread_save_shot(), and video_config_t::w.

Referenced by video_thread_start().

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void video_thread_init

(

void

)

Initialize the view video.

Definition at line 234 of file video_thread.c.

void video_thread_periodic

(

void

)

A dummy for now.

Definition at line 98 of file video_thread.c.

static void video_thread_save_shot ( struct image_t *  img, struct image_t *  img_jpeg  )

static

Definition at line 108 of file video_thread.c.

References image_t::buf, image_t::buf_size, image_t::h, jpeg_encode_image(), video_thread_t::shot_number, TRUE, VIDEO_THREAD_SHOT_PATH, image_t::w, and write_exif_jpeg().

Referenced by video_thread_function().

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void video_thread_start

(

void

)

Start with streaming.

Definition at line 266 of file video_thread.c.

void video_thread_stop

(

void

)

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

Definition at line 285 of file video_thread.c.

void video_thread_take_shot

(

bool_t

take

)

Take a shot and save it This will only work when the streaming is enabled.

Definition at line 308 of file video_thread.c.

Referenced by cv_blob_locator_periodic(), and dc_send_command().

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Variable Documentation

struct video_config_t custom_camera

Initial value:

= {
  .w = VIDEO_THREAD_VIDEO_WIDTH,
  .h = VIDEO_THREAD_VIDEO_HEIGHT,
  .dev_name = STRINGIFY(VIDEO_THREAD_DEVICE),
  .subdev_name = VIDEO_THREAD_SUBDEV,
  .buf_cnt = VIDEO_THREAD_DEVICE_BUFFERS,
  .filters = VIDEO_THREAD_FILTERS
}

Definition at line 71 of file video_thread.c.

struct video_thread_t video_thread

Initial value:

= {
  .is_running = FALSE,
  .fps = VIDEO_THREAD_FPS,
  .take_shot = FALSE,
  .shot_number = 0
}

Definition at line 101 of file video_thread.c.