Mike Hamer
9297e938c7
Will now publish video frames as soon as received if fullspeed_video=true. Unfortunately to do this we needed to do a few dirty hacks, implying that our architecture is no longer so suitable for the future direction of the driver. We need to talk about an architectural redesign perhaps...
42 linhas
1.1 KiB
C++
42 linhas
1.1 KiB
C++
#include "video.h"
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#define NB_STAGES 10
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#define CAMIF_H_CAMERA_USED CAMIF_CAMERA_OVTRULY
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unsigned char buffer[MAX_STREAM_WIDTH * MAX_STREAM_HEIGHT * 3];
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long int current_frame_id = 0;
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extern "C" C_RESULT export_stage_open( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
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{
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return (SUCCESS);
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}
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extern "C" C_RESULT export_stage_transform( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
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{
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// PRINT("In Transform before copy\n");
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// printf("The size of buffer is %d\n", in->size);
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vp_os_mutex_lock(&video_lock);
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memcpy(buffer, in->buffers[0], in->size);
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current_frame_id++;
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if(fullspeed_video)
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{
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rosDriver->publish_video();
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}
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vp_os_mutex_unlock(&video_lock);
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// vp_os_mutex_unlock(&video_update_lock);
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return (SUCCESS);
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}
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extern "C" C_RESULT export_stage_close( void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
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{
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return (SUCCESS);
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}
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const vp_api_stage_funcs_t vp_stages_export_funcs =
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{
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NULL,
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(vp_api_stage_open_t)export_stage_open,
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(vp_api_stage_transform_t)export_stage_transform,
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(vp_api_stage_close_t)export_stage_close
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};
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