NEW: sync the code of DJI Payload-SDK version 2.2.1 released on January 20 2021.
Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
@ -0,0 +1,41 @@
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Payload SDK High-Speed Transmission Function Sample.
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Test Environment:
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Hardware: Manifold 2-C/G
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Serial: USB-to-Serial Controller CP210x
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C Compiler: GCC version 5.4.0 20160609
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CMake Version: Cmake version 3.5.1
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Interaction Serial Configuration:
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Baud Rate: 115200
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Application Introduction:
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This sample applies to multiprocessor or multi-SoC complex system, such as Payload SDK demo run on a RTOS development
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board and the video stream need be sent by another device's (Manifold 2-C/G) network port. Because the RTOS is difficult
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to deal with video stream. To get the local and remote network info about aircraft, manifold should communicate with
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RTOS development board by usb-to-serial controller. Then manifold can send video stream via network to aircraft and DJI
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Pilot APP/MSDK APP.
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====== The steps to send test video stream and data stream ======
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Step 1 : modify related device information, such as device name of network or uart, uart baud rate.
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Step 2 : build source file, use following cmd:
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cd source_code_dir/project
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mkdir build
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cd build
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cmake ..
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make
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Step 3 : Manifold should connect to Skyport 2.0/XPort via network cable and connect to RTOS development board
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via usb-to-serial controller, make sure the serial pins are connected properly. And please refer to README.txt file of
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RTOS sample (just like, sample/platform/rtos_freertos/psdk_development_board_1.0/README.txt or
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sample/platform/rtos_freertos/stm32f4_eval/README.txt) for interaction UART pins in RTOS system used to connect to
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Manifold
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Step 4 : make sure the RTOS environment is ok and enable the camera function to run the RTOS sample
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Step 5 : use the root permission to execute this program, use following cmd:
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sudo ./high-speed_transmission_demo
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Step 6 : use DJI Pilot APP/MSDK APP to see video stream and receive test data
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@ -0,0 +1,639 @@
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/**
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********************************************************************
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* @file test_high_speed_transmission.c
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* @version V2.2.0
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* @date 7/8/20
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* @brief
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*
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* @copyright (c) 2018-2019 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
|
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <pthread.h>
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#include <stdbool.h>
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/* Private constants ---------------------------------------------------------*/
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#pragma clang diagnostic push
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#pragma clang diagnostic ignored "-Wmissing-noreturn"
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#define LOG_COLOR_END "\033[0m"
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#define LOG_COLOR_RED "\033[31m"
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#define LOG_COLOR_GREEN "\033[32m"
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#define LOG_COLOR_YELLOW "\033[33m"
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#define LOG_COLOR_WHITE "\033[37m"
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#define PSDK_LOG_DEBUG(fmt, ...) printf(LOG_COLOR_WHITE "[Debug]-[%s:%d) " fmt LOG_COLOR_END "\r\n", __FUNCTION__, __LINE__ , ##__VA_ARGS__)
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#define PSDK_LOG_INFO(fmt, ...) printf(LOG_COLOR_GREEN "[Info]-[%s:%d) " fmt LOG_COLOR_END "\r\n", __FUNCTION__, __LINE__ , ##__VA_ARGS__)
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#define PSDK_LOG_WARN(fmt, ...) printf(LOG_COLOR_YELLOW "[Warn]-[%s:%d) " fmt LOG_COLOR_END "\r\n", __FUNCTION__, __LINE__ , ##__VA_ARGS__)
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#define PSDK_LOG_ERROR(fmt, ...) printf(LOG_COLOR_RED "[Error]-[%s:%d) " fmt LOG_COLOR_END "\r\n", __FUNCTION__, __LINE__ , ##__VA_ARGS__)
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#define VIDEO_STREAM_FILE_NAME "../../../../../api_sample/camera_media_emu/media_file/PSDK_0006.h264"
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#define RECV_UART_BAUDRATE B115200
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#define RECV_UART_DEV "/dev/ttyUSB0"
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#define LINUX_NETWORK_DEV "enp0s31f6"
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#define NETWORK_IP_STR_MAX_SIZE (15)
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#define LINUX_CMD_STR_MAX_SIZE (128)
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#define VIDEO_FRAME_MAX_COUNT (18000)
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#define VIDEO_FRAME_AUD_LEN (6)
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#define VIDEO_FRAME_MAX_LEN (60000)
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/* Private types -------------------------------------------------------------*/
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typedef struct {
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bool isVaild;
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char ip[NETWORK_IP_STR_MAX_SIZE];
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uint16_t port;
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} T_PsdkRemoteNetworkInfo;
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typedef struct {
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bool isVaild;
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char ip[NETWORK_IP_STR_MAX_SIZE];
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char mask[NETWORK_IP_STR_MAX_SIZE];
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} T_PsdkLocalNetworkConfig;
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typedef struct {
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float durationS;
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uint32_t positionInFile;
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uint32_t size;
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} T_TestPayloadCameraVideoFrameInfo;
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/* Private values -------------------------------------------------------------*/
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static int32_t s_uartFd = -1;
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static T_PsdkRemoteNetworkInfo s_videoStreamRemoteNetworkInfo = {0};
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static T_PsdkRemoteNetworkInfo s_dataStreamRemoteNetworkInfo = {0};
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static T_PsdkLocalNetworkConfig s_psdkLocalNetworkConfigInfo = {0};
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static const uint8_t s_frameAudInfo[VIDEO_FRAME_AUD_LEN] = {0x00, 0x00, 0x00, 0x01, 0x09, 0x10};
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/* Private functions declaration ---------------------------------------------*/
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static int32_t PsdkUser_GetH264Nalu(FILE *pFile, uint8_t *pNalu, uint32_t *packetLength, uint32_t *filePosition);
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static int32_t PsdkUser_GetFrameInfoOfVideoFile(const char *path,
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T_TestPayloadCameraVideoFrameInfo *frameInfo,
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uint32_t frameInfoBufferCount, uint32_t *frameCount);
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static int32_t PsdkUser_NetWorkConfig(const char *ipAddr, const char *netMask);
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static void PsdkUser_UtilsStringSplit(char *src, const char *separator, char **dest, int32_t *num);
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static int32_t PsdkUser_UartSetTermiosAttr(int32_t fd, speed_t speed);
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static int32_t PsdkUser_UtilsGetLineString(int32_t fd, char *buf, size_t n);
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static void *PsdkUser_UartReceiveDataTask(void *arg);
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static void *PsdkUser_SendVideoStreamTask(void *arg);
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static void *PsdkUser_SendDataStreamTask(void *arg);
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/* Exported functions definition ---------------------------------------------*/
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int32_t main(int32_t argc, char **argv)
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{
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int32_t ret = 0;
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pthread_t *uartReceiveDataTask = NULL;
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pthread_t *sendVideoStreamTask = NULL;
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pthread_t *sendDataStreamTask = NULL;
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//Attention: need root permission to config uart device, such as "sudo chmod 777 /dev/ttyUSBx"
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s_uartFd = open(RECV_UART_DEV, O_RDWR | O_NOCTTY | O_NDELAY);
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/* O_RDWR - Read/Write access to serial port */
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/* O_NOCTTY - No terminal will control the process */
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/* O_NDELAY - Non Blocking Mode, Does not care about the status of DCD line, Open() returns immediately */
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if (s_uartFd < 0) {
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PSDK_LOG_ERROR("Open recv uart device error");
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exit(1);
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} else {
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PSDK_LOG_INFO("Recv uart device opened successfully");
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}
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PsdkUser_UartSetTermiosAttr(s_uartFd, RECV_UART_BAUDRATE);
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uartReceiveDataTask = malloc(sizeof(pthread_t));
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if (uartReceiveDataTask == NULL) {
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PSDK_LOG_ERROR("Malloc error");
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exit(1);
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}
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ret = pthread_create(uartReceiveDataTask, NULL, PsdkUser_UartReceiveDataTask, NULL);
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if (ret != 0) {
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PSDK_LOG_ERROR("Create uart receive data task error");
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exit(1);
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}
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while (s_psdkLocalNetworkConfigInfo.isVaild != true) {
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PSDK_LOG_INFO("Waiting local network config info");
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sleep(1);
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}
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ret = PsdkUser_NetWorkConfig(s_psdkLocalNetworkConfigInfo.ip, s_psdkLocalNetworkConfigInfo.mask);
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if (ret != 0) {
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PSDK_LOG_ERROR("Config network error");
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exit(1);
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}
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sendVideoStreamTask = malloc(sizeof(pthread_t));
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if (sendVideoStreamTask == NULL) {
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PSDK_LOG_ERROR("Malloc error");
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exit(1);
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}
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ret = pthread_create(sendVideoStreamTask, NULL, PsdkUser_SendVideoStreamTask, NULL);
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if (ret != 0) {
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PSDK_LOG_ERROR("Create send video stream task error");
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exit(1);
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}
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sendDataStreamTask = malloc(sizeof(pthread_t));
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if (sendDataStreamTask == NULL) {
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PSDK_LOG_ERROR("Malloc error");
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exit(1);
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}
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ret = pthread_create(sendDataStreamTask, NULL, PsdkUser_SendDataStreamTask, NULL);
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if (ret != 0) {
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PSDK_LOG_ERROR("Create send data stream task error");
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exit(1);
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}
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while (1) {
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sleep(1);
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}
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}
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/* Private functions definition-----------------------------------------------*/
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static int32_t PsdkUser_GetH264Nalu(FILE *pFile, uint8_t *pNalu, uint32_t *packetLength, uint32_t *filePosition)
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{
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int32_t pos = 0;
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int32_t len = 0;
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if (pFile == NULL) {
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return -1;
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}
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if (fread(pNalu, 1, 4, pFile) <= 0) {
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return -1;
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}
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if (pNalu[0] != 0 || pNalu[1] != 0 || pNalu[2] != 0 || pNalu[3] != 1) {
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return -1;
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}
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pos = 4;
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while (1) {
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if (feof(pFile))
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break;
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pNalu[pos] = fgetc(pFile);
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if (pNalu[pos - 3] == 0 && pNalu[pos - 2] == 0 && pNalu[pos - 1] == 0 && pNalu[pos] == 1) {
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fseek(pFile, -4, SEEK_CUR);
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pos -= 4;
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break;
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}
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pos++;
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}
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len = pos + 1;
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*packetLength = len;
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*filePosition = ftell(pFile);
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return len;
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}
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static int32_t PsdkUser_GetFrameInfoOfVideoFile(const char *path,
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T_TestPayloadCameraVideoFrameInfo *frameInfo,
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uint32_t frameInfoBufferCount, uint32_t *frameCount)
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{
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FILE *pFile = NULL;
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int32_t len;
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unsigned char *pBuf = NULL;
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unsigned char *pNalu = NULL;
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unsigned char naluType;
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bool addSlice = false;
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uint32_t spsLen = 0;
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uint32_t ppsLen = 0;
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uint32_t sliceLen = 0;
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uint32_t packetCount = 0;
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uint32_t length = 0;
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uint32_t position = 0;
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pFile = fopen(path, "rb");
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if (pFile == NULL) {
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PSDK_LOG_ERROR("Open file error");
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return -1;
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}
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pBuf = malloc(1024 * 1024);
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if (pBuf == NULL) {
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PSDK_LOG_ERROR("Malloc error");
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return -1;
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}
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while (1) {
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len = PsdkUser_GetH264Nalu(pFile, pBuf, &length, &position);
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if (len <= 0)
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break;
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if (pBuf[0] != 0 || pBuf[1] != 0 || pBuf[2] != 0 || pBuf[3] != 1)
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continue;
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pNalu = pBuf + 4;
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naluType = pNalu[0] & 0x1F;
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||||
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switch (naluType) {
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case 0x07: // SPS
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spsLen = len;
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break;
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case 0x08: // PPS
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ppsLen = len;
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addSlice = true;
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break;
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default:
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if (addSlice == true) {
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||||
sliceLen = len + spsLen + ppsLen;
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||||
addSlice = false;
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||||
} else {
|
||||
sliceLen = len;
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||||
}
|
||||
frameInfo[packetCount].size = sliceLen;
|
||||
frameInfo[packetCount].positionInFile = position - frameInfo[packetCount].size;
|
||||
*frameCount = packetCount;
|
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if (packetCount >= frameInfoBufferCount) {
|
||||
PSDK_LOG_ERROR("frame buffer is full.");
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||||
goto out;
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}
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packetCount++;
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||||
break;
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}
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||||
}
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out:
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||||
free(pBuf);
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||||
fclose(pFile);
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||||
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return 0;
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}
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|
||||
static int32_t PsdkUser_NetWorkConfig(const char *ipAddr, const char *netMask)
|
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{
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||||
int32_t ret;
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||||
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
|
||||
|
||||
if (ipAddr == NULL || netMask == NULL) {
|
||||
PSDK_LOG_ERROR("hal network config param error");
|
||||
return -1;
|
||||
}
|
||||
|
||||
//Attention: need root permission to config ip addr and netmask.
|
||||
memset(cmdStr, 0, sizeof(cmdStr));
|
||||
|
||||
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
|
||||
ret = system(cmdStr);
|
||||
if (ret != 0) {
|
||||
PSDK_LOG_ERROR("Can't open the network."
|
||||
"Probably the program not execute with root permission."
|
||||
"Please use the root permission to execute the program.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
|
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ret = system(cmdStr);
|
||||
if (ret != 0) {
|
||||
PSDK_LOG_ERROR("Can't config the ip address of network."
|
||||
"Probably the program not execute with root permission."
|
||||
"Please use the root permission to execute the program.");
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void PsdkUser_UtilsStringSplit(char *src, const char *separator, char **dest, int32_t *num)
|
||||
{
|
||||
char *pNext;
|
||||
int32_t count = 0;
|
||||
if (src == NULL || strlen(src) == 0)
|
||||
return;
|
||||
if (separator == NULL || strlen(separator) == 0)
|
||||
return;
|
||||
pNext = (char *) strtok(src, separator);
|
||||
while (pNext != NULL) {
|
||||
*dest++ = pNext;
|
||||
++count;
|
||||
pNext = (char *) strtok(NULL, separator);
|
||||
}
|
||||
*num = count;
|
||||
}
|
||||
|
||||
static int32_t PsdkUser_UartSetTermiosAttr(int32_t fd, speed_t speed)
|
||||
{
|
||||
/*---------- Setting the Attributes of the serial port using termios structure --------- */
|
||||
|
||||
struct termios SerialPortSettings; /* Create the structure */
|
||||
|
||||
tcgetattr(fd, &SerialPortSettings); /* Get the current attributes of the Serial port */
|
||||
|
||||
cfsetispeed(&SerialPortSettings, speed); /* Set Read Speed */
|
||||
cfsetospeed(&SerialPortSettings, speed); /* Set Write Speed */
|
||||
|
||||
SerialPortSettings.c_cflag &= ~PARENB; /* Disables the Parity Enable bit(PARENB),So No Parity */
|
||||
SerialPortSettings.c_cflag &= ~CSTOPB; /* CSTOPB = 2 Stop bits,here it is cleared so 1 Stop bit */
|
||||
SerialPortSettings.c_cflag &= ~CSIZE; /* Clears the mask for setting the data size */
|
||||
SerialPortSettings.c_cflag |= CS8; /* Set the data bits = 8 */
|
||||
|
||||
SerialPortSettings.c_cflag &= ~CRTSCTS; /* No Hardware flow Control */
|
||||
SerialPortSettings.c_cflag |= CREAD | CLOCAL; /* Enable receiver,Ignore Modem Control lines */
|
||||
|
||||
SerialPortSettings.c_iflag &= ~INPCK;
|
||||
SerialPortSettings.c_iflag &= ~(BRKINT | ICRNL | ISTRIP | IXON | IXOFF |
|
||||
IXANY); /* Disable XON/XOFF flow control both i/p and o/p */
|
||||
|
||||
SerialPortSettings.c_oflag &= ~OPOST; /* No Output Processing */
|
||||
|
||||
SerialPortSettings.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); /* Non Canonical mode */
|
||||
|
||||
/* Setting Time outs */
|
||||
SerialPortSettings.c_cc[VMIN] = 10; /* Read at least 10 characters */
|
||||
SerialPortSettings.c_cc[VTIME] = 0; /* Wait indefinetly */
|
||||
|
||||
if ((tcsetattr(fd, TCSANOW, &SerialPortSettings)) != 0) { /* Set the attributes to the termios structure */
|
||||
PSDK_LOG_ERROR("ERROR in setting attributes");
|
||||
} else {
|
||||
PSDK_LOG_INFO("\n BaudRate = %d \n StopBits = 1 \n Parity = none\r\n", speed);
|
||||
}
|
||||
|
||||
tcflush(fd, TCIOFLUSH); /* Discards old data in the rx and tx buffer */
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int32_t PsdkUser_UtilsGetLineString(int32_t fd, char *buf, size_t n)
|
||||
{
|
||||
char ch = 0;
|
||||
int32_t bytes_read = 0; /* Number of bytes read by the read() system call */
|
||||
int32_t index = 0;
|
||||
|
||||
while (index < n) {
|
||||
bytes_read = read(fd, &ch, 1); /* Read the data */
|
||||
if (bytes_read <= 0)
|
||||
continue;
|
||||
|
||||
if (ch == '\n') {
|
||||
*(buf + index) = '\0';
|
||||
break;
|
||||
} else if (ch == '\r') {
|
||||
continue;
|
||||
} else {
|
||||
*(buf + index) = ch;
|
||||
}
|
||||
|
||||
index++;
|
||||
}
|
||||
|
||||
if (index == n) {
|
||||
*(buf + n) = '\0';
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void *PsdkUser_UartReceiveDataTask(void *arg)
|
||||
{
|
||||
int32_t ret = 0;
|
||||
char recvBuf[1024] = {0};
|
||||
char *spiltBuf[8] = {0};
|
||||
int32_t spiltTotalNum = 0;
|
||||
char *ptr;
|
||||
|
||||
while (1) {
|
||||
ret = PsdkUser_UtilsGetLineString(s_uartFd, recvBuf, sizeof(recvBuf));
|
||||
if (ret != 0) {
|
||||
PSDK_LOG_ERROR("Get line string error.");
|
||||
}
|
||||
PSDK_LOG_INFO("Read data from uart:%s, len:%ld", recvBuf, strlen(recvBuf));
|
||||
if (strlen(recvBuf) == 0) {
|
||||
continue;
|
||||
}
|
||||
|
||||
PsdkUser_UtilsStringSplit(recvBuf, " ", spiltBuf, &spiltTotalNum);
|
||||
if (strcmp(spiltBuf[0], "[video_stream]") == 0 && strcmp(spiltBuf[1], "[ip]") == 0 &&
|
||||
strcmp(spiltBuf[3], "[port]") == 0) {
|
||||
ret = strtol(spiltBuf[4], &ptr, 10);
|
||||
if (ret > 0) {
|
||||
s_videoStreamRemoteNetworkInfo.port = ret;
|
||||
}
|
||||
strncpy(s_videoStreamRemoteNetworkInfo.ip, spiltBuf[2], sizeof(s_videoStreamRemoteNetworkInfo.ip));
|
||||
if (s_videoStreamRemoteNetworkInfo.port != 0 && s_videoStreamRemoteNetworkInfo.ip[0] != 0) {
|
||||
s_videoStreamRemoteNetworkInfo.isVaild = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (strcmp(spiltBuf[0], "[data_stream]") == 0 && strcmp(spiltBuf[1], "[ip]") == 0 &&
|
||||
strcmp(spiltBuf[3], "[port]") == 0) {
|
||||
ret = strtol(spiltBuf[4], &ptr, 10);
|
||||
if (ret > 0) {
|
||||
s_dataStreamRemoteNetworkInfo.port = ret;
|
||||
}
|
||||
|
||||
strncpy(s_dataStreamRemoteNetworkInfo.ip, spiltBuf[2], sizeof(s_dataStreamRemoteNetworkInfo.ip));
|
||||
if (s_dataStreamRemoteNetworkInfo.port != 0 && s_dataStreamRemoteNetworkInfo.ip[0] != 0) {
|
||||
s_dataStreamRemoteNetworkInfo.isVaild = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (strcmp(spiltBuf[0], "[network_config]") == 0 && strcmp(spiltBuf[1], "[ip]") == 0 &&
|
||||
strcmp(spiltBuf[3], "[mask]") == 0) {
|
||||
strncpy(s_psdkLocalNetworkConfigInfo.ip, spiltBuf[2], sizeof(s_psdkLocalNetworkConfigInfo.ip));
|
||||
strncpy(s_psdkLocalNetworkConfigInfo.mask, spiltBuf[4], sizeof(s_psdkLocalNetworkConfigInfo.ip));
|
||||
if (s_psdkLocalNetworkConfigInfo.mask[0] != 0 && s_psdkLocalNetworkConfigInfo.ip[0] != 0) {
|
||||
s_psdkLocalNetworkConfigInfo.isVaild = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (s_psdkLocalNetworkConfigInfo.isVaild == true &&
|
||||
s_videoStreamRemoteNetworkInfo.isVaild == true
|
||||
&& s_dataStreamRemoteNetworkInfo.isVaild == true) {
|
||||
break;
|
||||
}
|
||||
|
||||
usleep(10 * 1000);
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
static void *PsdkUser_SendVideoStreamTask(void *arg)
|
||||
{
|
||||
FILE *fpFile = NULL;
|
||||
uint32_t frameCount = 0;
|
||||
T_TestPayloadCameraVideoFrameInfo *frameInfo = NULL;
|
||||
uint8_t *dataBuffer;
|
||||
uint32_t dataLength = 0;
|
||||
uint32_t frameNumber = 0;
|
||||
uint32_t sendPackCount = 0;
|
||||
uint32_t sendLastPackSize = 0;
|
||||
int32_t ret = 0;
|
||||
int32_t s = 0;
|
||||
uint32_t j = 0;
|
||||
struct sockaddr_in addr;
|
||||
|
||||
while (s_videoStreamRemoteNetworkInfo.isVaild != true) {
|
||||
PSDK_LOG_INFO("Waiting remote video stream network info");
|
||||
sleep(1);
|
||||
}
|
||||
|
||||
if ((s = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
|
||||
PSDK_LOG_ERROR("Socket init error");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
bzero(&addr, sizeof(addr));
|
||||
addr.sin_family = AF_INET;
|
||||
addr.sin_port = htons(s_videoStreamRemoteNetworkInfo.port);
|
||||
addr.sin_addr.s_addr = inet_addr(s_videoStreamRemoteNetworkInfo.ip);
|
||||
|
||||
frameInfo = malloc(VIDEO_FRAME_MAX_COUNT * sizeof(T_TestPayloadCameraVideoFrameInfo));
|
||||
if (frameInfo == NULL) {
|
||||
PSDK_LOG_ERROR("Malloc error");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
PsdkUser_GetFrameInfoOfVideoFile(VIDEO_STREAM_FILE_NAME, frameInfo, VIDEO_FRAME_MAX_COUNT, &frameCount);
|
||||
PSDK_LOG_DEBUG("Decode file has finished, frame count:%d", frameCount);
|
||||
|
||||
while (1) {
|
||||
if (fpFile != NULL)
|
||||
fclose(fpFile);
|
||||
|
||||
fpFile = fopen(VIDEO_STREAM_FILE_NAME, "rb+");
|
||||
if (fpFile == NULL) {
|
||||
PSDK_LOG_ERROR("Open video file fail");
|
||||
sleep(1);
|
||||
continue;
|
||||
}
|
||||
|
||||
dataBuffer = calloc(frameInfo[frameNumber].size + VIDEO_FRAME_AUD_LEN, 1);
|
||||
if (dataBuffer == NULL) {
|
||||
PSDK_LOG_ERROR("Malloc fail");
|
||||
goto free;
|
||||
}
|
||||
|
||||
ret = fseek(fpFile, frameInfo[frameNumber].positionInFile, SEEK_SET);
|
||||
if (ret != 0) {
|
||||
PSDK_LOG_ERROR("Seek file fail");
|
||||
goto free;
|
||||
}
|
||||
|
||||
dataLength = fread(dataBuffer, 1, frameInfo[frameNumber].size, fpFile);
|
||||
if (dataLength != frameInfo[frameNumber].size) {
|
||||
PSDK_LOG_ERROR("Read data from video file error, frame size:%d, offset:%d number:%d",
|
||||
frameInfo[frameNumber].size, frameInfo[frameNumber].positionInFile, frameNumber);
|
||||
} else {
|
||||
PSDK_LOG_DEBUG("Read data from video file success, frame size:%d, offset:%d number:%d",
|
||||
frameInfo[frameNumber].size, frameInfo[frameNumber].positionInFile, frameNumber);
|
||||
}
|
||||
|
||||
memcpy(&dataBuffer[frameInfo[frameNumber].size], &s_frameAudInfo, VIDEO_FRAME_AUD_LEN);
|
||||
dataLength = dataLength + VIDEO_FRAME_AUD_LEN;
|
||||
|
||||
if (dataLength > VIDEO_FRAME_MAX_LEN) {
|
||||
sendPackCount = dataLength / VIDEO_FRAME_MAX_LEN;
|
||||
sendLastPackSize = dataLength % VIDEO_FRAME_MAX_LEN;
|
||||
for (j = 0; j < sendPackCount; j++) {
|
||||
ret = sendto(s, (const uint8_t *) &dataBuffer[VIDEO_FRAME_MAX_LEN * j], VIDEO_FRAME_MAX_LEN,
|
||||
MSG_NOSIGNAL | MSG_DONTWAIT, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
|
||||
if (ret > 0) {
|
||||
PSDK_LOG_INFO("Send video stream success, len = %d", ret);
|
||||
} else {
|
||||
PSDK_LOG_ERROR("Send video stream failed, len = %d", ret);
|
||||
}
|
||||
}
|
||||
|
||||
ret = sendto(s, (const uint8_t *) &dataBuffer[VIDEO_FRAME_MAX_LEN * sendPackCount], sendLastPackSize,
|
||||
MSG_NOSIGNAL | MSG_DONTWAIT, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
|
||||
if (ret > 0) {
|
||||
PSDK_LOG_INFO("Send video stream success, len = %d", ret);
|
||||
} else {
|
||||
PSDK_LOG_ERROR("Send video stream failed, len = %d", ret);
|
||||
}
|
||||
} else {
|
||||
ret = sendto(s, (const uint8_t *) dataBuffer, dataLength, MSG_NOSIGNAL | MSG_DONTWAIT,
|
||||
(struct sockaddr *) &addr, sizeof(struct sockaddr_in));
|
||||
if (ret > 0) {
|
||||
PSDK_LOG_INFO("Send video stream success, len = %d", ret);
|
||||
} else {
|
||||
PSDK_LOG_ERROR("Send video stream failed, len = %d", ret);
|
||||
}
|
||||
}
|
||||
|
||||
if ((frameNumber++) >= frameCount) {
|
||||
PSDK_LOG_WARN("Reach file tail");
|
||||
frameNumber = 0;
|
||||
}
|
||||
free:
|
||||
free(dataBuffer);
|
||||
|
||||
usleep(33000);
|
||||
}
|
||||
}
|
||||
|
||||
static void *PsdkUser_SendDataStreamTask(void *arg)
|
||||
{
|
||||
int32_t s, len;
|
||||
struct sockaddr_in addr;
|
||||
char buffer[512];
|
||||
int32_t testId = 0;
|
||||
|
||||
while (s_dataStreamRemoteNetworkInfo.isVaild != true) {
|
||||
PSDK_LOG_INFO("Waiting remote data stream network info");
|
||||
sleep(1);
|
||||
}
|
||||
|
||||
if ((s = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
|
||||
PSDK_LOG_ERROR("Socket init error");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
bzero(&addr, sizeof(addr));
|
||||
addr.sin_family = AF_INET;
|
||||
addr.sin_port = htons(s_dataStreamRemoteNetworkInfo.port);
|
||||
addr.sin_addr.s_addr = inet_addr(s_dataStreamRemoteNetworkInfo.ip);
|
||||
|
||||
while (1) {
|
||||
if (testId >= 100) {
|
||||
testId = 0;
|
||||
}
|
||||
|
||||
sprintf(buffer, "Network Test Data %d", testId++);
|
||||
len = sendto(s, buffer, strlen(buffer) + 1, MSG_NOSIGNAL | MSG_DONTWAIT, (struct sockaddr *) &addr,
|
||||
sizeof(struct sockaddr_in));
|
||||
if (len > 0) {
|
||||
PSDK_LOG_INFO("Send data stream success, len = %d", len);
|
||||
} else {
|
||||
PSDK_LOG_ERROR("Send data stream failed");
|
||||
}
|
||||
|
||||
sleep(1);
|
||||
}
|
||||
}
|
||||
|
||||
#pragma clang diagnostic pop
|
||||
|
||||
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
|
||||
@ -0,0 +1,6 @@
|
||||
cmake_minimum_required(VERSION 2.8)
|
||||
project(high-speed_transmission_demo C)
|
||||
|
||||
set(CMAKE_EXE_LINKER_FLAGS "-pthread")
|
||||
|
||||
add_executable(high-speed_transmission_demo ../application/test_high_speed_transmission.c)
|
||||
Reference in New Issue
Block a user