update get video stream example

Gremsy · Jan 4, 2023 · e22e351 · e22e351
1 parent af1d469
commit e22e351
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Showing 7 changed files with 80 additions and 158 deletions.
diff --git a/src/examples/2._Load_Payload_Settings/load_payload_settings.cpp b/src/examples/2._Load_Payload_Settings/load_payload_settings.cpp
@@ -19,9 +19,6 @@ int main(int argc, char *argv[]){
 	printf("Starting LoadPayloadSettings example...\n");
 	signal(SIGINT,quit_handler);
 
-	// init thread to check receive message from payload
-	all_threads_init();
-
 	// create payloadsdk object
 	my_payload = new PayloadSdkInterface();
 
@@ -40,6 +37,9 @@ int main(int argc, char *argv[]){
 		}
 	}
 
+	// init thread to check receive message from payload
+	all_threads_init();
+
 	// request to read all settings of payload
 	my_payload->getPayloadCameraSettingList();
 

diff --git a/src/examples/3._Set_Payload_Settings/set_payload_settings.cpp b/src/examples/3._Set_Payload_Settings/set_payload_settings.cpp
@@ -19,9 +19,6 @@ int main(int argc, char *argv[]){
 	printf("Starting SetPayloadSettings example...\n");
 	signal(SIGINT,quit_handler);
 
-	// init thread to check receive message from payload
-	all_threads_init();
-
 	// create payloadsdk object
 	my_payload = new PayloadSdkInterface();
 
@@ -40,28 +37,31 @@ int main(int argc, char *argv[]){
 		}
 	}
 
+	// init thread to check receive message from payload
+	all_threads_init();
+
 	// change setting of RC_MODE to DUAL
 	my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_RC_MODE, PAYLOAD_CAMERA_RC_MODE_DUAL, PARAM_TYPE_UINT32);
 
 	// change setting of OSD_MODE to STATUS to view Zoom factor
 	my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_OSD_MODE, PAYLOAD_CAMERA_VIDEO_OSD_MODE_STATUS, PARAM_TYPE_UINT32);
-
+	
 	// request to read all settings of payload, then check the RC_MODE setting
 	my_payload->getPayloadCameraSettingList();
 
 	bool is_zoom_in = false;
 	while(!time_to_exit){
 		// main loop, do some zooming commands
 		if(is_zoom_in){
-			my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_ZOOM_SUPER_RESOLUTION_VALUE, 10000, PARAM_TYPE_UINT32);
-			printf("Zoom in to 10000 \n");
+			my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_ZOOM_SUPER_RESOLUTION_VALUE, 21846, PARAM_TYPE_UINT32);
+			printf("Zoom in to 21846 \n");
 		}else{
 			my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_ZOOM_SUPER_RESOLUTION_VALUE, 00000, PARAM_TYPE_UINT32);
 			printf("Zoom out to 00000 \n");
 		}
 		is_zoom_in = !is_zoom_in;
 
-		usleep(3000000); // sleep 3s
+		usleep(5000000); // sleep 5s
 	}
 
 

diff --git a/src/examples/4._Capture_Image/capture_image.cpp b/src/examples/4._Capture_Image/capture_image.cpp
@@ -36,9 +36,6 @@ int main(int argc, char *argv[]){
 	printf("Starting CaptureImage example...\n");
 	signal(SIGINT,quit_handler);
 
-	// init thread to check receive message from payload
-	all_threads_init();
-
 	// create payloadsdk object
 	my_payload = new PayloadSdkInterface();
 
@@ -57,6 +54,9 @@ int main(int argc, char *argv[]){
 		}
 	}
 
+	// init thread to check receive message from payload
+	all_threads_init();
+
 	// set payload to video mode for testing
 	my_payload->setPayloadCameraMode(CAMERA_MODE_VIDEO);
 

diff --git a/src/examples/5._Record_Video/record_video.cpp b/src/examples/5._Record_Video/record_video.cpp
@@ -38,9 +38,6 @@ int main(int argc, char *argv[]){
 	printf("Starting RecordVideo example...\n");
 	signal(SIGINT,quit_handler);
 
-	// init thread to check receive message from payload
-	all_threads_init();
-
 	// create payloadsdk object
 	my_payload = new PayloadSdkInterface();
 
@@ -59,6 +56,9 @@ int main(int argc, char *argv[]){
 		}
 	}
 
+	// init thread to check receive message from payload
+	all_threads_init();
+
 	// set payload to video mode for testing
 	my_payload->setPayloadCameraMode(CAMERA_MODE_IMAGE);
 

diff --git a/src/examples/6._Get_Video_Streaming/get_video_streaming.cpp b/src/examples/6._Get_Video_Streaming/get_video_streaming.cpp
@@ -51,9 +51,6 @@ int main(int argc, char *argv[]){
 	printf("Starting GetStreaming example...\n");
 	signal(SIGINT,quit_handler);
 
-	// init thread to check receive message from payload
-	all_threads_init();
-
 	// create payloadsdk object
 	my_payload = new PayloadSdkInterface();
 
@@ -70,11 +67,16 @@ int main(int argc, char *argv[]){
 			printf("Payload connected! \n");
 			break;
 		}
+		usleep(10000);
 	}
 
+	// init thread to check receive message from payload
+	all_threads_init();
+
 	// change setting of VIDEO_OUT to BOTH_HDMI_UDP
 	printf("Change VideoOutput to both HDMI and Ethernet \n");
 	my_payload->setPayloadCameraParam(PAYLOAD_CAMERA_VIDEO_OUTPUT, PAYLOAD_CAMERA_VIDEO_OUTPUT_UDP, PARAM_TYPE_UINT32);
+	usleep(500000);
 
 	my_job = check_camera_info;
 	while(!time_to_exit){
@@ -145,32 +147,44 @@ void *payload_recv_handle(void *threadid)
 {
 	// check payload messages
 	while(!time_to_exit){
-		if(my_payload != nullptr){
-			mavlink_message_t msg;
-			uint8_t msg_cnt = my_payload->getNewMewssage(msg);
-			if(msg_cnt){
-				printf("Got %d message in queue \n", msg_cnt);
-				printf("   --> message %d from system_id: %d with component_id: %d \n", msg.msgid, msg.sysid, msg.compid);
-				switch(msg.msgid){
-				case MAVLINK_MSG_ID_COMMAND_ACK:{
-					_handle_msg_command_ack(&msg);
-					break;
-				} 
-				case MAVLINK_MSG_ID_CAMERA_INFORMATION:{
-					_handle_msg_camera_information(&msg);
-					break;
-				} 
-				case MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION:{
-					_handle_msg_camera_stream_information(&msg);
+	#if 1
+		try{
+			if(my_payload != nullptr){
+				mavlink_message_t msg;
+				uint8_t msg_cnt = my_payload->getNewMewssage(msg);
+				// printf("message cnt: %d \n", msg_cnt);
+
+				if(msg_cnt){
+					// printf("Got %d message in queue \n", msg_cnt);
+					// printf("   --> message %d from system_id: %d with component_id: %d \n", msg.msgid, msg.sysid, msg.compid);
+					switch(msg.msgid){
+					case MAVLINK_MSG_ID_COMMAND_ACK:{
+						_handle_msg_command_ack(&msg);
+						break;
+					} 
+					case MAVLINK_MSG_ID_CAMERA_INFORMATION:{
+						_handle_msg_camera_information(&msg);
+						break;
+					} 
+					case MAVLINK_MSG_ID_VIDEO_STREAM_INFORMATION:{
+						_handle_msg_camera_stream_information(&msg);
+						break;
+					}
+					default: break;
+					}
+				}else{
+					// printf("Recieved message queue empty. \n");
 				}
-				default: break;
-				}
-			}else{
 
+				usleep(10000);
+			}else{
+				printf("My_payload nullptr \n");
 			}
-
-			usleep(10000);
-		}
+		}catch ( ... ) {};
+	#else
+		printf("thread running \n");
+		usleep(1000000);
+	#endif
 	}
 	pthread_exit(NULL);
 }
@@ -205,6 +219,8 @@ void _handle_msg_camera_stream_information(mavlink_message_t* msg){
 
 	printf("   ---> Got streaming information: \n");
 	printf("   ---> Streaming type: %d \n", stream_info.type);
+	printf("   ---> Streaming resolution_v: %d \n", stream_info.resolution_v);
+	printf("   ---> Streaming resolution_h: %d \n", stream_info.resolution_h);
 	printf("   ---> Streaming name: %s \n", stream_info.name);
 	printf("   ---> Streaming uri: %s \n", stream_info.uri);
 
@@ -236,7 +252,7 @@ void *start_loop_thread(void *threadid)
 
     string descr;
     if(!_is_rtsp_stream){
-	    descr = "udpsrc port=" + _stream_uri + " ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! queue ! avdec_h264 ! nvvidconv ! nvoverlaysink"
+	    descr = "udpsrc port=" + _stream_uri + " ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! queue ! avdec_h264 ! nvvidconv ! nvoverlaysink sync=false async=false"
 	                    ;
     }else{
     	descr = "rtspsrc location=" + _stream_uri + " latency=0 ! rtph264depay ! h264parse ! nvv4l2decoder ! nvoverlaysink sync=false async=false";

diff --git a/src/payloadSdkInterface.cpp b/src/payloadSdkInterface.cpp
@@ -229,6 +229,9 @@ getPayloadCameraInformation(){
 
 	mavlink_msg_command_long_encode_chan(SYS_ID, COMP_ID, port->get_mav_channel(), &message, &msg);
 
+	message.sysid = SYS_ID;
+	message.compid = COMP_ID;
+
 	// --------------------------------------------------------------------------
 	//   WRITE
 	// --------------------------------------------------------------------------