JZ_h150s_h150t.c
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#include "JZsdkLib.h"
#include "BaseConfig.h"
#include <pthread.h>
#include "JZsdk_Hal.h"
#include "Megaphone/Megaphone.h"
#include "AudioDeal/AudioDeal.h"
#include "Gimbal/Gimbal.h"
#include "MediaProc/MediaProc.h"
#include "Ircut/Ircut.h"
typedef struct T_H150S_Info
{
JZsdk_CameraInfo *CamereInfo;
}T_H150S_Info;
static T_H150S_Info g_H150S_Info;
#define JZ_H150S_OPT_WIDTH 1920
#define JZ_H150S_OPT_HEIGHT 1080
#define JZ_H150S_OPT_FRAMERATE 25
#define JZ_H150S_OPT_INDEX VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST
#define JZ_H150S_OPT_DEV_PATH ("/dev/video0")
#define JZ_H150S_OPT_PIXEL V4L2_PIX_FMT_H264
#define JZ_H150S_OPT_BRIGHTNESS (80) //亮度，该摄像头亮度范围为 1-255 默认128
#define JZ_H150S_OPT_CONTRAST (155) //对比度，摄像头对比度范围为 1-255 默认128
#define JZ_H150S_OPT_SATURATION (128) //饱和度 摄像头饱和度范围为 1-255 默认128
static T_JZsdkReturnCode JZ_h150s_h150t_PushFrame(int CameraIndex,unsigned char *data, int data_len)
{
int currentIndex = VideoMgmt_GetVideoStreamFlowIndexNum(); //获取当前视频流索引
//无视频流
if (currentIndex == 0)
{
//不推送视频
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
//相机
if (currentIndex == JZ_H150S_OPT_INDEX && CameraIndex == JZ_H150S_OPT_INDEX)
{
//推送数据到流转模块
VideoMgmt_Single_FrameIn(data, data_len);
}
}
static T_JZsdkReturnCode JZ_h150s_h150t_Opt_deal(unsigned char *buf, int len)
{
JZ_h150s_h150t_PushFrame(VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST, buf, len);
return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************************
*
* h150s h150t 初始化
*
* mode psdk为psdk模式 uart为串口模式
*
* ****************************/
T_JZsdkReturnCode JZ_h150s_h150t_init(int mode)
{
T_JZsdkReturnCode ret;
//引脚初始化
IrcutInfo ircut_info;
ircut_info.Amplifiter_Pin.Enable = JZ_FLAGCODE_ON;
ircut_info.Amplifiter_Pin.Port = JZ_IRC_PORT_PA;
ircut_info.Amplifiter_Pin.index = 17;
ircut_info.Amplifiter_Pin.Group = 0;
ircut_info.Amplifiter_Pin.mode = JZ_IRC_PIN_MODE_OUT;
Ircut_Init(ircut_info);
if (mode == APP_UART)
{
//串口设备1初始化
s_JZ_SerialPortHalRegInfo SerialInfo = {
.BitRate = UART_DEV1_BITRATE,
.ConnectType = PORT_CONNECT_TYPE_AS_SUB
};
JZsdk_HalPort_Init(UART_DEV_1, (void *)&SerialInfo);
}
if (mode == APP_PSDK)
{
//外接传输模块，用于与飞机的数据通信
JZsdk_data_transmisson_Receive_Init();
}
//h150t额外开启4g
if (DEVICE_VERSION == JZ_H150T)
{
//串口设备4g初始化
s_JZ_SerialPortHalRegInfo Serial_4G_Info = {
.BitRate = COMM_4G_UART_BITRATE,
.ConnectType = PORT_CONNECT_TYPE_AS_SUB
};
JZsdk_HalPort_Init(UART_4G, (void *)&Serial_4G_Info);
}
if (mode == APP_UART)
{
//网口初始化
JZsdk_NetWork_Init();
}
//音频库初始化
AudioDeal_Init();
//喊话器初始化
Megaphone_Init();
//云台初始化
Gimbal_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT);
//媒体模块初始化
T_JZsdkMediaProcHandler MediaProcHandler = {
.VideoMgmtHandler.SetNextFrame_IDR = NULL,
};
MediaProc_Init(MediaProcHandler);
//相机初始化
g_H150S_Info.CamereInfo = (JZsdk_CameraInfo *)malloc(sizeof(JZsdk_CameraInfo));
if (g_H150S_Info.CamereInfo == NULL)
{
JZSDK_LOG_ERROR("malloc error");
}
memset(g_H150S_Info.CamereInfo, 0, sizeof(JZsdk_CameraInfo));
g_H150S_Info.CamereInfo->width = JZ_H150S_OPT_WIDTH;
g_H150S_Info.CamereInfo->height = JZ_H150S_OPT_HEIGHT;
g_H150S_Info.CamereInfo->FrameNum = JZ_H150S_OPT_FRAMERATE;
g_H150S_Info.CamereInfo->CameraFormat = JZ_H150S_OPT_PIXEL;
memcpy(g_H150S_Info.CamereInfo->CmeraDevPath, JZ_H150S_OPT_DEV_PATH, strlen(JZ_H150S_OPT_DEV_PATH));
g_H150S_Info.CamereInfo->ThreadMode = JZSDK_SINGLE_THREAD;
g_H150S_Info.CamereInfo->SingleDataOutput = JZ_h150s_h150t_Opt_deal;
g_H150S_Info.CamereInfo->CameraParam.Brightness = JZ_H150S_OPT_BRIGHTNESS;
g_H150S_Info.CamereInfo->CameraParam.Contrast = JZ_H150S_OPT_CONTRAST;
g_H150S_Info.CamereInfo->CameraParam.Saturation = JZ_H150S_OPT_SATURATION;
ret = Camera_Init(g_H150S_Info.CamereInfo);
if (ret != JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
JZSDK_LOG_ERROR("光学相机启动失败");
}
VideoMgmt_VideoStreamFlowIndex(JZ_H150S_OPT_INDEX);
JZSDK_LOG_INFO("Module Init success");
}