video.cpp

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#include <ardrone_autonomy/video.h>

#define NB_STAGES 10
#define CAMIF_H_CAMERA_USED CAMIF_CAMERA_OVTRULY

unsigned char buffer[MAX_STREAM_WIDTH * MAX_STREAM_HEIGHT * 3];
int32_t current_frame_id = 0;
ros::Time shared_video_receive_time;

extern "C" C_RESULT export_stage_open(void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
  return (SUCCESS);
}

extern "C" C_RESULT export_stage_transform(void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
//    PRINT("In Transform before copy\n");
//        printf("The size of buffer is %d\n", in->size);
  vp_os_mutex_lock(&video_lock);
  shared_video_receive_time = ros::Time::now();
  memcpy(buffer, in->buffers[0], in->size);
  current_frame_id++;
  if (realtime_video)
  {
    ros_driver->PublishVideo();
  }
  vp_os_mutex_unlock(&video_lock);
//    vp_os_mutex_unlock(&video_update_lock);
  return (SUCCESS);
}

extern "C" C_RESULT export_stage_close(void *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
{
  return (SUCCESS);
}

const vp_api_stage_funcs_t vp_stages_export_funcs =
{
  NULL,
  (vp_api_stage_open_t)export_stage_open,
  (vp_api_stage_transform_t)export_stage_transform,
  (vp_api_stage_close_t)export_stage_close
};