Add cross-build scripts for raspberry pi

Add fpv video player for raspberry pi

Makefile

@@ -1,14 +1,22 @@
-CPPFLAGS+= -g -Wall -std=gnu99 -I/opt/vc/include/ -I/opt/vc/include/interface/vcos/pthreads -I/opt/vc/include/interface/vmcs_host/linux
-LDFLAGS+=-L/opt/vc/lib/ -lGLESv2 -lEGL -lopenmaxil -lbcm_host -lvcos -lvchiq_arm -lpthread -lrt -lm
+CFLAGS += -g -Wall -std=gnu99 -I$(SYSROOT)/opt/vc/include/ -I$(SYSROOT)/opt/vc/include/interface/vcos/pthreads -I$(SYSROOT)/opt/vc/include/interface/vmcs_host/linux
+LDFLAGS += -L$(SYSROOT)/opt/vc/lib/ -lGLESv2 -lEGL -lopenmaxil -lbcm_host -lvcos -lvchiq_arm -lpthread -lrt -lm
 
 all: osd
 
 %.o: %.c
-	gcc -c -o $@ $< $(CPPFLAGS)
+	$(CC) -c -o $@ $< $(CFLAGS)
 
 osd: main.o osdrender.o osdmavlink.o graphengine.o UAVObj.o m2dlib.o math3d.o osdconfig.o osdvar.o fonts.o font_outlined8x14.o font_outlined8x8.o oglinit.o
-	gcc -o $@ $^ $(LDFLAGS)
+	$(CC) -o $@ $^ $(LDFLAGS)
+
+build_rpi: clean
+	docker build docker -t wifibroadcast_osd:rpi_raspbian
+	docker run -i -t --rm -v $(PWD):/build -v $(PWD):/rpxc/sysroot/build wifibroadcast_osd:rpi_raspbian sh -c 'CFLAGS=--sysroot=/rpxc/sysroot LDFLAGS="--sysroot=/rpxc/sysroot" CXX=arm-linux-gnueabihf-g++ CC=arm-linux-gnueabihf-gcc make'
+	docker run -i -t --rm -v $(PWD):/build -v $(PWD):/rpxc/sysroot/build wifibroadcast_osd:rpi_raspbian sh -c 'cd /rpxc/sysroot/opt/vc/src/hello_pi/libs/ilclient; SDKSTAGE=/rpxc/sysroot CFLAGS=--sysroot=/rpxc/sysroot LDFLAGS="--sysroot=/rpxc/sysroot" CXX=arm-linux-gnueabihf-g++ CC=arm-linux-gnueabihf-gcc make; cd /build/fpv_video; SDKSTAGE=/rpxc/sysroot CFLAGS=--sysroot=/rpxc/sysroot LDFLAGS="--sysroot=/rpxc/sysroot" CXX=arm-linux-gnueabihf-g++ CC=arm-linux-gnueabihf-gcc make'
+	mkdir -p dist
+	tar czf dist/wifibroadcast_osd.tar.gz osd -C fpv_video fpv_video fpv_video.sh
 
 clean:
 	rm -f osd *.o *~
+	make -C fpv_video clean
 

docker/Dockerfile

@@ -0,0 +1,2 @@
+FROM sdthirlwall/raspberry-pi-cross-compiler
+RUN install-raspbian libraspberrypi0 libraspberrypi-dev libraspberrypi-doc libraspberrypi-bin

fpv_video/Makefile

@@ -0,0 +1,6 @@
+OBJS=fpv_video.o
+BIN=fpv_video
+LDFLAGS+=-lilclient
+
+include Makefile.include
+

fpv_video/Makefile.include

@@ -0,0 +1,27 @@
+CFLAGS+=-DSTANDALONE -D__STDC_CONSTANT_MACROS -D__STDC_LIMIT_MACROS -DTARGET_POSIX -D_LINUX -fPIC -DPIC -D_REENTRANT -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -U_FORTIFY_SOURCE -Wall -g -DHAVE_LIBOPENMAX=2 -DOMX -DOMX_SKIP64BIT -ftree-vectorize -pipe -DUSE_EXTERNAL_OMX -DHAVE_LIBBCM_HOST -DUSE_EXTERNAL_LIBBCM_HOST -DUSE_VCHIQ_ARM -Wno-psabi
+
+LDFLAGS+=-L$(SDKSTAGE)/opt/vc/lib/ -lbrcmGLESv2 -lbrcmEGL -lopenmaxil -lbcm_host -lvcos -lvchiq_arm -lpthread -lrt -lm -L$(SDKSTAGE)/opt/vc/src/hello_pi/libs/ilclient -L$(SDKSTAGE)/opt/vc/src/hello_pi/libs/vgfont
+
+INCLUDES+=-I$(SDKSTAGE)/opt/vc/include/ -I$(SDKSTAGE)/opt/vc/include/interface/vcos/pthreads -I$(SDKSTAGE)/opt/vc/include/interface/vmcs_host/linux -I./ -I$(SDKSTAGE)/opt/vc/src/hello_pi/libs/ilclient -I$(SDKSTAGE)/opt/vc/src/hello_pi/libs/vgfont
+
+all: $(BIN) $(LIB)
+
+%.o: %.c
+	@rm -f $@ 
+	$(CC) $(CFLAGS) $(INCLUDES) -g -c $< -o $@ -Wno-deprecated-declarations
+
+%.o: %.cpp
+	@rm -f $@ 
+	$(CXX) $(CFLAGS) $(INCLUDES) -g -c $< -o $@ -Wno-deprecated-declarations
+
+$(BIN): $(OBJS)
+	$(CC) -o $@ -Wl,--whole-archive $(OBJS) $(LDFLAGS) -Wl,--no-whole-archive -rdynamic
+
+%.a: $(OBJS)
+	$(AR) r $@ $^
+
+clean:
+	for i in $(OBJS); do (if test -e "$$i"; then ( rm -f $$i ); fi ); done
+	@rm -f $(BIN) $(LIB)
+
+

fpv_video/fpv_video.c

@@ -0,0 +1,238 @@
+/*
+Copyright (c) 2012, Broadcom Europe Ltd
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the copyright holder nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+// Video deocode demo using OpenMAX IL though the ilcient helper library
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "bcm_host.h"
+#include "ilclient.h"
+
+#define OMX_INIT_STRUCTURE(a) \
+  memset(&(a), 0, sizeof(a)); \
+  (a).nSize = sizeof(a); \
+  (a).nVersion.s.nVersionMajor = OMX_VERSION_MAJOR; \
+  (a).nVersion.s.nVersionMinor = OMX_VERSION_MINOR; \
+  (a).nVersion.s.nRevision = OMX_VERSION_REVISION; \
+  (a).nVersion.s.nStep = OMX_VERSION_STEP
+
+static int video_decode_test()
+{
+   OMX_VIDEO_PARAM_PORTFORMATTYPE format;
+   OMX_TIME_CONFIG_CLOCKSTATETYPE cstate;
+
+   COMPONENT_T *video_decode = NULL, *video_scheduler = NULL, *video_render = NULL, *clock = NULL;
+   COMPONENT_T *list[5];
+   TUNNEL_T tunnel[4];
+   ILCLIENT_T *client;
+   int status = 0;
+   unsigned int data_len = 0;
+
+   memset(list, 0, sizeof(list));
+   memset(tunnel, 0, sizeof(tunnel));
+
+   if((client = ilclient_init()) == NULL)
+   {
+      return -3;
+   }
+
+   if(OMX_Init() != OMX_ErrorNone)
+   {
+      ilclient_destroy(client);
+      return -4;
+   }
+
+   // create video_decode
+   if(ilclient_create_component(client, &video_decode, "video_decode", ILCLIENT_DISABLE_ALL_PORTS | ILCLIENT_ENABLE_INPUT_BUFFERS) != 0)
+      status = -14;
+   list[0] = video_decode;
+
+   // create video_render
+   if(status == 0 && ilclient_create_component(client, &video_render, "video_render", ILCLIENT_DISABLE_ALL_PORTS) != 0)
+      status = -14;
+   list[1] = video_render;
+
+   // create clock
+   if(status == 0 && ilclient_create_component(client, &clock, "clock", ILCLIENT_DISABLE_ALL_PORTS) != 0)
+      status = -14;
+   list[2] = clock;
+
+   memset(&cstate, 0, sizeof(cstate));
+   cstate.nSize = sizeof(cstate);
+   cstate.nVersion.nVersion = OMX_VERSION;
+   cstate.eState = OMX_TIME_ClockStateWaitingForStartTime;
+   cstate.nWaitMask = 1;
+   if(clock != NULL && OMX_SetParameter(ILC_GET_HANDLE(clock), OMX_IndexConfigTimeClockState, &cstate) != OMX_ErrorNone)
+      status = -13;
+
+   // create video_scheduler
+   if(status == 0 && ilclient_create_component(client, &video_scheduler, "video_scheduler", ILCLIENT_DISABLE_ALL_PORTS) != 0)
+      status = -14;
+   list[3] = video_scheduler;
+
+   set_tunnel(tunnel, video_decode, 131, video_scheduler, 10);
+   set_tunnel(tunnel+1, video_scheduler, 11, video_render, 90);
+   set_tunnel(tunnel+2, clock, 80, video_scheduler, 12);
+
+   // setup clock tunnel first
+   if(status == 0 && ilclient_setup_tunnel(tunnel+2, 0, 0) != 0)
+      status = -15;
+   else
+      ilclient_change_component_state(clock, OMX_StateExecuting);
+
+   if(status == 0)
+      ilclient_change_component_state(video_decode, OMX_StateIdle);
+
+   memset(&format, 0, sizeof(OMX_VIDEO_PARAM_PORTFORMATTYPE));
+   format.nSize = sizeof(OMX_VIDEO_PARAM_PORTFORMATTYPE);
+   format.nVersion.nVersion = OMX_VERSION;
+   format.nPortIndex = 130;
+   format.eCompressionFormat = OMX_VIDEO_CodingAVC;
+   format.xFramerate = 30 << 16;
+
+   if(status == 0 &&
+      OMX_SetParameter(ILC_GET_HANDLE(video_decode), OMX_IndexParamVideoPortFormat, &format) == OMX_ErrorNone &&
+      ilclient_enable_port_buffers(video_decode, 130, NULL, NULL, NULL) == 0)
+   {
+      OMX_BUFFERHEADERTYPE *buf;
+      int port_settings_changed = 0;
+      int first_packet = 1;
+
+      ilclient_change_component_state(video_decode, OMX_StateExecuting);
+
+      {
+          OMX_CONFIG_DISPLAYREGIONTYPE display;
+          OMX_ERRORTYPE omx_err;
+
+          OMX_INIT_STRUCTURE(display);
+          display.nPortIndex =  90;
+          display.set = (OMX_DISPLAYSETTYPE)OMX_DISPLAY_SET_NOASPECT;
+          display.noaspect = OMX_TRUE;
+
+          omx_err = OMX_SetParameter(ILC_GET_HANDLE(video_render), OMX_IndexConfigDisplayRegion, &display);
+
+          if (omx_err != OMX_ErrorNone)
+          {
+              printf("Unable to set aspect: 0x%x\n", omx_err);
+          }
+      }
+
+      while((buf = ilclient_get_input_buffer(video_decode, 130, 1)) != NULL)
+      {
+         // feed data and wait until we get port settings changed
+         unsigned char *dest = buf->pBuffer;
+
+	data_len = read(STDIN_FILENO, dest, buf->nAllocLen-data_len);
+
+
+         if(port_settings_changed == 0 &&
+            ((data_len > 0 && ilclient_remove_event(video_decode, OMX_EventPortSettingsChanged, 131, 0, 0, 1) == 0) ||
+             (data_len == 0 && ilclient_wait_for_event(video_decode, OMX_EventPortSettingsChanged, 131, 0, 0, 1,
+                                                       ILCLIENT_EVENT_ERROR | ILCLIENT_PARAMETER_CHANGED, 10000) == 0)))
+         {
+            port_settings_changed = 1;
+
+            if(ilclient_setup_tunnel(tunnel, 0, 0) != 0)
+            {
+               status = -7;
+               break;
+            }
+
+            ilclient_change_component_state(video_scheduler, OMX_StateExecuting);
+
+            // now setup tunnel to video_render
+            if(ilclient_setup_tunnel(tunnel+1, 0, 1000) != 0)
+            {
+               status = -12;
+               break;
+            }
+
+            ilclient_change_component_state(video_render, OMX_StateExecuting);
+         }
+         if(!data_len)
+            break;
+
+         buf->nFilledLen = data_len;
+         data_len = 0;
+
+         buf->nOffset = 0;
+         if(first_packet)
+         {
+            buf->nFlags = OMX_BUFFERFLAG_STARTTIME;
+            first_packet = 0;
+         }
+         else
+            buf->nFlags = OMX_BUFFERFLAG_TIME_UNKNOWN;
+
+         if(OMX_EmptyThisBuffer(ILC_GET_HANDLE(video_decode), buf) != OMX_ErrorNone)
+         {
+            status = -6;
+            break;
+         }
+      }
+
+      buf->nFilledLen = 0;
+      buf->nFlags = OMX_BUFFERFLAG_TIME_UNKNOWN | OMX_BUFFERFLAG_EOS;
+
+      if(OMX_EmptyThisBuffer(ILC_GET_HANDLE(video_decode), buf) != OMX_ErrorNone)
+         status = -20;
+
+      // wait for EOS from render
+      ilclient_wait_for_event(video_render, OMX_EventBufferFlag, 90, 0, OMX_BUFFERFLAG_EOS, 0,
+                              ILCLIENT_BUFFER_FLAG_EOS, -1);
+                              //ILCLIENT_BUFFER_FLAG_EOS, 10000);
+
+      // need to flush the renderer to allow video_decode to disable its input port
+      ilclient_flush_tunnels(tunnel, 0);
+
+   }
+
+
+   ilclient_disable_tunnel(tunnel);
+   ilclient_disable_tunnel(tunnel+1);
+   ilclient_disable_tunnel(tunnel+2);
+   ilclient_disable_port_buffers(video_decode, 130, NULL, NULL, NULL);
+   ilclient_teardown_tunnels(tunnel);
+
+   ilclient_state_transition(list, OMX_StateIdle);
+   ilclient_state_transition(list, OMX_StateLoaded);
+
+   ilclient_cleanup_components(list);
+
+   OMX_Deinit();
+
+   ilclient_destroy(client);
+   return status;
+}
+
+int main (int argc, char **argv)
+{
+   bcm_host_init();
+   return video_decode_test();
+}

fpv_video/fpv_video.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! 'video/x-h264,stream-format=byte-stream' ! fdsink | ./fpv_video

osdrender.h

@@ -19,8 +19,6 @@
 #include "bcm_host.h"
 #include "VG/openvg.h"
 #include "VG/vgu.h"
-#include "fontinfo.h"
-#include "shapes.h"
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
 #include "graphengine.h"