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#ifndef _TS_DECODER_H_
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#define _TS_DECODER_H_
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#include <iostream>
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#include <string>
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#include <thread>
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#include <QThread>
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#include <QString>
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#include "opencv2/opencv.hpp"
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extern "C"
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{
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#include "libavcodec/avcodec.h"
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#include "libavformat/avformat.h"
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#include "libavdevice/avdevice.h"
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#include "libswscale/swscale.h"
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#include "libavutil/imgutils.h"
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}
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#include "commondefine.h"
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#include "TsPacker.hpp"
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#include <QFile>
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class TsDecoder
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{
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public:
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void decoder(){
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std::cout<<"decode loop"<<std::endl;
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// decode loop
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AVPacket aPacket;
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int nTelemSize = sizeof(telemetryData);
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int index = 0;
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int raw_index = 0;
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while (true)
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{
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// packet init
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av_init_packet(&aPacket);
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// read a packet
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if (av_read_frame(pFormatCtx, &aPacket) == 0)
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{
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// check id
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if (aPacket.stream_index == videoStreamID)
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{
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if (avcodec_send_packet(pVideoCtx, &aPacket) == 0)
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{
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if (avcodec_receive_frame(pVideoCtx, pFrame) == 0)
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{
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// QFile file(QString("./img_%1.yuv").arg(aPacket.pts));
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// if(file.open(QIODevice::WriteOnly)){
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// file.write((char *)pFrame->data[0], pFrame->linesize[0]);
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// file.write((char *)pFrame->data[1], pFrame->linesize[1]);
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// }
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// file.close();
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cv::Mat src(1024, 1280, CV_8UC3, (char*)pFrame->data[0]);
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cv::imshow("", src);
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cv::waitKey(1);
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qDebug() << "get image";
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}
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}
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// if packet is video pkt
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//_packer->demuxer(aPacket.buf->data, aPacket.buf->size, aPacket.pts, TsPacker::VIDEO);
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printf("");
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index ++;
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}
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else if (aPacket.stream_index == telemStreamID)
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{
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// QFile file(QString("./img_raw_%1.yuv").arg(raw_index));
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// if(file.open(QIODevice::WriteOnly)){
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// file.write((char *)aPacket.buf->data, aPacket.buf->size);
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// }
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// file.close();
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// if it is a telem pkt
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// _packer->demuxer(&aPacket, TsPacker::BINDATA);
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// _packer->demuxer(aPacket.buf->data, aPacket.buf->size, aPacket.pts, TsPacker::BINDATA);
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telemetryData aTelem;
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memset(&aTelem, 0, sizeof(telemetryData));
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telemCodec::telemDecode(aPacket.buf->data, aPacket.buf->size, aTelem);
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char buff[1024] = {0};
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int times = raw_index / 25;
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int minute = times / 60;
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int misc = times % 60;
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sprintf(buff, "[%02d:%02d:%02d:%04d] Lon: %.06f, %.06f, %.03f, Drone: yaw:%.06f, %.06f, %.06f, IMU: yaw:%.06f, %.06f, %.06f, Comp: yaw:%.06f, %.06f, %.06f, SF: %.06f, %.06f, Target: %.06f, %.06f, %.03f, Dis: %.03f, speed: %.06f, %.06f, %.06f\n",
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aTelem.mHour, aTelem.mMinute, aTelem.mSecond, aTelem.mMillSecond,
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aTelem.mDroneLongtitude, aTelem.mDroneLatitude, aTelem.mDroneAltitude,
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aTelem.mDroneYaw, aTelem.mDronePitch, aTelem.mDroneRoll,
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aTelem.mSensorYaw, aTelem.mSensorPitch, aTelem.mSensorRoll,
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aTelem.mComposedYaw, aTelem.mComposedPitch, aTelem.mComposedRoll,
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aTelem.mFrameYaw, aTelem.mFramePitch,
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aTelem.mMarkLongtitude, aTelem.mMarkLatitude, aTelem.mMarkAltitude, aTelem.mLaserDistance,
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aTelem.mDroneSpeedEast * 100 * 32767 / 1024,
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aTelem.mDroneSpeedNorth * 100 * 32767 / 1024,
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aTelem.mDroneSpeedSky * 100 * 32767 / 1024);
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// file->write(buff, strlen(buff));
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qDebug("[%s] \n", buff);
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raw_index++;
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}
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else
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{
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av_packet_unref(&aPacket);
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}
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}
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else
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{
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std::cout<<"end of file"<<std::endl;
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break;
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}
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av_packet_unref(&aPacket);
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}
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exit(0);
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}
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TsDecoder(const std::string &str){
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int dataStreamID = 0;
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int mImgWidth = 0;
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int mImgHeight = 0;
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int mBytesPerPixel = 0;
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// init ffmpeg
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//avcodec_register_all();
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avdevice_register_all();
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//std::thread *dumxer = new std::thread(&this::decoder, std::ref(*this));
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QStringList list = QString::fromStdString(str).split("/");
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QStringList namelist = list.at(list.size() - 1).split(".");
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std::string filename = QString(namelist[0] + "_out." + namelist[1]).toStdString();
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_packer = new TsPacker(filename);
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// create ffmpeg context
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int nRet = 0;
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pFormatCtx = avformat_alloc_context();
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if (pFormatCtx == nullptr)
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{
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std::cout << "Can not create format context for udp video stream." << std::endl;
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return;
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}
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AVDictionary *opts = nullptr;
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av_dict_set(&opts, "buffer_size", "81944000", 0);
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av_dict_set(&opts, "bufsize", "81944000", 0); // "131072" 默认大小是65536
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av_dict_set(&opts, "probesize", "10240000", 0); // "131072" 默认大小是5M
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av_dict_set(&opts, "reorder_queue_size", "10", 0); // "131072" 默认大小是5M
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av_dict_set(&opts, "rtsp_transport", "udp", 0); //以udp方式打开，如果以tcp方式打开将udp替换为tcp
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av_dict_set(&opts, "max_delay", "200000", 0); //设置最大时延
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nRet = avformat_open_input(&pFormatCtx, str.c_str(), nullptr, nullptr);
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if (nRet != 0)
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{
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std::cout << "Can not open udp video stream at: " << str.c_str()<< std::endl;
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return;
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}
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nRet = avformat_find_stream_info(pFormatCtx, nullptr);
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if (nRet < 0)
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{
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std::cout << "Can not find udp video stream infomation. " << std::endl;
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return;
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}
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// find video stream id
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videoStreamID = av_find_best_stream(pFormatCtx, AVMEDIA_TYPE_VIDEO, -1, -1, NULL, 0);
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// find telem stream id
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for (unsigned int j = 0; j < pFormatCtx->nb_streams; j++)
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{
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qDebug("nb[%d] type :%d,%d", j, pFormatCtx->streams[j]->codecpar->codec_id, pFormatCtx->streams[j]->codecpar->codec_type);
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if (pFormatCtx->streams[j]->codecpar->codec_type == AVMEDIA_TYPE_DATA &&
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pFormatCtx->streams[j]->codecpar->codec_id == AV_CODEC_ID_BIN_DATA)
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{
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if (dataStreamID < pFormatCtx->streams[j]->id)
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{
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telemStreamID = j;
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dataStreamID = pFormatCtx->streams[j]->id;
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}
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}
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}
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// set stream
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if (videoStreamID > -1)
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pVideoStream = pFormatCtx->streams[videoStreamID];
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if (telemStreamID > -1)
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pTelemStream = pFormatCtx->streams[telemStreamID];
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printf("aPacket.stream_index --- %d:%d\n", videoStreamID, telemStreamID);
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// if video stream is validate, open codec and context
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if (pVideoStream)
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{
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pVideoCodec = avcodec_find_decoder(pVideoStream->codecpar->codec_id);
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pVideoCtx = pVideoCodec ? avcodec_alloc_context3(pVideoCodec) : nullptr;
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if (pVideoCtx)
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{
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avcodec_parameters_to_context(pVideoCtx, pVideoStream->codecpar);
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avcodec_open2(pVideoCtx, pVideoCodec, nullptr);
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}
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if (pVideoCtx->width > 0 && pVideoCtx->height > 0)
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{
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mImgHeight = pVideoCtx->height;
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mImgWidth = pVideoCtx->width;
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mBytesPerPixel = 3;
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}
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}
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pFrame = av_frame_alloc();
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qDebug("codec id:%d, %d", videoStreamID, telemStreamID);
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//file = new QFile(namelist[0] + "_param.txt");
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//file->open(QIODevice::WriteOnly);
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//std::thread d1(&TsDecoder::decoder, std::ref(*this));
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//d1.detach();
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}
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~TsDecoder(){
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if (pFormatCtx != nullptr)
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{
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avformat_free_context(pFormatCtx);
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pFormatCtx = nullptr;
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}
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if (pVideoCtx != nullptr)
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{
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avcodec_free_context(&pVideoCtx);
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pVideoCodec = nullptr;
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}
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// release
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avformat_network_deinit();
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}
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private:
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// define ffmpeg format contex
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AVFormatContext *pFormatCtx = nullptr;
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AVStream *pVideoStream = nullptr;
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AVStream *pTelemStream = nullptr;
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AVCodecContext *pVideoCtx = nullptr;
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AVCodec *pVideoCodec = nullptr;
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AVFrame* pFrame = nullptr;
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int videoStreamID = 0;
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int telemStreamID = 0;
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float _change_angle = 0.0;
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TsPacker *_packer = nullptr;
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QFile *file = nullptr;
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};
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#endif
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