Added video thread shutdown

src/main.rs

@@ -1,9 +1,10 @@
 use std::{net::UdpSocket, io::stdin};
-use cv::highgui;
 use openh264::decoder::Decoder;
 use opencv as cv;
+use cv::highgui;
 use cv::prelude::Mat;
 use cv::imgproc::{cvt_color, COLOR_RGBA2BGRA};
+use std::sync::mpsc;
 
 use libc::c_void;
 
@@ -35,7 +36,7 @@ fn check_for_valid_packet(data_stream: &[u8]) -> Option<(usize, usize)> {
 }
 
 
-fn h264_decode(frame_data: &[u8], decoder: &mut Decoder) -> Result<Mat, ()> {
+fn h264_decode_to_bgra(frame_data: &[u8], decoder: &mut Decoder) -> Result<Mat, ()> {
  let mut buffer = vec![0; 2764800];
  let yuv = match decoder.decode(frame_data) {
  Ok(o) => {
@@ -72,12 +73,16 @@ fn h264_decode(frame_data: &[u8], decoder: &mut Decoder) -> Result<Mat, ()> {
  Ok(_) => {},
  Err(e) => println!("Error image conversion failed: {:?}", e),
  };
-
- //println!("{}", bgra_buffer.at_pt_mut::<u8>(cv::core::Point_ { x: 0, y: 0 }).unwrap());
 
  Ok(bgra_buffer)
 }
 
+#[derive(PartialEq, Eq)]
+enum ThreadMsg {
+ None,
+ ShutdownThread,
+}
+
 fn main() {
  let sock = match UdpSocket::bind("0.0.0.0:42069") {
  Ok(s) => s,
@@ -97,6 +102,8 @@ fn main() {
  Err(_) => panic!(""),
  };
 
+ let (tx, rx) = mpsc::channel();
+
  let thread_thing = std::thread::spawn(|| {
  // receive video stream from tello on port 11111
  let video_socket = match UdpSocket::bind("0.0.0.0:11111") {
@@ -121,19 +128,25 @@ fn main() {
 
  match check_for_valid_packet(&frame_packet) {
  Some(frame_borders) => {
- match h264_decode(&frame_packet[(frame_borders.0)..(frame_borders.1)], &mut decoder) {
+ match h264_decode_to_bgra(&frame_packet[(frame_borders.0)..(frame_borders.1)], &mut decoder) {
  Ok(frbuf) => {
  frame_packet = frame_packet[(frame_borders.1)..(frame_packet.len())].to_vec();
 
- //frame = unsafe { Mat::new_rows_cols_with_data(dims.0 as i32, dims.1 as i32, cv::core::CV_8UC4, frbuf.as_mut_ptr() as *mut c_void, 1).unwrap() };
-
  match highgui::imshow("tello", &frbuf) {
  Ok(_) => {},
  Err(e) => println!("Error: {:?}", e),
  };
 
  highgui::poll_key();
 
+ match rx.try_recv() {
+ Ok(v) => {
+ if v == ThreadMsg::ShutdownThread {
+ break;
+ }
+ },
+ Err(_) => {},
+ };
  },
  Err(_) => {
  frame_packet = frame_packet[(frame_borders.1)..(frame_packet.len())].to_vec();
@@ -142,7 +155,6 @@ fn main() {
  },
  None => continue,
  }
-
  }
  });
 
@@ -152,6 +164,7 @@ fn main() {
  stdin().read_line(&mut send_buf).unwrap();
 
  if send_buf.as_str().trim() == "q" {
+ tx.send(ThreadMsg::ShutdownThread);
  break;
  }