diff options
| -rw-r--r-- | as2-platform-dji-osdk.spec | 15 | ||||
| -rw-r--r-- | ffmpeg5-compat.patch | 101 |
2 files changed, 114 insertions, 2 deletions
diff --git a/as2-platform-dji-osdk.spec b/as2-platform-dji-osdk.spec index a51bae7..aff0442 100644 --- a/as2-platform-dji-osdk.spec +++ b/as2-platform-dji-osdk.spec @@ -4,12 +4,13 @@ Name: ros-%{ros_distro}-%{RosPkgName} Version: 1.1.0 -Release: 2%{?dist} +Release: 3%{?dist} Summary: Package to communicate DJI OSDK with Aerostack2 framework License: BSD-3-Clause URL: https://github.com/aerostack2/as2_platform_dji_osdk/tree/main Source0: %{RosPkgName}-%{src_version}.tar.gz Source1: Onboard-SDK-master.tar.gz +Patch0: ffmpeg5-compat.patch %global debug_package %{nil} %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g') @@ -52,8 +53,11 @@ Provides: %{name}-runtime = %{version}-%{release} Package to communicate DJI OSDK with Aerostack2 framework %prep -%autosetup -n %{RosPkgName}-%{src_version} +%autosetup -n %{RosPkgName}-%{src_version} -N tar xzf %{SOURCE1} -C %{_builddir} +cd %{_builddir}/Onboard-SDK-master +patch -p1 < %{PATCH0} +cd - %build [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true @@ -83,6 +87,13 @@ make install DESTDIR=%{buildroot} /opt/ros/%{ros_distro} %changelog +* Sat Oct 10 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-3 +- Add ffmpeg5-compat.patch for FFmpeg 5.x API compatibility +- Replace removed APIs: avcodec_register_all, avcodec_decode_video2, + avpicture_get_size/fill, av_free_packet, AVPicture, AVCodec const +- Use avcodec_send_packet/avcodec_receive_frame, av_image_*, + av_packet_unref, avcodec_free_context, av_frame_free + * Sat Oct 10 2026 ai-importer <ai-importer@openeuler.org> - 1.1.0-2 - Bundle DJI Onboard-SDK as Source1 to avoid network git clone in COPR - Add ffmpeg-devel BuildRequires for advanced-sensing component diff --git a/ffmpeg5-compat.patch b/ffmpeg5-compat.patch new file mode 100644 index 0000000..b8c57ca --- /dev/null +++ b/ffmpeg5-compat.patch @@ -0,0 +1,101 @@ +--- a/osdk-core/advanced-sensing/camera_stream/src/dji_camera_stream_decoder.hpp ++++ b/osdk-core/advanced-sensing/camera_stream/src/dji_camera_stream_decoder.hpp +@@ -13,6 +13,7 @@ + extern "C"{ + #include <libavcodec/avcodec.h> + #include <libavformat/avformat.h> ++#include <libavutil/imgutils.h> + #include <libswscale/swscale.h> + } + +@@ -52,7 +53,7 @@ + + pthread_mutex_t decodemutex; + AVCodecContext* pCodecCtx; +- AVCodec* pCodec; ++ const AVCodec* pCodec; + AVCodecParserContext* pCodecParserCtx; + SwsContext* pSwsCtx; + +--- a/osdk-core/advanced-sensing/camera_stream/src/dji_camera_stream_decoder.cpp ++++ b/osdk-core/advanced-sensing/camera_stream/src/dji_camera_stream_decoder.cpp +@@ -67,7 +67,6 @@ + return true; + } + +- avcodec_register_all(); + pCodecCtx = avcodec_alloc_context3(NULL); + if (!pCodecCtx) + { +@@ -130,7 +129,7 @@ + + if (NULL != pFrameYUV) + { +- av_free(pFrameYUV); ++ av_frame_free(&pFrameYUV); + pFrameYUV = NULL; + } + +@@ -140,16 +139,10 @@ + pCodecParserCtx = NULL; + } + +- if (NULL != pCodec) +- { +- avcodec_close(pCodecCtx); +- pCodec = NULL; +- } +- + if (NULL != pCodecCtx) + { +- av_free(pCodecCtx); +- pCodecCtx = NULL; ++ avcodec_free_context(&pCodecCtx); ++ pCodec = NULL; + } + + if (NULL != rgbBuf ) +@@ -160,7 +153,7 @@ + + if (NULL != pFrameRGB) + { +- av_free(pFrameRGB); ++ av_frame_free(&pFrameRGB); + pFrameRGB = NULL; + } + +@@ -219,7 +212,12 @@ + if (pkt.size > 0) + { + int gotPicture = 0; +- avcodec_decode_video2(pCodecCtx, pFrameYUV, &gotPicture, &pkt); ++ int ret = avcodec_send_packet(pCodecCtx, &pkt); ++ if (ret >= 0) ++ { ++ ret = avcodec_receive_frame(pCodecCtx, pFrameYUV); ++ gotPicture = (ret == 0) ? 1 : 0; ++ } + + if (!gotPicture) + { +@@ -241,9 +239,9 @@ + + if(NULL == rgbBuf) + { +- bufSize = avpicture_get_size(AV_PIX_FMT_RGB24, w, h); ++ bufSize = av_image_get_buffer_size(AV_PIX_FMT_RGB24, w, h, 1); + rgbBuf = (uint8_t*) av_malloc(bufSize); +- avpicture_fill((AVPicture*)pFrameRGB, rgbBuf, AV_PIX_FMT_RGB24, w, h); ++ av_image_fill_arrays(pFrameRGB->data, pFrameRGB->linesize, rgbBuf, AV_PIX_FMT_RGB24, w, h, 1); + } + + if(NULL != pSwsCtx && NULL != rgbBuf) +@@ -261,7 +259,7 @@ + } + } + pthread_mutex_unlock(&decodemutex); +- av_free_packet(&pkt); ++ av_packet_unref(&pkt); + } + + bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param) |