ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / Soft / Lib / ardrone_tool / Video / mjpeg_stage_decode.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/Video/mjpeg_stage_decode.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/Video/mjpeg_stage_decode.c
new file mode 100644 (file)
index 0000000..5ffb3bd
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/Video/mjpeg_stage_decode.c
@@ -0,0 +1,98 @@
+#include <config.h>
+#include <VP_Os/vp_os_print.h>
+
+#include <ardrone_tool/Video/mjpeg_stage_decode.h>
+
+uint32_t mjpeg_stage_num_picture_decoded = 0;
+
+const vp_api_stage_funcs_t mjpeg_decoding_funcs = {
+  (vp_api_stage_handle_msg_t) NULL,
+  (vp_api_stage_open_t) mjpeg_stage_decoding_open,
+  (vp_api_stage_transform_t) mjpeg_stage_decoding_transform,
+  (vp_api_stage_close_t) mjpeg_stage_decoding_close
+};
+
+C_RESULT mjpeg_stage_decoding_open(mjpeg_stage_decoding_config_t *cfg)
+{
+  stream_new( &cfg->stream, OUTPUT_STREAM );
+
+  return mjpeg_init( &cfg->mjpeg, MJPEG_DECODE, cfg->picture->width, cfg->picture->height, cfg->picture->format );
+}
+
+C_RESULT mjpeg_stage_decoding_transform(mjpeg_stage_decoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  bool_t got_image;
+
+  vp_os_mutex_lock( &out->lock );
+
+  if(out->status == VP_API_STATUS_INIT)
+  {
+    out->numBuffers   = 1;
+    out->buffers      = (int8_t**) cfg->picture;
+    out->indexBuffer  = 0;
+    out->lineSize     = 0;
+
+    out->status = VP_API_STATUS_PROCESSING;
+  }
+
+  if( in->status == VP_API_STATUS_ENDED ) {
+    out->status = in->status;
+  }
+
+  // Several cases must be handled in this stage
+  // 1st: Input buffer is too small to decode a complete picture
+  // 2nd: Input buffer is big enough to decode 1 frame
+  // 3rd: Input buffer is so big we can decode more than 1 frame
+
+  if( out->status == VP_API_STATUS_PROCESSING )
+  {
+    // Reinit stream with new data
+    stream_config( &cfg->stream, in->size, in->buffers[in->indexBuffer] );
+  }
+
+  if(out->status == VP_API_STATUS_PROCESSING || out->status == VP_API_STATUS_STILL_RUNNING)
+  {
+    // If out->size == 1 it means picture is ready
+    out->size = 0;
+    out->status = VP_API_STATUS_PROCESSING;
+
+    mjpeg_decode( &cfg->mjpeg, cfg->picture, &cfg->stream, &got_image );
+
+    if( got_image )
+    {
+      // we got one picture (handle case 1)
+      out->size = 1;
+
+      mjpeg_stage_num_picture_decoded = cfg->mjpeg.num_frames;
+
+#ifndef USE_VIDEO_YUV
+      int32_t i;
+      for(i = 0; i < cfg->picture->width * cfg->picture->height / 4; i++ )
+      {
+        cfg->picture->cr_buf[i] = 0x80;
+        cfg->picture->cb_buf[i] = 0x80;
+      }
+#endif
+
+      // handle case 2 & 3
+      if( FAILED(stream_is_empty( &cfg->stream )) )
+      {
+        // Some data are still in stream
+        // Next time we run this stage we don't want this data to be lost
+        // So flag it!
+        out->status = VP_API_STATUS_STILL_RUNNING;
+      }
+    }
+  }
+
+  vp_os_mutex_unlock( &out->lock );
+
+  return C_OK;
+}
+
+C_RESULT mjpeg_stage_decoding_close(mjpeg_stage_decoding_config_t *cfg)
+{
+  stream_delete( &cfg->stream );
+
+  return mjpeg_release( &cfg->mjpeg );
+}