ArDrone SDK 1.8 added

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

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/Video/vlib_stage_decode.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/Video/vlib_stage_decode.c
new file mode 100644 (file)
index 0000000..7d8f5a5
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/Video/vlib_stage_decode.c
@@ -0,0 +1,84 @@
+#include <config.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+
+#include <ardrone_tool/Video/vlib_stage_decode.h>
+
+const vp_api_stage_funcs_t vlib_decoding_funcs = {
+  (vp_api_stage_handle_msg_t) NULL,
+  (vp_api_stage_open_t) vlib_stage_decoding_open,
+  (vp_api_stage_transform_t) vlib_stage_decoding_transform,
+  (vp_api_stage_close_t) vlib_stage_decoding_close
+};
+
+C_RESULT vlib_stage_decoding_open(vlib_stage_decoding_config_t *cfg)
+{
+  video_codec_open( &cfg->controller, UVLC_CODEC );
+  video_controller_set_motion_estimation( &cfg->controller, FALSE );
+  video_controller_set_format( &cfg->controller, ACQ_WIDTH, ACQ_HEIGHT );
+
+  vp_os_free( cfg->controller.in_stream.bytes );
+
+  return C_OK;
+}
+
+C_RESULT vlib_stage_decoding_transform(vlib_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;
+  }
+
+  if(out->status == VP_API_STATUS_PROCESSING )
+  {
+    // If out->size == 1 it means picture is ready
+    out->size = 0;
+
+    cfg->controller.in_stream.bytes   = (uint32_t*)in->buffers[0];
+    cfg->controller.in_stream.used    = in->size;
+    cfg->controller.in_stream.size    = in->size;
+    cfg->controller.in_stream.index   = 0;
+    cfg->controller.in_stream.length  = 32;
+    cfg->controller.in_stream.code    = 0;
+
+    got_image = FALSE;
+    video_decode_blockline( &cfg->controller, cfg->picture, &got_image );
+
+    if( got_image )
+    {
+      // we got one picture
+      out->size = 1;
+
+#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
+    }
+  }
+
+  vp_os_mutex_unlock( &out->lock );
+
+  return C_OK;
+}
+
+C_RESULT vlib_stage_decoding_close(vlib_stage_decoding_config_t *cfg)
+{
+  return video_codec_close( &cfg->controller );
+}