ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VLIB / Stages / vlib_stage_decode.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Stages/vlib_stage_decode.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Stages/vlib_stage_decode.c
new file mode 100644 (file)
index 0000000..0d11bf3
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Stages/vlib_stage_decode.c
@@ -0,0 +1,119 @@
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+#include <VLIB/Stages/vlib_stage_decode.h>
+
+
+#define FRAME_MODE_BUFFER_SIZE 256
+
+static video_stream_t stream;
+
+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)
+{
+  // init video decoder with NULL_CODEC
+  video_codec_open( &cfg->controller, NULL_CODEC );
+
+  if(cfg->block_mode_enable)
+  {
+    vp_os_free( cfg->controller.in_stream.bytes );
+  }
+  else
+  {
+    stream.bytes  = (uint32_t*)vp_os_malloc(FRAME_MODE_BUFFER_SIZE*sizeof(uint32_t));
+    stream.index  = 0;
+    stream.used   = 0;
+    stream.size   = FRAME_MODE_BUFFER_SIZE*sizeof(uint32_t);
+  }
+
+  cfg->num_picture_decoded = 0;
+
+  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**)(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->picture->vision_complete = 0;
+    cfg->picture->complete        = 0;
+    cfg->picture->blockline       = 0;
+
+    got_image = FALSE;
+
+    if(cfg->block_mode_enable)
+    {
+      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;
+
+             video_decode_blockline( &cfg->controller, cfg->picture, &got_image );
+    }
+    else
+    {
+      stream.index  = 0;
+      stream.used   = in->size;
+      vp_os_memcpy(&stream.bytes[0], (uint32_t*)in->buffers[0], in->size);
+
+      video_decode_picture( &cfg->controller, cfg->picture, &stream, &got_image );
+    }
+
+         if( got_image )
+    {
+      // we got one picture
+      out->size = 1;
+      cfg->picture->complete        = 1;
+      cfg->num_picture_decoded++;
+
+      if( cfg->luma_only )
+      {
+        int32_t i;
+        for(i = 0; i < (int32_t)cfg->picture->width * (int32_t)cfg->picture->height / 4; i++ )
+        {
+          cfg->picture->cr_buf[i] = 0x80;
+          cfg->picture->cb_buf[i] = 0x80;
+        }
+      }
+    }
+  }
+
+  vp_os_mutex_unlock( &out->lock );
+
+  return C_OK;
+}
+
+C_RESULT vlib_stage_decoding_close(vlib_stage_decoding_config_t *cfg)
+{
+  if(!cfg->block_mode_enable)
+    vp_os_free(stream.bytes);
+  return video_codec_close( &cfg->controller );
+}