ArDrone SDK 1.8 added

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

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Stages/vlib_stage_encode.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Stages/vlib_stage_encode.c
new file mode 100644 (file)
index 0000000..3fe469e
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Stages/vlib_stage_encode.c
@@ -0,0 +1,115 @@
+/**
+ *  \brief    vlib Stage
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
+ *  \version  1.0
+ *  \date     first release 06/12/2007
+ */
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+
+#include <VLIB/Stages/vlib_stage_encode.h>
+#include <VLIB/video_packetizer.h>
+
+///*******************************************************************************************************************///
+
+const vp_api_stage_funcs_t vlib_encoding_funcs = {
+  (vp_api_stage_handle_msg_t) NULL,
+  (vp_api_stage_open_t) vlib_stage_encoding_open,
+  (vp_api_stage_transform_t) vlib_stage_encoding_transform,
+  (vp_api_stage_close_t) vlib_stage_encoding_close
+};
+
+///*******************************************************************************************************************///
+
+C_RESULT vlib_stage_encoding_open(vlib_stage_encoding_config_t *cfg)
+{
+  video_codec_open( &cfg->controller, cfg->codec_type );
+  video_controller_set_mode( &cfg->controller, VIDEO_ENCODE );
+  video_controller_set_format( &cfg->controller, cfg->width, cfg->height );
+  video_controller_set_motion_estimation( &cfg->controller, FALSE );
+  video_controller_set_target_size( &cfg->controller, cfg->target_size );
+  return C_OK;
+}
+
+C_RESULT vlib_stage_encoding_transform(vlib_stage_encoding_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  static int32_t local_subsampl = 0;
+
+  vp_os_mutex_lock(&out->lock);
+
+  if( out->status == VP_API_STATUS_INIT )
+  {
+    out->numBuffers   = 1;
+    out->buffers      = (int8_t**)(int8_t*)&cfg->controller.in_stream.bytes;
+    out->indexBuffer  = 0;
+
+    out->status = VP_API_STATUS_PROCESSING;
+
+    cfg->current_size = 0;
+  }
+
+  if( local_subsampl == 0 && out->status == VP_API_STATUS_PROCESSING )
+  {
+    // check video_codec didn't change
+    if (cfg->controller.codec_type != cfg->codec_type)
+    {
+      video_codec_open( &cfg->controller, cfg->codec_type );
+      video_controller_set_mode( &cfg->controller, VIDEO_ENCODE );
+      video_controller_set_format( &cfg->controller, cfg->width, cfg->height );
+      video_controller_set_motion_estimation( &cfg->controller, FALSE );
+    }
+
+    // update target size
+    video_controller_set_target_size( &cfg->controller, cfg->target_size );
+    RTMON_USTART(VIDEO_VLIB_ENCODE_EVENT);
+    if(cfg->block_mode_enable)
+      video_encode_blockline( &cfg->controller, cfg->picture, cfg->picture->complete );
+    else
+      video_encode_picture( &cfg->controller, cfg->picture, (bool_t*)&cfg->picture->complete );
+    RTMON_USTOP(VIDEO_VLIB_ENCODE_EVENT);
+
+    if(cfg->picture->complete)
+    {
+      RTMON_UVAL(ENCODED_PICTURE_UVAL, cfg->controller.num_frames);
+      local_subsampl++;
+    }
+
+    cfg->current_size = cfg->controller.in_stream.used;
+
+    if( cfg->controller.in_stream.length != 32 )
+    {
+      // flush & reset internal stream
+      video_write_data( &cfg->controller.in_stream, 0, cfg->controller.in_stream.length+1 );
+      cfg->controller.in_stream.length = 32;
+    }
+    out->size = cfg->controller.in_stream.used;
+
+    RTMON_UVAL(ENCODED_BLOCKLINE_SIZE_UVAL, out->size);
+
+    cfg->controller.in_stream.used  = 0;
+    cfg->controller.in_stream.index = 0;
+  }
+  else
+  {
+    out->size = 0;
+
+    if( cfg->picture->complete )
+    {
+      local_subsampl++;
+    }
+  }
+
+  if(local_subsampl >= (int32_t)cfg->subsampl)
+    local_subsampl = 0;
+  vp_os_mutex_unlock( &out->lock );
+
+  return C_OK;
+}
+
+C_RESULT vlib_stage_encoding_close(vlib_stage_encoding_config_t *cfg)
+{
+  return video_codec_close( &cfg->controller );
+}
+
+
+///*******************************************************************************************************************///