ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VLIB / UVLC / uvlc_mb_layer.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/UVLC/uvlc_mb_layer.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/UVLC/uvlc_mb_layer.c
new file mode 100644 (file)
index 0000000..035375d
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/UVLC/uvlc_mb_layer.c
@@ -0,0 +1,211 @@
+#include <VLIB/video_controller.h>
+#include <VLIB/video_packetizer.h>
+#include <VLIB/Platform/video_utils.h>
+
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_assert.h>
+
+#include "uvlc_codec.h"
+#include "uvlc_layers.h"
+#include "uvlc.h"
+
+#ifndef HAS_UVLC_WRITE_BLOCK
+
+void uvlc_write_block( video_stream_t* const stream, int16_t* data, int32_t num_coeff )
+{
+  int32_t* zztable;
+  int32_t index, code, run;
+
+  zztable = &video_zztable_t81[1];
+
+  // DC coeff
+  code = *data;
+  video_write_data( stream, code, 10 );
+  num_coeff--;
+
+  // AC coeff
+  run = 0;
+  while( num_coeff > 0 )
+  {
+    index = *zztable++;
+    code = data[index];
+    if( code == 0 )
+    {
+      run ++;
+    }
+    else
+    {
+      num_coeff--;
+      uvlc_encode( stream, code, run, num_coeff );
+      run = 0;
+    }
+  }
+}
+
+#endif // HAS_UVLC_WRITE_BLOCK
+
+#ifndef HAS_UVLC_READ_BLOCK
+
+C_RESULT uvlc_read_block( video_stream_t* stream, int16_t* data, int32_t* num_coeff )
+{
+  int32_t* zztable;
+  int32_t index, code, run, last, nc;
+
+  zztable = &video_zztable_t81[0];
+
+  nc = *num_coeff;
+
+  // DC coeff
+  code = run = last = 0;
+  video_read_data( stream, (uint32_t*) &code, 10 );
+  data[0] = code;
+
+  if( nc > 0 )
+  {
+    // AC coeff
+    while( last == 0 )
+    {
+      code = run = last = 0;
+      uvlc_decode( stream, &run, &code, &last);
+
+      VP_OS_ASSERT( run < 64 );
+
+      if( last == 0 )
+      {
+        zztable    += (run+1);
+        index       = *zztable;
+        data[index] = code;
+
+        nc++;
+      }
+    }
+
+    *num_coeff = nc;
+  }
+
+  return C_OK;
+}
+
+#endif
+
+C_RESULT uvlc_write_mb_layer( video_stream_t* stream, video_macroblock_t* mb, int32_t num_macro_blocks )
+{
+  int16_t* data;
+  uint32_t code;
+
+  while( num_macro_blocks > 0 )
+  {
+    video_write_data( stream, mb->azq, 1 );
+    if( !mb->azq )
+    {
+      code  = 0x80;
+      code |= (mb->num_coeff_y0 > 1) << 0;
+      code |= (mb->num_coeff_y1 > 1) << 1;
+      code |= (mb->num_coeff_y2 > 1) << 2;
+      code |= (mb->num_coeff_y3 > 1) << 3;
+      code |= (mb->num_coeff_cb > 1) << 4;
+      code |= (mb->num_coeff_cr > 1) << 5;
+      code |= (mb->dquant != 0) << 6;
+
+      video_write_data( stream, code, 8 );
+
+      if( mb->dquant != 0 )
+      {
+        code = ( mb->dquant < 0 ) ? ~mb->dquant : mb->dquant;
+        video_write_data( stream, code, 2 );
+      }
+
+      /**************** Block Y0 ****************/
+      data = mb->data;
+      uvlc_write_block( stream, data, mb->num_coeff_y0 );
+
+      /**************** Block Y1 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_write_block( stream, data, mb->num_coeff_y1 );
+
+      /**************** Block Y2 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_write_block( stream, data, mb->num_coeff_y2 );
+
+      /**************** Block Y3 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_write_block( stream, data, mb->num_coeff_y3 );
+
+      /**************** Block CB ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_write_block( stream, data, mb->num_coeff_cb );
+
+      /**************** Block CR ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_write_block( stream, data, mb->num_coeff_cr );
+    }
+
+    mb ++;
+    num_macro_blocks --;
+  }
+
+  return C_OK;
+}
+
+C_RESULT uvlc_read_mb_layer( video_stream_t* stream, video_macroblock_t* mb, int32_t num_macro_blocks )
+{
+  int16_t* data;
+  uint32_t code;
+
+  vp_os_memset( mb->data, 0, num_macro_blocks * 6 * MCU_BLOCK_SIZE * sizeof(int16_t) );
+  while( num_macro_blocks > 0 )
+  {
+    mb->azq = 0;
+    video_read_data( stream, (uint32_t*)&mb->azq, 1 );
+
+    if( mb->azq == 0 )
+    {
+      video_read_data( stream, &code, 8 );
+
+      mb->num_coeff_y0 = (code >> 0) & 1;
+      mb->num_coeff_y1 = (code >> 1) & 1;
+      mb->num_coeff_y2 = (code >> 2) & 1;
+      mb->num_coeff_y3 = (code >> 3) & 1;
+      mb->num_coeff_cb = (code >> 4) & 1;
+      mb->num_coeff_cr = (code >> 5) & 1;
+
+      mb->dquant = 0;
+      if( (code >> 6) & 1 )
+      {
+        video_read_data( stream, &code, 2 );
+
+        mb->dquant = (code < 2) ? ~code : code;
+      }
+
+      /**************** Block Y0 ****************/
+      data = mb->data;
+      uvlc_read_block( stream, data, &mb->num_coeff_y0 );
+
+      /**************** Block Y1 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block( stream, data, &mb->num_coeff_y1 );
+
+      /**************** Block Y2 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block( stream, data, &mb->num_coeff_y2 );
+
+      /**************** Block Y3 ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block( stream, data, &mb->num_coeff_y3 );
+
+      /**************** Block CB ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block( stream, data, &mb->num_coeff_cb );
+
+      /**************** Block CR ****************/
+      data += MCU_BLOCK_SIZE;
+      uvlc_read_block( stream, data, &mb->num_coeff_cr );
+
+    }
+
+    mb ++;
+    num_macro_blocks --;
+  }
+
+  return C_OK;
+}