ArDrone SDK 1.8 added
[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / VP_Stages / vp_stages_buffer_to_picture.c
diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_buffer_to_picture.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_buffer_to_picture.c
new file mode 100644 (file)
index 0000000..05c5b5d
--- /dev/null
@@ -0,0 +1,266 @@
+#include <stdio.h>
+
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Stages/vp_stages_buffer_to_picture.h>
+#include <VP_Stages/vp_stages_i_camif.h>
+
+//
+// Buffer to Picture conversion
+//
+static int32_t copy_input_to_buffer( uint8_t* buffer, int32_t input_size, int32_t max_size, vp_stages_buffer_to_picture_config_t *cfg )
+{
+  int32_t size_to_copy;
+
+  size_to_copy = input_size;
+  if( size_to_copy > max_size )
+    size_to_copy = max_size;
+  vp_os_memcpy( buffer, cfg->input_ptr, size_to_copy );
+
+  if( cfg != NULL )
+  {
+    cfg->cumulated_size += size_to_copy;
+    cfg->input_ptr      += size_to_copy;
+  }
+
+  return size_to_copy;
+}
+
+
+C_RESULT vp_stages_buffer_to_picture_open(vp_stages_buffer_to_picture_config_t *cfg)
+{
+  cfg->num_picture_decoded = 0;
+
+  return C_OK;
+}
+
+
+C_RESULT vp_stages_buffer_to_picture_transform(vp_stages_buffer_to_picture_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  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;
+
+    cfg->y_buf_ptr      = cfg->picture->y_buf;
+    if(!cfg->luma_only)
+    {
+      cfg->cr_buf_ptr   = cfg->picture->cr_buf;
+      cfg->cb_buf_ptr   = cfg->picture->cb_buf;
+    }
+    cfg->cumulated_size = 0;
+    cfg->input_ptr      = NULL;
+
+    if( cfg->custom_data_size > 0 )
+    {
+      cfg->custom_data_ptr = vp_os_malloc( cfg->custom_data_size );
+    }
+  }
+
+  if( in->status == VP_API_STATUS_ENDED )
+    out->status = in->status;
+
+  if( out->status == VP_API_STATUS_PROCESSING )
+    cfg->input_ptr = (uint8_t*)in->buffers[in->indexBuffer];
+
+  if(out->status == VP_API_STATUS_PROCESSING || out->status == VP_API_STATUS_STILL_RUNNING)
+  {
+    int32_t copied_size, y_size, c_size = 0;
+    // If out->size == 1 it means picture is ready
+    out->size = 0;
+    out->status = VP_API_STATUS_PROCESSING;
+
+    y_size  = cfg->block_mode_enable ? cfg->y_blockline_size : cfg->y_buffer_size;
+    c_size  = cfg->luma_only ? 0 : y_size / 4;
+
+    while(in->size > 0 && cfg->y_current_size < cfg->y_buffer_size)
+    {
+      if( in->size > 0 && cfg->cumulated_size < y_size )
+      {
+        copied_size = copy_input_to_buffer( cfg->y_buf_ptr, in->size, y_size - cfg->cumulated_size, cfg );
+
+        cfg->y_buf_ptr += copied_size;
+        in->size       -= copied_size;
+      }
+
+      if(!cfg->luma_only)
+      {
+        if( in->size > 0 && cfg->cumulated_size >= y_size && (cfg->cumulated_size < y_size + c_size) )
+        {
+          copied_size = copy_input_to_buffer( cfg->cb_buf_ptr, in->size, y_size + c_size - cfg->cumulated_size, cfg );
+
+          cfg->cb_buf_ptr += copied_size;
+          in->size        -= copied_size;
+        }
+
+        if( in->size > 0 && (cfg->cumulated_size >= y_size + c_size) && (cfg->cumulated_size < y_size + 2*c_size) )
+        {
+          copied_size = copy_input_to_buffer( cfg->cr_buf_ptr, in->size, y_size + 2*c_size - cfg->cumulated_size, cfg );
+
+          cfg->cr_buf_ptr += copied_size;
+          in->size        -= copied_size;
+        }
+      }
+
+      if( cfg->cumulated_size == y_size + 2*c_size )
+      {
+        cfg->cumulated_size  = 0;
+        cfg->y_current_size += y_size;
+      }
+    }
+
+    if( cfg->custom_data_size > 0 && cfg->y_current_size >= cfg->y_buffer_size )
+    {
+      // we got one picture (handle case 1)
+      if( in->size > 0 && cfg->custom_data_read != cfg->custom_data_size )
+      {
+        copied_size = copy_input_to_buffer( cfg->custom_data_ptr + cfg->custom_data_read,
+                                            in->size, cfg->custom_data_size - cfg->custom_data_read,
+                                            cfg );
+
+        cfg->custom_data_read += copied_size;
+        in->size -= copied_size;
+
+        cfg->y_current_size += copied_size;
+        cfg->cumulated_size  = 0;
+      }
+    }
+
+    // All buffers are full but there's still data
+    if( in->size > 0 )
+      out->status = VP_API_STATUS_STILL_RUNNING;
+
+    if( cfg->y_current_size == (cfg->y_buffer_size+cfg->custom_data_size) )
+    {
+      // we got one picture (handle case 1)
+      out->size = 1;
+
+      cfg->num_picture_decoded++;
+
+      cfg->custom_data_read = 0;
+      cfg->y_current_size   = 0;
+      cfg->y_buf_ptr        = cfg->picture->y_buf;
+      if(!cfg->luma_only)
+      {
+        cfg->cb_buf_ptr   = cfg->picture->cb_buf;
+        cfg->cr_buf_ptr   = cfg->picture->cr_buf;
+      }
+
+      if( cfg->custom_data_handler != NULL )
+      {
+        cfg->custom_data_handler( (void*)&cfg->custom_data_ptr[0], cfg->custom_data_size );
+      }
+    }
+  }
+
+  vp_os_mutex_unlock(&out->lock);
+
+  return C_OK;
+}
+
+
+C_RESULT vp_stages_buffer_to_picture_close(vp_stages_buffer_to_picture_config_t *cfg)
+{
+  return C_OK;
+}
+
+
+
+//
+// Picture to Buffer conversion
+//
+C_RESULT vp_stages_picture_to_buffer_open(vp_stages_picture_to_buffer_config_t *cfg)
+{
+  return C_OK;
+}
+
+C_RESULT vp_stages_picture_to_buffer_transform(vp_stages_picture_to_buffer_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  int32_t y_size, c_size;
+
+  vp_os_mutex_lock(&out->lock);
+
+  if(out->status == VP_API_STATUS_INIT)
+  {
+    out->numBuffers   = 1;
+
+    cfg->y_buffer_size     = cfg->picture->width*cfg->picture->height;
+    cfg->y_blockline_size  = cfg->picture->width*CAMIF_BLOCKLINES; // each blockline have 16 lines
+
+    y_size  = cfg->block_mode_enable ? cfg->y_blockline_size : cfg->y_buffer_size;
+    c_size  = cfg->luma_only ? 0 : y_size / 4;
+
+    // We alloc an array big enough to hold all ours data
+    out->buffers      = (int8_t**) vp_os_malloc( (y_size+2*c_size+cfg->custom_data_size)*sizeof(int8_t) + sizeof(int8_t*));
+    out->indexBuffer  = 0;
+    out->status       = VP_API_STATUS_PROCESSING;
+
+    out->buffers[0]   = (int8_t *)(out->buffers+1);
+  }
+  else
+  {
+    y_size  = cfg->block_mode_enable ? cfg->y_blockline_size : cfg->y_buffer_size;
+    c_size  = cfg->luma_only ? 0 : y_size / 4;
+  }
+
+  out->size = 0;
+
+  if( out->status == VP_API_STATUS_PROCESSING && in->size > 0 )
+  {
+    uint8_t *y_ptr;
+
+    y_ptr = cfg->picture->y_buf;
+
+    if( cfg->block_mode_enable )
+    {
+      // Find blockline
+      y_ptr += cfg->picture->blockline*y_size;
+    }
+
+    vp_os_memcpy( out->buffers[0], y_ptr, y_size );
+    out->size = y_size;
+
+    if( !cfg->luma_only )
+    {
+      uint8_t *cb_ptr, *cr_ptr;
+
+      cb_ptr = cfg->picture->cb_buf;
+      cr_ptr = cfg->picture->cr_buf;
+
+      if( cfg->block_mode_enable )
+      {
+        cb_ptr += cfg->picture->blockline*c_size;
+        cr_ptr += cfg->picture->blockline*c_size;
+      }
+
+      vp_os_memcpy( out->buffers[0] + y_size, cb_ptr, c_size);
+      vp_os_memcpy( out->buffers[0] + y_size + c_size, cr_ptr, c_size);
+
+      out->size += 2*c_size;
+    }
+
+    if( cfg->custom_data_handler && cfg->picture->complete )
+    {
+      cfg->custom_data_handler( out->buffers[0] + out->size, cfg->custom_data_size );
+
+      out->size += cfg->custom_data_size;
+    }
+  }
+
+  out->status = in->status;
+
+  vp_os_mutex_unlock(&out->lock);
+
+  return C_OK;
+}
+
+C_RESULT vp_stages_picture_to_buffer_close(vp_stages_picture_to_buffer_config_t *cfg)
+{
+  return C_OK;
+}