ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / VP_Stages / vp_stages_io_buffer.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_io_buffer.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_io_buffer.c
new file mode 100644 (file)
index 0000000..6d292f4
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_io_buffer.c
@@ -0,0 +1,116 @@
+/**
+ *  \brief    VP Stages. Buffer stage declaration
+ *  \author   Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
+ *  \author   Aurelien Morelle <aurelien.morelle@parrot.fr>
+ *  \author   Thomas Landais <thomas.landais@parrot.fr>
+ *  \version  2.0
+ *  \date     first release 16/03/2007
+ *  \date     modification  19/03/2007
+ */
+
+///////////////////////////////////////////////
+// INCLUDES
+
+
+#include <VP_Stages/vp_stages_io_buffer.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Os/vp_os_assert.h>
+
+
+C_RESULT
+vp_stages_input_buffer_stage_open(vp_stages_input_buffer_config_t *cfg)
+{
+  VP_OS_ASSERT(cfg->buffer);
+  return (VP_SUCCESS);
+}
+
+
+C_RESULT
+vp_stages_input_buffer_stage_transform(vp_stages_input_buffer_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->size = 0;
+      out->buffers = &cfg->buffer;
+      out->indexBuffer = 0;
+      cfg->remaining_size = cfg->total_size;
+    }
+
+  if(cfg->remaining_size != 0)
+    {
+      out->status = VP_API_STATUS_PROCESSING;
+      out->buffers[out->indexBuffer] += out->size;
+      out->size = (cfg->remaining_size < cfg->send_size ? cfg->remaining_size : cfg->send_size);
+      cfg->remaining_size -= out->size;
+    }
+  else
+    {
+      out->status = VP_API_STATUS_ENDED;
+    }
+
+  vp_os_mutex_unlock(&out->lock);
+
+  DEBUG_PRINT_SDK("vp_stages_input_buffer : size=%d buffer=%08X remaining=%d\n", (int)out->size, (int)out->buffers[out->indexBuffer], (int)cfg->remaining_size);
+
+  return (VP_SUCCESS);
+}
+
+
+C_RESULT
+vp_stages_input_buffer_stage_close(vp_stages_input_buffer_config_t *cfg)
+{
+  return (VP_SUCCESS);
+}
+
+
+C_RESULT
+vp_stages_output_buffer_stage_open(vp_stages_output_buffer_config_t *cfg)
+{
+  return (VP_SUCCESS);
+}
+
+
+C_RESULT
+vp_stages_output_buffer_stage_transform(vp_stages_output_buffer_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->size = in->size;
+      out->buffers = (int8_t **)vp_os_malloc(sizeof(int8_t *)+out->size*sizeof(int8_t));
+      out->buffers[0] = (int8_t *)(out->buffers+1);
+      out->indexBuffer = 0;
+      // out->lineSize not used
+      out->status = VP_API_STATUS_PROCESSING;
+    }
+
+  // \todo test
+  if(in->status == VP_API_STATUS_PROCESSING)
+    {
+      PRINT("One frame.\n");
+      vp_os_memcpy(out->buffers[0], &in->buffers[in->indexBuffer][0], in->size*sizeof(int8_t));
+    }
+
+  if(in->status == VP_API_STATUS_ENDED)
+    vp_os_free(out->buffers);
+
+  out->status = in->status;
+
+  vp_os_mutex_unlock(&out->lock);
+
+  return (VP_SUCCESS);
+}
+
+
+C_RESULT
+vp_stages_output_buffer_stage_close(vp_stages_output_buffer_config_t *cfg)
+{
+  return (VP_SUCCESS);
+}