ArDrone SDK 1.8 added

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

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_io_file.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_io_file.c
new file mode 100644 (file)
index 0000000..65aa18a
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/VP_Stages/vp_stages_io_file.c
@@ -0,0 +1,136 @@
+/**
+ *  \brief    VP Stages. File 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_file.h>
+#include <VP_Api/vp_api_error.h>
+#include <VP_Os/vp_os_assert.h>
+#include <VP_Os/vp_os_print.h>
+#include <VP_Os/vp_os_delay.h>
+#include <VP_Os/vp_os_malloc.h>
+
+C_RESULT
+vp_stages_input_file_stage_open(vp_stages_input_file_config_t *cfg)
+{
+  cfg->f = fopen(cfg->name, "rb");
+
+  if(cfg->f == NULL)
+  {
+    PRINT("Missing input file\n");
+    return (VP_FAILURE);
+  }
+  return (VP_SUCCESS);
+}
+
+C_RESULT
+vp_stages_input_file_stage_transform(vp_stages_input_file_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  vp_os_mutex_lock(&out->lock);
+  uint32_t UI32_i=0;
+  char c;
+  uint32_t y_size, c_size;
+  if( out->status == VP_API_STATUS_INIT )
+  {
+    out->numBuffers =  1;
+    out->size = cfg->buffer_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;
+  }
+
+  // work and update status
+  if(out->size < (int32_t)cfg->buffer_size || feof(cfg->f))
+  {
+    if (cfg->loop)
+    {
+      rewind(cfg->f);
+    }
+    else
+    {
+      //vp_os_free(out->buffers);
+      out->status = VP_API_STATUS_ENDED;
+    }
+  }
+  else
+  {
+    if(out->status == VP_API_STATUS_PROCESSING)
+      out->size = fread(out->buffers[0], sizeof(int8_t), cfg->buffer_size*sizeof(int8_t), cfg->f);
+
+    if(out->size <= 0)
+    {
+      if (cfg->loop)
+      {
+        rewind(cfg->f);
+        out->size = fread(out->buffers[0], sizeof(int8_t), cfg->buffer_size*sizeof(int8_t), cfg->f);
+      }
+      else
+      {
+        vp_os_free(out->buffers);
+        out->status = VP_API_STATUS_ENDED;
+      }
+    }
+
+    if(ferror(cfg->f))
+    {
+      PRINT("ferror\n");
+      out->status = VP_API_STATUS_ERROR;
+    }
+  }
+
+  vp_os_mutex_unlock(&out->lock);
+  return (VP_SUCCESS);
+}
+
+
+C_RESULT
+vp_stages_input_file_stage_close(vp_stages_input_file_config_t *cfg)
+{
+  fclose(cfg->f);
+  return (VP_SUCCESS);
+}
+
+C_RESULT
+vp_stages_output_file_stage_open(vp_stages_output_file_config_t *cfg)
+{
+  VP_OS_ASSERT(cfg->flush_every_nb >= 0);
+  cfg->f = fopen(cfg->name, "wb");
+  return (VP_SUCCESS);
+}
+
+#define RATIO 1
+
+C_RESULT
+vp_stages_output_file_stage_transform(vp_stages_output_file_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+  static int total_size = 0;
+
+  vp_os_mutex_lock(&out->lock);
+
+  if(in->status == VP_API_STATUS_PROCESSING && in->size > 0)
+    fwrite(in->buffers[in->indexBuffer], sizeof(int8_t), in->size*sizeof(int8_t), cfg->f);
+
+  fflush(cfg->f);
+  total_size += in->size;
+  out->status = in->status;
+  vp_os_mutex_unlock(&out->lock);
+
+  return (VP_SUCCESS);
+}
+
+C_RESULT
+vp_stages_output_file_stage_close(vp_stages_output_file_config_t *cfg)
+{
+  fclose(cfg->f);
+  return (VP_SUCCESS);
+}