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- #include <stdio.h>
- #include <stdlib.h>
- #include <string.h>
- #include <errno.h>
- #include "ufodecode.h"
- #include "ufodecode-private.h"
- #include "config.h"
- #ifdef HAVE_SSE
- #include <xmmintrin.h>
- #endif
- #define IPECAMERA_NUM_CHANNELS 16 /**< Number of channels per row */
- #define IPECAMERA_PIXELS_PER_CHANNEL 128 /**< Number of pixels per channel */
- #define IPECAMERA_WIDTH (IPECAMERA_NUM_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL) /**< Total pixel width of row */
- /**
- * Check if value matches expected input.
- */
- #define CHECK_VALUE(value, expected) \
- if (value != expected) { \
- fprintf(stderr, "<%s:%i> 0x%x != 0x%x\n", __FILE__, __LINE__, value, expected); \
- err = 1; \
- }
- /**
- * Check that flag evaluates to non-zero.
- */
- #define CHECK_FLAG(flag, check, ...) \
- if (!(check)) { \
- fprintf(stderr, "<%s:%i> Unexpected value 0x%x of " flag "\n", __FILE__, __LINE__, __VA_ARGS__); \
- err = 1; \
- }
- /**
- * \brief Setup a new decoder instance
- *
- * \param height Number of rows that are expected in the data stream
- * \param raw The data stream from the camera or NULL if set later with
- * ufo_decoder_set_raw_data.
- * \param num_bytes Size of the data stream buffer in bytes
- *
- * \return A new decoder instance that can be used to iterate over the frames
- * using ufo_decoder_get_next_frame.
- */
- ufo_decoder ufo_decoder_new(uint32_t height, uint32_t *raw, size_t num_bytes)
- {
- ufo_decoder decoder = malloc(sizeof(struct ufo_decoder_t));
- if (decoder == NULL)
- return NULL;
- decoder->height = height;
- ufo_decoder_set_raw_data(decoder, raw, num_bytes);
- return decoder;
- }
- /**
- * \brief Release decoder instance
- *
- * \param decoder An ufo_decoder instance
- */
- void ufo_decoder_free(ufo_decoder decoder)
- {
- free(decoder);
- }
- /**
- * \brief Set raw data stream
- *
- * \param decoder An ufo_decoder instance
- * \param raw Raw data stream
- * \param num_bytes Size of data stream buffer in bytes
- */
- void ufo_decoder_set_raw_data(ufo_decoder decoder, uint32_t *raw, size_t num_bytes)
- {
- decoder->raw = raw;
- decoder->num_bytes = num_bytes;
- decoder->current_pos = 0;
- }
- static int ufo_decode_frame(uint16_t *pixel_buffer, uint32_t *raw, int num_rows, int *offset)
- {
- static int channel_order[IPECAMERA_NUM_CHANNELS] = { 15, 13, 14, 12, 10, 8, 11, 7, 9, 6, 5, 2, 4, 3, 0, 1 };
- int info;
- int row = 0;
- int channel = 0;
- int pos = 0;
- uint32_t data;
- const int bytes = 43;
- #ifdef HAVE_SSE
- __m128i mask = _mm_set_epi32(0x3FF, 0x3FF, 0x3FF, 0x3FF);
- __m128i packed;
- __m128i tmp1, tmp2;
- uint32_t result[4] __attribute__ ((aligned (16))) = {0};
- #endif
- do {
- info = raw[0];
- row = (info >> 4) & 0x7FF;
- int pixels = (info >> 20) & 0xFF;
- channel = channel_order[info & 0x0F];
- int base = row * IPECAMERA_WIDTH + channel * IPECAMERA_PIXELS_PER_CHANNEL;
- #ifdef DEBUG
- int err = 0;
- int header = (info >> 30) & 0x03; // 2 bits
- const int bpp = (info >> 16) & 0x0F; // 4 bits
- CHECK_FLAG("raw header magick", header == 2, header);
- CHECK_FLAG("pixel size, only 10 bits are supported", bpp == 10, bpp);
- CHECK_FLAG("channel, limited by %i output channels", channel < IPECAMERA_NUM_CHANNELS, channel, IPECAMERA_NUM_CHANNELS);
- #endif
- /* "Correct" missing pixel */
- if ((row < 2) && (pixels == (IPECAMERA_PIXELS_PER_CHANNEL - 1))) {
- pixel_buffer[base] = 0;
- /* base++; */
- }
- #ifdef DEBUG
- else
- CHECK_FLAG("number of pixels, %i is expected", pixels == IPECAMERA_PIXELS_PER_CHANNEL, pixels, IPECAMERA_PIXELS_PER_CHANNEL);
- #endif
- #ifdef HAVE_SSE
- for (int i = 1 ; i < bytes-4; i += 4, base += 12) {
- packed = _mm_set_epi32(raw[i], raw[i+1], raw[i+2], raw[i+3]);
- tmp1 = _mm_srli_epi32(packed, 20);
- tmp2 = _mm_and_si128(tmp1, mask);
- _mm_storeu_si128((__m128i*) result, tmp2);
- pixel_buffer[base] = result[0];
- pixel_buffer[base+3] = result[1];
- pixel_buffer[base+6] = result[2];
- pixel_buffer[base+9] = result[3];
- tmp1 = _mm_srli_epi32(packed, 10);
- tmp2 = _mm_and_si128(tmp1, mask);
- _mm_storeu_si128((__m128i*) result, tmp2);
- pixel_buffer[base+1] = result[0];
- pixel_buffer[base+4] = result[1];
- pixel_buffer[base+7] = result[2];
- pixel_buffer[base+10] = result[3];
- tmp1 = _mm_and_si128(packed, mask);
- _mm_storeu_si128((__m128i*) result, tmp1);
- pixel_buffer[base+2] = result[0];
- pixel_buffer[base+5] = result[1];
- pixel_buffer[base+8] = result[2];
- pixel_buffer[base+11] = result[3];
- }
-
- /* Compute last pixels the usual way */
- for (int i = bytes-4; i < bytes; i++) {
- data = raw[i];
- pixel_buffer[base++] = (data >> 20) & 0x3FF;
- pixel_buffer[base++] = (data >> 10) & 0x3FF;
- pixel_buffer[base++] = data & 0x3FF;
- }
- #else
- for (int i = 1 ; i < bytes; i++) {
- data = raw[i];
- #ifdef DEBUG
- header = (data >> 30) & 0x03;
- CHECK_FLAG("raw data magick", header == 3, header);
- if (err)
- return err;
- #endif
- pixel_buffer[base++] = (data >> 20) & 0x3FF;
- pixel_buffer[base++] = (data >> 10) & 0x3FF;
- pixel_buffer[base++] = data & 0x3FF;
- }
- #endif
- data = raw[bytes];
- #ifdef DEBUG
- header = (data >> 30) & 0x03;
- CHECK_FLAG("raw data magick", header == 3, header);
- CHECK_FLAG("raw footer magick", (data & 0x3FF) == 0x55, (data & 0x3FF));
- if (err)
- return err;
- #endif
- int ppw = pixels >> 6;
- for (int j = 0; j < ppw; j++)
- pixel_buffer[base++] = (data >> (10 * (ppw - j))) & 0x3FF;
- pos += bytes + 1;
- raw += bytes + 1;
- } while ((row < (num_rows - 1)) || (channel != 1));
- *offset = pos;
- return 0;
- }
- /**
- * \brief Deinterlace by interpolating between two rows
- *
- * \param in Input frame
- * \param out Destination of interpolated frame
- * \param width Width of frame in pixels
- * \param height Height of frame in pixels
- */
- void ufo_deinterlace_interpolate(const uint16_t *in, uint16_t *out, int width, int height)
- {
- const size_t row_size_bytes = width * sizeof(uint16_t);
- for (int row = 0; row < height; row++) {
- /* Copy one line */
- memcpy(out, in + row*width, row_size_bytes);
- out += width;
- /* Interpolate between source row and row+1 */
- for (int x = 0; x < width; x++) {
- out[x] = (int) (0.5 * in[row*width + x] + 0.5 * in[(row+1)*width + x]);
- }
- out += width;
- }
- /* Copy last row */
- memcpy(out, in + width * (height - 1), row_size_bytes);
- }
- /**
- * \brief Deinterlace by "weaving" the rows of two frames
- *
- * \param in1 First frame
- * \param in2 Second frame
- * \param out Destination of weaved frame
- * \param width Width of frame in pixels
- * \param height Height of frame in pixels
- */
- void ufo_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *out, int width, int height)
- {
- const size_t row_size_bytes = width * sizeof(uint16_t);
- for (int row = 0; row < height; row++) {
- memcpy(out, in1 + row*width, row_size_bytes);
- out += width;
- memcpy(out, in2 + row*width, row_size_bytes);
- out += width;
- }
- }
- /**
- * \brief Iterate and decode next frame
- *
- * This function tries to decode the next frame in the currently set raw data
- * stream.
- *
- * \param decoder An ufo_decoder instance
- * \param pixels If pointer with NULL content is passed, a new buffer is
- * allocated otherwise, this user-supplied buffer is used.
- * \param frame_number Frame number as reported in the header
- * \param time_stamp Time stamp of the frame as reported in the header
- *
- * \return 0 in case of no error, ENOSR if end of stream was reached, ENOMEM if
- * NULL was passed but no memory could be allocated, EILSEQ if data stream is
- * corrupt and EFAULT if pixels is a NULL-pointer.
- */
- int ufo_decoder_get_next_frame(ufo_decoder decoder, uint16_t **pixels, uint32_t *frame_number, uint32_t *time_stamp)
- {
- uint32_t *raw = decoder->raw;
- int err = 0;
- int pos = decoder->current_pos;
- int advance;
- const int num_words = decoder->num_bytes / 4;
- if (pixels == NULL)
- return EFAULT;
- if (pos >= num_words)
- return ENOSR;
- if (num_words < 16)
- return EILSEQ;
- if (*pixels == NULL) {
- *pixels = (uint16_t *) malloc(IPECAMERA_WIDTH * decoder->height * sizeof(uint16_t));
- if (*pixels == NULL)
- return ENOMEM;
- }
- #ifdef DEBUG
- CHECK_VALUE(raw[pos++], 0x51111111);
- CHECK_VALUE(raw[pos++], 0x52222222);
- CHECK_VALUE(raw[pos++], 0x53333333);
- CHECK_VALUE(raw[pos++], 0x54444444);
- CHECK_VALUE(raw[pos++], 0x55555555);
- CHECK_VALUE(raw[pos++], 0x56666666);
- CHECK_VALUE(raw[pos] >> 28, 0x5);
- *frame_number = raw[pos++] & 0xF0000000;
- CHECK_VALUE(raw[pos] >> 28, 0x5);
- *time_stamp = raw[pos++] & 0xF0000000;
- if (err)
- return EILSEQ;
- #else
- *frame_number = raw[pos + 6] & 0xF0000000;
- *time_stamp = raw[pos + 7] & 0xF0000000;
- pos += 8;
- #endif
- err = ufo_decode_frame(*pixels, raw + pos, decoder->height, &advance);
- if (err)
- return EILSEQ;
- pos += advance;
- #ifdef DEBUG
- CHECK_VALUE(raw[pos++], 0x0AAAAAAA);
- CHECK_VALUE(raw[pos++], 0x0BBBBBBB);
- CHECK_VALUE(raw[pos++], 0x0CCCCCCC);
- CHECK_VALUE(raw[pos++], 0x0DDDDDDD);
- CHECK_VALUE(raw[pos++], 0x0EEEEEEE);
- CHECK_VALUE(raw[pos++], 0x0FFFFFFF);
- CHECK_VALUE(raw[pos++], 0x00000000);
- CHECK_VALUE(raw[pos++], 0x01111111);
- #else
- pos += 8;
- #endif
- /* if bytes left and we see fill bytes, skip them */
- if ((raw[pos] == 0x0) && (raw[pos+1] == 0x1111111)) {
- pos += 2;
- while ((pos < num_words) && ((raw[pos] == 0x89abcdef) || (raw[pos] == 0x1234567)))
- pos++;
- }
- decoder->current_pos = pos;
- return 0;
- }
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