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-rw-r--r--src/config.h.in1
-rw-r--r--src/libipe-private.h15
-rw-r--r--src/libipe.c294
-rw-r--r--src/libipe.h27
-rw-r--r--src/versions.ldscript9
5 files changed, 346 insertions, 0 deletions
diff --git a/src/config.h.in b/src/config.h.in
new file mode 100644
index 0000000..e5d0189
--- /dev/null
+++ b/src/config.h.in
@@ -0,0 +1 @@
+#cmakedefine DEBUG
diff --git a/src/libipe-private.h b/src/libipe-private.h
new file mode 100644
index 0000000..8d7de1c
--- /dev/null
+++ b/src/libipe-private.h
@@ -0,0 +1,15 @@
+#ifndef LIB_IPE_PRIVATE_H
+#define LIB_IPE_PRIVATE_H
+
+#include <stdbool.h>
+
+struct ipe_decoder_t {
+ uint32_t height;
+ uint32_t *raw;
+ size_t num_bytes;
+ uint32_t current_pos;
+};
+
+
+#endif
+
diff --git a/src/libipe.c b/src/libipe.c
new file mode 100644
index 0000000..7b919d5
--- /dev/null
+++ b/src/libipe.c
@@ -0,0 +1,294 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include "libipe.h"
+#include "libipe-private.h"
+#include "config.h"
+
+#define IPECAMERA_NUM_CHANNELS 16
+#define IPECAMERA_PIXELS_PER_CHANNEL 128
+#define IPECAMERA_WIDTH (IPECAMERA_NUM_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL)
+
+
+#define CHECK_VALUE(value, expected) \
+ if (value != expected) { \
+ fprintf(stderr, "<%s:%i> 0x%x != 0x%x\n", __FILE__, __LINE__, value, expected); \
+ err = 1; \
+ }
+
+#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
+ * ipe_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 ipe_decoder_get_next_frame.
+ */
+ipe_decoder ipe_decoder_new(uint32_t height, uint32_t *raw, size_t num_bytes)
+{
+ ipe_decoder decoder = malloc(sizeof(struct ipe_decoder_t));
+ if (decoder == NULL)
+ return NULL;
+
+ decoder->height = height;
+ ipe_decoder_set_raw_data(decoder, raw, num_bytes);
+ return decoder;
+}
+
+
+/**
+ * \brief Release decoder instance
+ *
+ * \param decoder An ipe_decoder instance
+ */
+void ipe_decoder_free(ipe_decoder decoder)
+{
+ free(decoder);
+}
+
+
+/**
+ * \brief Set raw data stream
+ *
+ * \param decoder An ipe_decoder instance
+ * \param raw Raw data stream
+ * \param num_bytes Size of data stream buffer in bytes
+ */
+void ipe_decoder_set_raw_data(ipe_decoder decoder, uint32_t *raw, size_t num_bytes)
+{
+ decoder->raw = raw;
+ decoder->num_bytes = num_bytes;
+ decoder->current_pos = 0;
+}
+
+
+static int ipe_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;
+
+ do {
+ info = raw[0];
+ channel = info & 0x0F;
+ row = (info >> 4) & 0x7FF;
+ int pixels = (info >> 20) & 0xFF;
+
+ channel = channel_order[channel];
+ 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
+
+ int bytes = 43;
+ /* bytes = pixels / 3; */
+ /* int ppw = pixels - bytes * 3; */
+ /* if (ppw) */
+ /* ++bytes; */
+
+ 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;
+ }
+
+ 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 heigh Height of frame in pixels
+ */
+void ipe_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 heigh Height of frame in pixels
+ */
+void ipe_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 ipe_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 ipe_decoder_get_next_frame(ipe_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
+ pos += 8;
+#endif
+
+ err = ipe_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;
+}
+
diff --git a/src/libipe.h b/src/libipe.h
new file mode 100644
index 0000000..5abc6e4
--- /dev/null
+++ b/src/libipe.h
@@ -0,0 +1,27 @@
+#ifndef LIB_IPE_H
+#define LIB_IPE_H
+
+#include <inttypes.h>
+
+typedef struct ipe_decoder_t *ipe_decoder;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+ipe_decoder ipe_decoder_new(uint32_t height, uint32_t *raw, size_t num_bytes);
+void ipe_decoder_free(ipe_decoder decoder);
+void ipe_decoder_set_raw_data(ipe_decoder decoder, uint32_t *raw, size_t num_bytes);
+int ipe_decoder_get_next_frame(ipe_decoder decoder, uint16_t **pixels, uint32_t *frame_number, uint32_t *time_stamp);
+
+void ipe_deinterlace_interpolate(const uint16_t *frame_in, uint16_t *frame_out, int width, int height);
+void ipe_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *out, int width, int height);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
diff --git a/src/versions.ldscript b/src/versions.ldscript
new file mode 100644
index 0000000..e2ccee0
--- /dev/null
+++ b/src/versions.ldscript
@@ -0,0 +1,9 @@
+libipe_0.1 {
+ global:
+ ipe_decoder ipe_decoder_new;
+ ipe_decoder_free;
+ ipe_decoder_set_raw_data;
+ ipe_decoder_next_frame;
+ local:
+ *;
+};
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