#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;
}