#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 CHECKS
#define IPECAMERA_NUM_ROWS 1088
#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 */
#define IPECAMERA_MODE_16_CHAN_IO 0
#define IPECAMERA_MODE_4_CHAN_IO 2
#define IPECAMERA_MODE_12_BIT_ADC 2
#define IPECAMERA_MODE_11_BIT_ADC 1
#define IPECAMERA_MODE_10_BIT_ADC 0
typedef struct {
unsigned int pixel_number : 8;
unsigned int row_number : 12;
unsigned int pixel_size : 4;
unsigned int magic : 8;
} payload_header_v5;
/**
* Check if value matches expected input.
*/
#ifdef DEBUG
# define CHECK_VALUE(value, expected) \
if (value != expected) { \
fprintf(stderr, "<%s:%i> 0x%x != 0x%x\n", __FILE__, __LINE__, value, expected); \
err = 1; \
}
#else
# define CHECK_VALUE(value, expected) \
if (value != expected) { \
err = 1; \
}
#endif
/**
* Check that flag evaluates to non-zero.
*/
#ifdef DEBUG
# define CHECK_FLAG(flag, check, ...) \
if (!(check)) { \
fprintf(stderr, "<%s:%i> Unexpected value 0x%x of " flag "\n", __FILE__, __LINE__, __VA_ARGS__); \
err = 1; \
}
#else
# define CHECK_FLAG(flag, check, ...) \
if (!(check)) { \
err = 1; \
}
#endif
/**
* \brief Setup a new decoder instance
*
* \param height Number of rows that are expected in the data stream. Set this
* smaller 0 to let the decoder figure out the number of rows.
* \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.
*/
UfoDecoder *
ufo_decoder_new (int32_t height, uint32_t width, uint32_t *raw, size_t num_bytes)
{
if (width % IPECAMERA_PIXELS_PER_CHANNEL)
return NULL;
UfoDecoder *decoder = malloc(sizeof(UfoDecoder));
if (decoder == NULL)
return NULL;
decoder->width = width;
decoder->height = height;
ufo_decoder_set_raw_data(decoder, raw, num_bytes);
return decoder;
}
/**
* \brief Release decoder instance
*
* \param decoder An UfoDecoder instance
*/
void
ufo_decoder_free(UfoDecoder *decoder)
{
free(decoder);
}
/**
* \brief Set raw data stream
*
* \param decoder An UfoDecoder instance
* \param raw Raw data stream
* \param num_bytes Size of data stream buffer in bytes
*/
void
ufo_decoder_set_raw_data(UfoDecoder *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_channels_v5(UfoDecoder *decoder,
uint16_t *pixel_buffer,
uint32_t *raw,
size_t num_rows,
size_t *offset,
uint8_t output_mode)
{
payload_header_v5 *header;
size_t base = 0, index = 0;
header = (payload_header_v5 *) &raw[base];
if (output_mode == IPECAMERA_MODE_4_CHAN_IO) {
size_t off = 0;
while (raw[base] != 0xAAAAAAA) {
header = (payload_header_v5 *) &raw[base];
index = header->row_number * IPECAMERA_WIDTH + header->pixel_number;
/* Skip header + one zero-filled words */
base += 2;
if ((header->magic != 0xe0) && (header->magic != 0xc0)) {
pixel_buffer[index + (0+off)*IPECAMERA_PIXELS_PER_CHANNEL] = 0xfff & (raw[base+5] >> 12);
pixel_buffer[index + (4+off)*IPECAMERA_PIXELS_PER_CHANNEL] = 0xfff & (raw[base+4] >> 4);
pixel_buffer[index + (8+off)*IPECAMERA_PIXELS_PER_CHANNEL] = ((0xf & raw[base+1]) << 8) | (raw[base+2] >> 24);
pixel_buffer[index + (12+off)*IPECAMERA_PIXELS_PER_CHANNEL] = 0xfff & (raw[base+1] >> 16);
}
else {
off++;
if (header->magic == 0xc0)
off = 0;
}
base += 6;
}
}
else {
while (raw[base] != 0xAAAAAAA) {
header = (payload_header_v5 *) &raw[base];
index = header->row_number * IPECAMERA_WIDTH + header->pixel_number;
/* Skip header + two zero-filled words */
base += 2;
if (header->magic != 0xc0) {
pixel_buffer[index + 15*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base] >> 20);
pixel_buffer[index + 13*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base] >> 8);
pixel_buffer[index + 14*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (((0xff & raw[base]) << 4) | (raw[base+1] >> 28));
pixel_buffer[index + 12*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+1] >> 16);
pixel_buffer[index + 10*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+1] >> 4);
pixel_buffer[index + 8*IPECAMERA_PIXELS_PER_CHANNEL] = ((0x3 & raw[base+1]) << 8) | (raw[base+2] >> 24);
pixel_buffer[index + 11*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+2] >> 12);
pixel_buffer[index + 7*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & raw[base+2];
pixel_buffer[index + 9*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+3] >> 20);
pixel_buffer[index + 6*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+3] >> 8);
pixel_buffer[index + 5*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (((0xff & raw[base+3]) << 4) | (raw[base+4] >> 28));
pixel_buffer[index + 2*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+4] >> 16);
pixel_buffer[index + 4*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+4] >> 4);
pixel_buffer[index + 3*IPECAMERA_PIXELS_PER_CHANNEL] = ((0x3 & raw[base+4]) << 8) | (raw[base+5] >> 24);
pixel_buffer[index + 0*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+5] >> 12);
pixel_buffer[index + 1*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & raw[base+5];
}
base += 6;
}
}
*offset = base;
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 Decodes frame
*
* This function tries to decode the supplied data
*
* \param decoder An UfoDecoder instance
* \param raw Raw data stream
* \param num_bytes Size of data stream buffer in bytes
* \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 number of decoded bytes or 0 in case of error
*/
size_t ufo_decoder_decode_frame(UfoDecoder *decoder,
uint32_t *raw,
size_t num_bytes,
uint16_t *pixels,
UfoDecoderMeta *meta)
{
int err = 0;
size_t pos = 0;
size_t advance = 0;
const size_t num_words = num_bytes / 4;
if ((pixels == NULL) || (num_words < 16))
return 0;
size_t rows_per_frame = decoder->height;
const int version = (raw[pos+6] >> 24) & 0xF;
#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);
switch (version) {
case 5:
CHECK_VALUE(raw[pos] >> 28, 0x5);
meta->cmosis_start_address = (raw[pos] >> 21) & 0x1FF;
meta->n_skipped_rows = (raw[pos] >> 15) & 0x3F;
meta->n_rows = rows_per_frame = raw[pos] & 0x7FF;
pos++;
meta->frame_number = raw[pos++] & 0x1FFFFFF;
CHECK_VALUE(raw[pos] >> 28, 0x5);
meta->time_stamp = raw[pos] & 0xFFFFFF;
meta->output_mode = (raw[pos] >> 24) & 0x3;
meta->adc_resolution = (raw[pos] >> 26) & 0x3;
pos++;
if ((meta->output_mode != IPECAMERA_MODE_4_CHAN_IO) && (meta->output_mode != IPECAMERA_MODE_16_CHAN_IO)) {
fprintf(stderr, "Output mode 0x%x is not supported\n", meta->output_mode);
return EILSEQ;
}
break;
default:
fprintf(stderr, "Unsupported data format version %i detected\n", version);
return 0;
}
if (err) {
fprintf(stderr, "Corrupt data:");
for (int i = 0; i < pos; i++) {
if ((i % 8) == 0)
fprintf(stderr, "\n");
fprintf(stderr, " %#08x", raw[i]);
}
fprintf(stderr, "\n");
return 0;
}
#else
switch (version) {
case 5:
meta->n_rows = rows_per_frame = raw[pos + 5] & 0x7FF;
meta->frame_number = raw[pos + 6] & 0x1FFFFFF;
meta->time_stamp = raw[pos + 7] & 0xFFFFFF;
meta->output_mode = (raw[pos + 7] >> 24) & 0x3;
meta->adc_resolution = (raw[pos + 7] >> 26) & 0x3;
break;
default:
fprintf(stderr, "Unsupported data format detected\n");
return 0;
}
pos += 8;
#endif
switch (version) {
case 5:
err = ufo_decode_frame_channels_v5(decoder, pixels, raw + pos, rows_per_frame, &advance, meta->output_mode);
break;
default:
break;
}
if (err)
return 0;
pos += advance;
#ifdef CHECKS
CHECK_VALUE(raw[pos++], 0x0AAAAAAA);
meta->status1.bits = raw[pos++];
meta->status2.bits = raw[pos++];
meta->status3.bits = raw[pos++];
pos++;
pos++;
CHECK_VALUE(raw[pos++], 0x00000000);
CHECK_VALUE(raw[pos++], 0x01111111);
if (err)
return 0;
#else
pos += 8;
#endif
return pos;
}
/**
* \brief Iterate and decode next frame
*
* This function tries to decode the next frame in the currently set raw data
* stream.
*
* \param decoder An UfoDecoder instance
* \param pixels If pointer with NULL content is passed, a new buffer is
* allocated otherwise, this user-supplied buffer is used.
* \param num_rows Number of actual decoded rows
* \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, EIO 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(UfoDecoder *decoder,
uint16_t **pixels,
UfoDecoderMeta *meta)
{
uint32_t *raw = decoder->raw;
size_t pos = decoder->current_pos;
size_t advance;
const size_t num_words = decoder->num_bytes / 4;
if (pixels == NULL)
return 0;
if (pos >= num_words)
return EIO;
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;
}
while ((pos < num_words) && (raw[pos] != 0x51111111))
pos++;
advance = ufo_decoder_decode_frame(decoder, raw + pos, decoder->num_bytes - pos, *pixels, meta);
/*
* On error, advance is 0 but we have to advance at least a bit to net get
* caught in an infinite loop when trying to decode subsequent frames.
*/
pos += advance == 0 ? 1 : advance;
/* if bytes left and we see fill bytes, skip them */
if (((pos + 2) < num_words) && ((raw[pos] == 0x0) && ((raw[pos+1] == 0x1111111) || raw[pos+1] == 0x0))) {
pos += 2;
while ((pos < num_words) &&
((raw[pos] == 0x89abcdef) || (raw[pos] == 0x1234567) ||
(raw[pos] == 0x0) || (raw[pos] == 0xdeadbeef) || (0x98badcfe))) /* new filling ... */ {
pos++;
}
}
decoder->current_pos = pos;
if (!advance)
return EILSEQ;
return 0;
}
/**
* \brief Convert Bayer pattern to RGB
*
* Convert Bayer pattern to RGB via bilinear interpolation.
*
* \param in 16 bit input data in Bayer pattern format
* \param out Location for 24 bit output data in RGB format. At
* least width x height x 3 bytes must be allocated.
* \param width Width of a frame
* \param height Height of a frame
*/
void ufo_convert_bayer_to_rgb (const uint16_t *in,
uint8_t *out,
int width,
int height)
{
/* According to the CMV docs, the pattern starts at (0,0) with
*
* R G
* G B
*/
#define BY(x,y) in[(x) + width * (y)]
#define R(x,y) out[0 + 3 * ((x) + width * (y))]
#define G(x,y) out[1 + 3 * ((x) + width * (y))]
#define B(x,y) out[2 + 3 * ((x) + width * (y))]
double scale;
uint16_t max = 0;
for (int i = 0; i < width * height; i++) {
if (max < in[i])
max = in[i];
}
scale = 255. / max;
for (int i = 1; i < width - 1; i += 2) {
for (int j = 1; j < height - 1; j += 2) {
/* Top left */
R(i + 0, j + 0) = ((uint32_t) BY(i - 1, j - 1) +
(uint32_t) BY(i + 1, j - 1) +
(uint32_t) BY(i - 1, j + 1) +
(uint32_t) BY(i + 1, j + 1)) / 4 * scale;
G(i + 0, j + 0) = ((uint32_t) BY(i - 1, j + 0) +
(uint32_t) BY(i + 0, j - 1) +
(uint32_t) BY(i + 1, j + 0) +
(uint32_t) BY(i + 0, j + 1)) / 4 * scale;
B(i + 0, j + 0) = BY(i + 0, j + 0) * scale;
/* Top right */
R(i + 1, j + 0) = ((uint32_t) BY(i + 1, j - 1) +
(uint32_t) BY(i + 1, j + 1)) / 2 * scale;
G(i + 1, j + 0) = BY(i + 1, j + 0) * scale;
B(i + 1, j + 0) = ((uint32_t) BY(i + 0, j + 0) +
(uint32_t) BY(i + 2, j + 0)) / 2 * scale;
/* Lower left */
R(i + 0, j + 1) = ((uint32_t) BY(i - 1, j + 0) +
(uint32_t) BY(i + 1, j + 1)) / 2 * scale;
G(i + 0, j + 1) = BY(i + 0, j + 1) * scale;
B(i + 0, j + 1) = ((uint32_t) BY(i + 0, j + 0) +
(uint32_t) BY(i + 0, j + 2)) / 2 * scale;
/* Lower right */
R(i + 1, j + 1) = BY(i + 1, j + 1) * scale;
G(i + 1, j + 1) = ((uint32_t) BY(i + 1, j + 0) +
(uint32_t) BY(i + 0, j + 1) +
(uint32_t) BY(i + 2, j + 1) +
(uint32_t) BY(i + 2, j + 1)) / 4 * scale;
B(i + 1, j + 1) = ((uint32_t) BY(i + 0, j + 0) +
(uint32_t) BY(i + 2, j + 0) +
(uint32_t) BY(i + 0, j + 2) +
(uint32_t) BY(i + 2, j + 2)) / 4 * scale;
}
}
#undef R
#undef G
#undef B
}