/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (C) 2010-2012 Ken Tossell
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the author nor other contributors may be
*     used to endorse or promote products derived from this software
*     without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/**
 * @defgroup frame Frame processing
 */
#include "libuvc/libuvc.h"
#include "libuvc/libuvc_internal.h"

/** @internal */
uvc_error_t uvc_ensure_frame_size(uvc_frame_t *frame, size_t need_bytes) {
	if (frame->library_owns_data) {
		if (!frame->data || frame->data_bytes != need_bytes) {
			frame->data_bytes = need_bytes;
			frame->data = realloc(frame->data, frame->data_bytes);
		}
		if (!frame->data)
			return UVC_ERROR_NO_MEM;
		return UVC_SUCCESS;
	} else {
		if (!frame->data || frame->data_bytes < need_bytes)
			return UVC_ERROR_NO_MEM;
		return UVC_SUCCESS;
	}
}

/** @brief Allocate a frame structure
 * @ingroup frame
 *
 * @param data_bytes Number of bytes to allocate, or zero
 * @return New frame, or NULL on error
 */
uvc_frame_t *uvc_allocate_frame(size_t data_bytes) {
	uvc_frame_t *frame = malloc(sizeof(*frame));

	if (!frame)
		return NULL;

	bzero(frame, sizeof(*frame));

	frame->library_owns_data = 1;

	if (data_bytes > 0) {
		frame->data_bytes = data_bytes;
		frame->data = malloc(data_bytes);

		if (!frame->data) {
			free(frame);
			return NULL;
		}
	}

	return frame;
}

/** @brief Free a frame structure
 * @ingroup frame
 *
 * @param frame Frame to destroy
 */
void uvc_free_frame(uvc_frame_t *frame) {
	if (frame->data_bytes > 0 && frame->library_owns_data)
		free(frame->data);

	free(frame);
}

static inline unsigned char sat(int i) {
	return (unsigned char) (i >= 255 ? 255 : (i < 0 ? 0 : i));
}

/** @brief Duplicate a frame, preserving color format
 * @ingroup frame
 *
 * @param in Original frame
 * @param out Duplicate frame
 */
uvc_error_t uvc_duplicate_frame(uvc_frame_t *in, uvc_frame_t *out) {
	if (uvc_ensure_frame_size(out, in->data_bytes) < 0)
		return UVC_ERROR_NO_MEM;

	out->width = in->width;
	out->height = in->height;
	out->frame_format = in->frame_format;
	out->step = in->step;
	out->sequence = in->sequence;
	out->capture_time = in->capture_time;
	out->source = in->source;

	memcpy(out->data, in->data, in->data_bytes);

	return UVC_SUCCESS;
}

#define YUYV2RGB_2(pyuv, prgb) { \
    float r = 1.402f * ((pyuv)[3]-128); \
    float g = -0.34414f * ((pyuv)[1]-128) - 0.71414f * ((pyuv)[3]-128); \
    float b = 1.772f * ((pyuv)[1]-128); \
    (prgb)[0] = sat(pyuv[0] + r); \
    (prgb)[1] = sat(pyuv[0] + g); \
    (prgb)[2] = sat(pyuv[0] + b); \
    (prgb)[3] = sat(pyuv[2] + r); \
    (prgb)[4] = sat(pyuv[2] + g); \
    (prgb)[5] = sat(pyuv[2] + b); \
    }
#define IYUYV2RGB_2(pyuv, prgb) { \
    int r = (22987 * ((pyuv)[3] - 128)) >> 14; \
    int g = (-5636 * ((pyuv)[1] - 128) - 11698 * ((pyuv)[3] - 128)) >> 14; \
    int b = (29049 * ((pyuv)[1] - 128)) >> 14; \
    (prgb)[0] = sat(*(pyuv) + r); \
    (prgb)[1] = sat(*(pyuv) + g); \
    (prgb)[2] = sat(*(pyuv) + b); \
    (prgb)[3] = sat((pyuv)[2] + r); \
    (prgb)[4] = sat((pyuv)[2] + g); \
    (prgb)[5] = sat((pyuv)[2] + b); \
    }
#define IYUYV2RGB_16(pyuv, prgb) IYUYV2RGB_8(pyuv, prgb); IYUYV2RGB_8(pyuv + 16, prgb + 24);
#define IYUYV2RGB_8(pyuv, prgb) IYUYV2RGB_4(pyuv, prgb); IYUYV2RGB_4(pyuv + 8, prgb + 12);
#define IYUYV2RGB_4(pyuv, prgb) IYUYV2RGB_2(pyuv, prgb); IYUYV2RGB_2(pyuv + 4, prgb + 6);

/** @brief Convert a frame from YUYV to RGB
 * @ingroup frame
 *
 * @param in YUYV frame
 * @param out RGB frame
 */
uvc_error_t uvc_yuyv2rgb(uvc_frame_t *in, uvc_frame_t *out) {
	if (in->frame_format != UVC_FRAME_FORMAT_YUYV)
		return UVC_ERROR_INVALID_PARAM;

	if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
		return UVC_ERROR_NO_MEM;

	out->width = in->width;
	out->height = in->height;
	out->frame_format = UVC_FRAME_FORMAT_RGB;
	out->step = in->width * 3;
	out->sequence = in->sequence;
	out->capture_time = in->capture_time;
	out->source = in->source;

	uint8_t *pyuv = in->data;
	uint8_t *prgb = out->data;
	uint8_t *prgb_end = prgb + out->data_bytes;

	while (prgb < prgb_end) {
		IYUYV2RGB_8(pyuv, prgb);

		prgb += 3 * 8;
		pyuv += 2 * 8;
	}

	return UVC_SUCCESS;
}

#define IYUYV2BGR_2(pyuv, pbgr) { \
    int r = (22987 * ((pyuv)[3] - 128)) >> 14; \
    int g = (-5636 * ((pyuv)[1] - 128) - 11698 * ((pyuv)[3] - 128)) >> 14; \
    int b = (29049 * ((pyuv)[1] - 128)) >> 14; \
    (pbgr)[0] = sat(*(pyuv) + b); \
    (pbgr)[1] = sat(*(pyuv) + g); \
    (pbgr)[2] = sat(*(pyuv) + r); \
    (pbgr)[3] = sat((pyuv)[2] + b); \
    (pbgr)[4] = sat((pyuv)[2] + g); \
    (pbgr)[5] = sat((pyuv)[2] + r); \
    }
#define IYUYV2BGR_16(pyuv, pbgr) IYUYV2BGR_8(pyuv, pbgr); IYUYV2BGR_8(pyuv + 16, pbgr + 24);
#define IYUYV2BGR_8(pyuv, pbgr) IYUYV2BGR_4(pyuv, pbgr); IYUYV2BGR_4(pyuv + 8, pbgr + 12);
#define IYUYV2BGR_4(pyuv, pbgr) IYUYV2BGR_2(pyuv, pbgr); IYUYV2BGR_2(pyuv + 4, pbgr + 6);

/** @brief Convert a frame from YUYV to BGR
 * @ingroup frame
 *
 * @param in YUYV frame
 * @param out BGR frame
 */
uvc_error_t uvc_yuyv2bgr(uvc_frame_t *in, uvc_frame_t *out) {
	if (in->frame_format != UVC_FRAME_FORMAT_YUYV)
		return UVC_ERROR_INVALID_PARAM;

	if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
		return UVC_ERROR_NO_MEM;

	out->width = in->width;
	out->height = in->height;
	out->frame_format = UVC_FRAME_FORMAT_BGR;
	out->step = in->width * 3;
	out->sequence = in->sequence;
	out->capture_time = in->capture_time;
	out->source = in->source;

	uint8_t *pyuv = in->data;
	uint8_t *pbgr = out->data;
	uint8_t *pbgr_end = pbgr + out->data_bytes;

	while (pbgr < pbgr_end) {
		IYUYV2BGR_8(pyuv, pbgr);

		pbgr += 3 * 8;
		pyuv += 2 * 8;
	}

	return UVC_SUCCESS;
}

#define IUYVY2RGB_2(pyuv, prgb) { \
    int r = (22987 * ((pyuv)[2] - 128)) >> 14; \
    int g = (-5636 * ((pyuv)[0] - 128) - 11698 * ((pyuv)[2] - 128)) >> 14; \
    int b = (29049 * ((pyuv)[0] - 128)) >> 14; \
    (prgb)[0] = sat((pyuv)[1] + r); \
    (prgb)[1] = sat((pyuv)[1] + g); \
    (prgb)[2] = sat((pyuv)[1] + b); \
    (prgb)[3] = sat((pyuv)[3] + r); \
    (prgb)[4] = sat((pyuv)[3] + g); \
    (prgb)[5] = sat((pyuv)[3] + b); \
    }
#define IUYVY2RGB_16(pyuv, prgb) IUYVY2RGB_8(pyuv, prgb); IUYVY2RGB_8(pyuv + 16, prgb + 24);
#define IUYVY2RGB_8(pyuv, prgb) IUYVY2RGB_4(pyuv, prgb); IUYVY2RGB_4(pyuv + 8, prgb + 12);
#define IUYVY2RGB_4(pyuv, prgb) IUYVY2RGB_2(pyuv, prgb); IUYVY2RGB_2(pyuv + 4, prgb + 6);

/** @brief Convert a frame from UYVY to RGB
 * @ingroup frame
 * @param ini UYVY frame
 * @param out RGB frame
 */
uvc_error_t uvc_uyvy2rgb(uvc_frame_t *in, uvc_frame_t *out) {
	if (in->frame_format != UVC_FRAME_FORMAT_UYVY)
		return UVC_ERROR_INVALID_PARAM;

	if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
		return UVC_ERROR_NO_MEM;

	out->width = in->width;
	out->height = in->height;
	out->frame_format = UVC_FRAME_FORMAT_RGB;
	out->step = in->width * 3;
	out->sequence = in->sequence;
	out->capture_time = in->capture_time;
	out->source = in->source;

	uint8_t *pyuv = in->data;
	uint8_t *prgb = out->data;
	uint8_t *prgb_end = prgb + out->data_bytes;

	while (prgb < prgb_end) {
		IUYVY2RGB_8(pyuv, prgb);

		prgb += 3 * 8;
		pyuv += 2 * 8;
	}

	return UVC_SUCCESS;
}

#define IUYVY2BGR_2(pyuv, pbgr) { \
    int r = (22987 * ((pyuv)[2] - 128)) >> 14; \
    int g = (-5636 * ((pyuv)[0] - 128) - 11698 * ((pyuv)[2] - 128)) >> 14; \
    int b = (29049 * ((pyuv)[0] - 128)) >> 14; \
    (pbgr)[0] = sat((pyuv)[1] + b); \
    (pbgr)[1] = sat((pyuv)[1] + g); \
    (pbgr)[2] = sat((pyuv)[1] + r); \
    (pbgr)[3] = sat((pyuv)[3] + b); \
    (pbgr)[4] = sat((pyuv)[3] + g); \
    (pbgr)[5] = sat((pyuv)[3] + r); \
    }
#define IUYVY2BGR_16(pyuv, pbgr) IUYVY2BGR_8(pyuv, pbgr); IUYVY2BGR_8(pyuv + 16, pbgr + 24);
#define IUYVY2BGR_8(pyuv, pbgr) IUYVY2BGR_4(pyuv, pbgr); IUYVY2BGR_4(pyuv + 8, pbgr + 12);
#define IUYVY2BGR_4(pyuv, pbgr) IUYVY2BGR_2(pyuv, pbgr); IUYVY2BGR_2(pyuv + 4, pbgr + 6);

/** @brief Convert a frame from UYVY to BGR
 * @ingroup frame
 * @param ini UYVY frame
 * @param out BGR frame
 */
uvc_error_t uvc_uyvy2bgr(uvc_frame_t *in, uvc_frame_t *out) {
	if (in->frame_format != UVC_FRAME_FORMAT_UYVY)
		return UVC_ERROR_INVALID_PARAM;

	if (uvc_ensure_frame_size(out, in->width * in->height * 3) < 0)
		return UVC_ERROR_NO_MEM;

	out->width = in->width;
	out->height = in->height;
	out->frame_format = UVC_FRAME_FORMAT_BGR;
	out->step = in->width * 3;
	out->sequence = in->sequence;
	out->capture_time = in->capture_time;
	out->source = in->source;

	uint8_t *pyuv = in->data;
	uint8_t *pbgr = out->data;
	uint8_t *pbgr_end = pbgr + out->data_bytes;

	while (pbgr < pbgr_end) {
		IUYVY2BGR_8(pyuv, pbgr);

		pbgr += 3 * 8;
		pyuv += 2 * 8;
	}

	return UVC_SUCCESS;
}

/** @brief Convert a frame to RGB
 * @ingroup frame
 *
 * @param in non-RGB frame
 * @param out RGB frame
 */
uvc_error_t uvc_any2rgb(uvc_frame_t *in, uvc_frame_t *out) {
	switch (in->frame_format) {
		case UVC_FRAME_FORMAT_YUYV:
			return uvc_yuyv2rgb(in, out);
		case UVC_FRAME_FORMAT_UYVY:
			return uvc_uyvy2rgb(in, out);
		case UVC_FRAME_FORMAT_RGB:
			return uvc_duplicate_frame(in, out);
		default:
			return UVC_ERROR_NOT_SUPPORTED;
	}
}

/** @brief Convert a frame to BGR
 * @ingroup frame
 *
 * @param in non-BGR frame
 * @param out BGR frame
 */
uvc_error_t uvc_any2bgr(uvc_frame_t *in, uvc_frame_t *out) {
	switch (in->frame_format) {
		case UVC_FRAME_FORMAT_YUYV:
			return uvc_yuyv2bgr(in, out);
		case UVC_FRAME_FORMAT_UYVY:
			return uvc_uyvy2bgr(in, out);
		case UVC_FRAME_FORMAT_BGR:
			return uvc_duplicate_frame(in, out);
		default:
			return UVC_ERROR_NOT_SUPPORTED;
	}
}
