ffmpegPortmonitor.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_FFMPEG_CARRIER_FFMPEGPORTMONITOR_H
#define YARP_FFMPEG_CARRIER_FFMPEGPORTMONITOR_H
 
// YARP imports
#include <yarp/os/Bottle.h>
#include <yarp/os/Things.h>
#include <yarp/sig/Image.h>
#include <yarp/os/MonitorObject.h>
 
// Ffmpeg imports
extern "C" {
    #include <libavcodec/avcodec.h>
}
 
class FfmpegMonitorObject : public yarp::os::MonitorObject
{
    public:
        bool create(const yarp::os::Property& options) override;
 
        void destroy(void) override;
 
        bool setparam(const yarp::os::Property& params) override;
        bool getparam(yarp::os::Property& params) override;
 
        bool accept(yarp::os::Things& thing) override;
 
        yarp::os::Things& update(yarp::os::Things& thing) override;
 
    protected:
        int compress(yarp::sig::Image* img, AVPacket* pkt);
 
        int decompress(AVPacket* pkt, int w, int h, int pixelCode);
 
        bool getParamsFromCommandLine(std::string carrierString, const AVCodec *&codecOut, AVPixelFormat &pixelFormatOut, int &frameRate);
 
        int setCommandLineParams();
 
        void updateStatistics(yarp::os::Bottle &inputBottle, double currentLag);
 
    public:
        yarp::os::Things th;
 
        yarp::os::Bottle data;
 
        yarp::sig::FlexImage imageOut;
 
        yarp::sig::Image imageBottleBuffer;
 
        bool senderSide;
 
        const AVCodec *codec;
 
        AVCodecContext *codecContext = NULL;
 
        AVPixelFormat pixelFormat{AV_PIX_FMT_YUV420P};
 
        bool firstTime;
 
        bool printStatistics;
 
        double previousFrameTime;
 
        double bandwidthRunningAverage;
 
        double lagRunningAverage;
 
        int statisticsCounter;
 
        double previousStatisticPrintTime;
 
        std::map<std::string, std::string> paramsMap;
};
 
#endif