FfmpegGrabber.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef FfmpegGrabber_INC
#define FfmpegGrabber_INC
 
#include "avpreamble.h"
 
extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
}
 
/*
 * A YARP frame grabber device driver using ffmpeg to implement
 * image capture from AVI files.
 */
 
#include <yarp/dev/AudioVisualInterfaces.h>
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/DeviceDriver.h>
 
#include "ffmpeg_api.h"
 
class FfmpegGrabber :
        public yarp::dev::IFrameGrabberImage,
        public yarp::dev::IAudioGrabberSound,
        public yarp::dev::IAudioVisualGrabber,
        public yarp::dev::IAudioVisualStream,
        public yarp::dev::DeviceDriver
{
public:
 
    FfmpegGrabber() :
        system_resource(nullptr),
        formatParamsVideo(nullptr),
        formatParamsAudio(nullptr),
        pFormatCtx(nullptr),
        pFormatCtx2(nullptr),
        pAudioFormatCtx(nullptr),
        active(false),
        startTime(0),
        _hasAudio(false),
        _hasVideo(false),
        needRateControl(false),
        shouldLoop(true),
        pace(1),
        imageSync(false),
        m_w(0),
        m_h(0),
        m_channels(0),
        m_rate(0),
        m_capture(nullptr)
    {
        memset(&packet,0,sizeof(packet));
    }
 
    bool open(yarp::os::Searchable & config) override;
 
    bool close() override;
 
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) override;
 
    bool getSound(yarp::sig::Sound& sound, size_t min_number_of_samples, size_t max_number_of_samples, double max_samples_timeout_s) override;
 
    int height() const override { return m_h; }
 
    int width() const override { return m_w; }
 
    virtual bool getAudioVisual(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
                                yarp::sig::Sound& sound) override;
 
 
    bool hasAudio() override {
        return _hasAudio;
    }
 
    bool hasVideo() override {
        return _hasVideo;
    }
 
    bool startRecording() override {
        return true;
    }
 
    bool stopRecording() override {
        return true;
    }
 
    bool isRecording(bool& recording_enabled) override {
        return false;
    }
 
    bool getRecordingAudioBufferMaxSize(yarp::dev::AudioBufferSize&) override {
        return false;
    }
 
    bool getRecordingAudioBufferCurrentSize(yarp::dev::AudioBufferSize&) override {
        return false;
    }
 
    bool resetRecordingAudioBuffer() override {
        return false;
    }
 
    bool setHWGain(double gain) override {
        return false;
    }
 
    bool setSWGain(double gain) override {
        return false;
    }
 
protected:
    void *system_resource;
 
    AVDictionary* formatParamsVideo;
    AVDictionary* formatParamsAudio;
    AVFormatContext *pFormatCtx;
    AVFormatContext *pFormatCtx2;
    AVFormatContext *pAudioFormatCtx;
    AVPacket packet;
    bool active;
    double startTime;
    bool _hasAudio, _hasVideo;
    bool needRateControl;
    bool shouldLoop;
    double pace;
    bool imageSync;
 
    std::string m_uri;
 
    int m_w;
    int m_h;
 
    int m_channels;
    int m_rate;
 
    void * m_capture;
 
    bool openFirewire(yarp::os::Searchable & config,
                      AVFormatContext **ppFormatCtx);
 
    bool openV4L(yarp::os::Searchable & config,
                 AVFormatContext **ppFormatCtx,
                 AVFormatContext **ppFormatCtx2);
 
    bool openFile(AVFormatContext **ppFormatCtx,
                  const char *fname);
};
 
#endif