kopia lustrzana https://github.com/xdsopl/robot36
443 wiersze
13 KiB
C
443 wiersze
13 KiB
C
/*
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robot36 - encode and decode images using SSTV in Robot 36 mode
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Written in 2011 by <Ahmet Inan> <xdsopl@googlemail.com>
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To the extent possible under law, the author(s) have dedicated all copyright and related and neighboring rights to this software to the public domain worldwide. This software is distributed without any warranty.
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You should have received a copy of the CC0 Public Domain Dedication along with this software. If not, see <http://creativecommons.org/publicdomain/zero/1.0/>.
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*/
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <complex.h>
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#include <time.h>
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#include "mmap_file.h"
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#include "pcm.h"
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#include "ddc.h"
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#include "buffer.h"
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#include "yuv.h"
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#include "utils.h"
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#include "img.h"
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int main(int argc, char **argv)
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{
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struct pcm *pcm;
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char *pcm_name = "default";
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char *img_name = 0;
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if (argc != 1)
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pcm_name = argv[1];
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if (argc == 3)
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img_name = argv[2];
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if (!open_pcm_read(&pcm, pcm_name)) {
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fprintf(stderr, "couldnt open %s\n", pcm_name);
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return 1;
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}
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info_pcm(pcm);
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float rate = rate_pcm(pcm);
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if (rate * 0.088 < 320.0) {
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fprintf(stderr, "%.0fhz samplerate too low\n", rate);
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return 1;
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}
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int channels = channels_pcm(pcm);
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if (channels > 1)
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fprintf(stderr, "using first of %d channels\n", channels);
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float complex cnt_last = -I;
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float complex dat_last = -I;
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float dat_avg = 1900.0;
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int begin_vis_ss = 0;
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int begin_vis_lo = 0;
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int begin_vis_hi = 0;
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int begin_hor_sync = 0;
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int begin_cal_break = 0;
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int begin_cal_leader = 0;
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int latch_sync = 0;
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int cal_ticks = 0;
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int got_cal_break = 0;
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int vis_mode = 0;
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int dat_mode = 0;
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int vis_ticks = 0;
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int vis_bit = -1;
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int vis_byte = 0;
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int sep_evn = 0;
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int sep_odd = 0;
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int y = 0;
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int odd = 0;
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int first_hor_sync = 0;
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#if DN && UP
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// 320 / 0.088 = 160 / 0.044 = 40000 / 11 = 3636.(36)~ pixels per second for Y, U and V
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int64_t factor_L = 40000;
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int64_t factor_M = 11 * rate;
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int64_t factor_D = gcd(factor_L, factor_M);
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factor_L /= factor_D;
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factor_M /= factor_D;
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#endif
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#if DN && !UP
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int64_t factor_L = 1;
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// factor_M * step should be smaller than pixel length
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int64_t factor_M = rate * 0.088 / 320.0 / 2;
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#endif
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#if !DN
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int64_t factor_L = 1;
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int64_t factor_M = 1;
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#endif
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// we want odd number of taps, 4 and 2 ms window length gives best results
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int cnt_taps = 1 | (int)(rate * factor_L * 0.004);
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int dat_taps = 1 | (int)(rate * factor_L * 0.002);
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fprintf(stderr, "using %d and %d tap filter\n", cnt_taps, dat_taps);
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float drate = rate * (float)factor_L / (float)factor_M;
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float dstep = 1.0 / drate;
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fprintf(stderr, "using factor of %ld/%ld, working at %.2fhz\n", factor_L, factor_M, drate);
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float complex *cnt_q = malloc(sizeof(float complex) * factor_L);
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float complex *dat_q = malloc(sizeof(float complex) * factor_L);
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// same factor to keep life simple and have accurate horizontal sync
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struct ddc *cnt_ddc = alloc_ddc(factor_L, factor_M, 1200.0, 200.0, rate, cnt_taps, kaiser, 2.0);
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struct ddc *dat_ddc = alloc_ddc(factor_L, factor_M, 1900.0, 800.0, rate, dat_taps, kaiser, 2.0);
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// delay input by phase shift of other filter to synchronize outputs
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int cnt_delay = (dat_taps - 1) / (2 * factor_L);
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int dat_delay = (cnt_taps - 1) / (2 * factor_L);
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// minimize delay
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if (cnt_delay > dat_delay) {
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cnt_delay -= dat_delay;
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dat_delay = 0;
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} else {
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dat_delay -= cnt_delay;
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cnt_delay = 0;
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}
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short *pcm_buff = (short *)malloc(sizeof(short) * channels * factor_M);
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// 0.1 second history + enough room for delay and taps
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int buff_len = 0.1 * rate + factor_M
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+ fmaxf(cnt_delay, dat_delay)
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+ fmaxf(cnt_taps, dat_taps) / factor_L;
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struct buffer *buffer = alloc_buffer(buff_len);
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const double vis_sec = 0.03l;
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const double hor_sync_sec = 0.009l;
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const double cal_break_sec = 0.01l;
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const double cal_leader_sec = 0.3l;
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const double seperator_sec = 0.0045l;
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const double sync_porch_sec = 0.003l;
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const double porch_sec = 0.0015l;
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const double y_sec = 0.088l;
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const double uv_sec = 0.044l;
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const double hor_sec = 0.15l;
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int vis_len = vis_sec * drate;
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int hor_sync_len = hor_sync_sec * drate;
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int cal_break_len = cal_break_sec * drate;
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int cal_leader_len = cal_leader_sec * drate;
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int seperator_len = seperator_sec * drate;
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int sync_porch_len = sync_porch_sec * drate;
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int porch_len = porch_sec * drate;
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int y_len = y_sec * drate;
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int uv_len = uv_sec * drate;
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int hor_len = hor_sec * drate;
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int missing_sync = 0;
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int seperator_correction = 0;
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const int width = hor_len + sync_porch_len + 24;
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const int height = 256;
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struct img *img = 0;
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int hor_ticks = 0;
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int y_width = y_len;
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int uv_width = uv_len;
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uint8_t *y_pixel = malloc(y_width * 2);
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memset(y_pixel, 0, y_width * 2);
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uint8_t *uv_pixel = malloc(uv_width * 2);
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memset(uv_pixel, 0, uv_width * 2);
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for (int out = factor_L;; out++, hor_ticks++, cal_ticks++, vis_ticks++) {
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if (out >= factor_L) {
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out = 0;
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if (!read_pcm(pcm, pcm_buff, factor_M))
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break;
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float *buff = 0;
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for (int j = 0; j < factor_M; j++)
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buff = do_buffer(buffer, (float)pcm_buff[j * channels] / 32767.0);
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do_ddc(cnt_ddc, buff + cnt_delay, cnt_q);
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do_ddc(dat_ddc, buff + dat_delay, dat_q);
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}
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float cnt_freq = fclampf(1200.0 + cargf(cnt_q[out] * conjf(cnt_last)) / (2.0 * M_PI * dstep), 1100.0, 1300.0);
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float dat_freq = fclampf(1900.0 + cargf(dat_q[out] * conjf(dat_last)) / (2.0 * M_PI * dstep), 1500.0, 2300.0);
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if (cabsf(cnt_q[out]) > cabsf(dat_q[out]))
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dat_freq = 1500.0;
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else
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cnt_freq = 1300.0;
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cnt_last = cnt_q[out];
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dat_last = dat_q[out];
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const float dat_a = 1.0 / (drate * 0.00238 + 1.0);
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dat_avg = dat_a * dat_freq + (1.0 - dat_a) * dat_avg;
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begin_vis_ss = fabsf(cnt_freq - 1200.0) < 50.0 ? begin_vis_ss + 1 : 0;
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begin_vis_lo = fabsf(cnt_freq - 1300.0) < 50.0 ? begin_vis_lo + 1 : 0;
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begin_vis_hi = fabsf(cnt_freq - 1100.0) < 50.0 ? begin_vis_hi + 1 : 0;
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begin_hor_sync = fabsf(cnt_freq - 1200.0) < 50.0 ? begin_hor_sync + 1 : 0;
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begin_cal_break = fabsf(cnt_freq - 1200.0) < 50.0 ? begin_cal_break + 1 : 0;
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begin_cal_leader = fabsf(dat_avg - 1900.0) < 50.0 ? begin_cal_leader + 1 : 0;
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// TODO: remove floats
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const float vis_tolerance = 0.9;
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const float sync_tolerance = 0.7;
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const float break_tolerance = 0.7;
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const float leader_tolerance = 0.3;
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int vis_ss = begin_vis_ss >= (int)(vis_tolerance * vis_len) ? 1 : 0;
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int vis_lo = begin_vis_lo >= (int)(vis_tolerance * vis_len) ? 1 : 0;
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int vis_hi = begin_vis_hi >= (int)(vis_tolerance * vis_len) ? 1 : 0;
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int cal_break = begin_cal_break >= (int)(break_tolerance * cal_break_len) ? 1 : 0;
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int cal_leader = begin_cal_leader >= (int)(leader_tolerance * cal_leader_len) ? 1 : 0;
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// we want a pulse at the falling edge
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latch_sync = begin_hor_sync > (int)(sync_tolerance * hor_sync_len) ? 1 : latch_sync;
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int hor_sync = (cnt_freq > 1299.0) && latch_sync;
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latch_sync = hor_sync ? 0 : latch_sync;
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// we only want a pulse for the bits
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begin_vis_ss = vis_ss ? 0 : begin_vis_ss;
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begin_vis_lo = vis_lo ? 0 : begin_vis_lo;
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begin_vis_hi = vis_hi ? 0 : begin_vis_hi;
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static int ticks = 0;
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if (ticks++ < 5.0 * drate)
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printf("%f %f %f %d %d %d %d %d %d %d %d\n", (float)ticks * dstep, dat_freq, cnt_freq,
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50*hor_sync+950, 50*cal_leader+850, 50*cal_break+750,
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50*vis_ss+650, 50*vis_lo+550, 50*vis_hi+450,
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50*sep_evn+350, 50*sep_odd+250);
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// only want to see a pulse
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sep_evn = 0;
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sep_odd = 0;
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if (cal_leader && !cal_break && got_cal_break &&
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(cal_ticks >= (cal_leader_len + cal_break_len) * leader_tolerance) &&
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(cal_ticks <= (cal_leader_len + cal_break_len) * (2.0 - leader_tolerance))) {
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vis_mode = 1;
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vis_bit = -1;
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dat_mode = 0;
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first_hor_sync = 1;
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got_cal_break = 0;
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fprintf(stderr, "%s got calibration header\n", string_time("%F %T"));
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}
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if (cal_break && !cal_leader &&
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cal_ticks >= (int)(cal_break_len * break_tolerance) &&
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cal_ticks <= (int)(cal_break_len * (2.0 - break_tolerance)))
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got_cal_break = 1;
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if (cal_leader && !cal_break) {
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cal_ticks = 0;
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got_cal_break = 0;
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}
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if (vis_mode) {
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if (vis_bit < 0) {
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if (vis_ss) {
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vis_ticks = 0;
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vis_byte = 0;
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vis_bit = 0;
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dat_mode = 0;
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}
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} else if (vis_ticks <= (int)(10.0 * vis_len * (2.0 - vis_tolerance))) {
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if (vis_ss) {
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dat_mode = 1;
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vis_mode = 0;
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vis_bit = -1;
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fprintf(stderr, "%s got VIS = 0x%x (complete)\n", string_time("%F %T"), vis_byte);
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}
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if (vis_bit < 8) {
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if (vis_lo) vis_bit++;
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if (vis_hi) vis_byte |= 1 << vis_bit++;
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}
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} else {
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if (vis_bit >= 8) {
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dat_mode = 1;
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vis_mode = 0;
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vis_bit = -1;
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fprintf(stderr, "%s got VIS = 0x%x (missing stop bit)\n", string_time("%F %T"), vis_byte);
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}
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}
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if (!vis_mode && vis_byte != 0x88) {
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fprintf(stderr, "unsupported mode 0x%x, ignoring\n", vis_byte);
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dat_mode = 0;
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}
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continue;
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}
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if (!dat_mode)
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continue;
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// we wait until first sync
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if (first_hor_sync && !hor_sync)
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continue;
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// data comes after first sync
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if (first_hor_sync && hor_sync) {
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first_hor_sync = 0;
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hor_ticks = 0;
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y = 0;
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odd = 0;
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if (img) {
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close_img(img);
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fprintf(stderr, "%d missing sync's and %d corrections from seperator\n", missing_sync, seperator_correction);
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missing_sync = 0;
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seperator_correction = 0;
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}
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if (img_name) {
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if (!open_img_write(&img, img_name, width, height))
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return 1;
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} else {
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if (!open_img_write(&img, string_time("%F_%T.ppm"), width, height))
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return 1;
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}
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continue;
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}
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if (hor_ticks < width) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * hor_ticks;
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float dat_v = (dat_freq - 1500.0) / 800.0;
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float cnt_v = (1300.0 - cnt_freq) / 200.0;
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p[0] = fclampf(0.0, 255.0, 255.0 * dat_v);
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p[1] = fclampf(0.0, 255.0, 255.0 * (dat_v + cnt_v));
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p[2] = fclampf(0.0, 255.0, 255.0 * dat_v);
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}
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// if horizontal sync is too early, we reset to the beginning instead of ignoring
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if (hor_sync && hor_ticks < (hor_len - sync_porch_len)) {
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for (int i = 0; i < 4; i++) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * (width - i - 10);
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p[0] = 255;
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p[1] = 0;
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p[2] = 255;
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}
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hor_ticks = 0;
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}
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// we always sync if sync pulse is where it should be.
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if (hor_sync && (hor_ticks >= (hor_len - sync_porch_len)) &&
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(hor_ticks < (hor_len + sync_porch_len))) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * hor_ticks;
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p[0] = 255;
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p[1] = 0;
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p[2] = 0;
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y++;
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if (y == height) {
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close_img(img);
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fprintf(stderr, "%d missing sync's and %d corrections from seperator\n", missing_sync, seperator_correction);
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img = 0;
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dat_mode = 0;
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missing_sync = 0;
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seperator_correction = 0;
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continue;
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}
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odd ^= 1;
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hor_ticks = 0;
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}
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// if horizontal sync is missing, we extrapolate from last sync
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if (hor_ticks >= (hor_len + sync_porch_len)) {
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for (int i = 0; i < 4; i++) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * (width - i - 5);
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p[0] = 255;
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p[1] = 255;
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p[2] = 0;
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}
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y++;
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if (y == height) {
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close_img(img);
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fprintf(stderr, "%d missing sync's and %d corrections from seperator\n", missing_sync, seperator_correction);
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img = 0;
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dat_mode = 0;
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missing_sync = 0;
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seperator_correction = 0;
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continue;
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}
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odd ^= 1;
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missing_sync++;
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hor_ticks -= hor_len;
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// we are not at the pixels yet, so no correction here
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}
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static int sep_count = 0;
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if ((hor_ticks > (sync_porch_len + y_len)) &&
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(hor_ticks < (sync_porch_len + y_len + seperator_len)))
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sep_count += dat_freq < 1900.0 ? 1 : -1;
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// we try to correct from odd / even seperator
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if (sep_count && (hor_ticks > (sync_porch_len + y_len + seperator_len))) {
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if (sep_count > 0) {
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sep_evn = 1;
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if (odd) {
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odd = 0;
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seperator_correction++;
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for (int i = 0; i < 4; i++) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * (width - i - 15);
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p[0] = 255;
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p[1] = 0;
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p[2] = 0;
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}
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}
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} else {
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sep_odd = 1;
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if (!odd) {
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odd = 1;
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seperator_correction++;
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for (int i = 0; i < 4; i++) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * (width - i - 15);
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p[0] = 0;
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p[1] = 255;
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p[2] = 0;
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}
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}
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}
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sep_count = 0;
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}
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if ((hor_ticks == sync_porch_len) ||
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(hor_ticks == (sync_porch_len + y_len)) ||
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(hor_ticks == (sync_porch_len + y_len + seperator_len)) ||
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(hor_ticks == (sync_porch_len + y_len + seperator_len + porch_len)) ||
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(hor_ticks == (sync_porch_len + y_len + seperator_len + porch_len + uv_len))) {
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uint8_t *p = img->pixel + 3 * y * width + 3 * hor_ticks;
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p[0] = 255;
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p[1] = 0;
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p[2] = 0;
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}
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}
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if (img) {
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close_img(img);
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fprintf(stderr, "%d missing sync's and %d corrections from seperator\n", missing_sync, seperator_correction);
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missing_sync = 0;
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seperator_correction = 0;
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}
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close_pcm(pcm);
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free_ddc(cnt_ddc);
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free_ddc(dat_ddc);
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free_buffer(buffer);
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free(pcm_buff);
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return 0;
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}
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