void kbd_interrupt(void)
{
if(cur_key=get_scan())
if(cur_key=decode(cur_key)){
vt_inproc(1,(mode&KEY_MODE_CTRL)?(cur_key&0x1f):cur_key);
}
if (UART_LSR&1) vt_inproc(2,UART_DAT);
//if(ch) vt_inproc(1,ch);
}
int vp9_decode_block_tokens(VP9_COMMON *cm, MACROBLOCKD *xd,
int plane, int block, BLOCK_SIZE plane_bsize,
int x, int y, TX_SIZE tx_size, vp9_reader *r) {
struct macroblockd_plane *const pd = &xd->plane[plane];
const int ctx = get_entropy_context(tx_size, pd->above_context + x,
pd->left_context + y);
const scan_order *so = get_scan(xd, tx_size, pd->plane_type, block);
const int eob = decode_coefs(cm, xd, pd->plane_type,
BLOCK_OFFSET(pd->dqcoeff, block), tx_size,
pd->dequant, ctx, so->scan, so->neighbors, r);
vp9_set_contexts(xd, pd, plane_bsize, tx_size, eob > 0, x, y);
return eob;
}
RTC::ReturnCode_t RTCHokuyoAIST::onExecute(RTC::UniqueId ec_id)
{
coil::Guard<coil::Mutex> guard(mutex_);
try
{
if(!pull_mode_)
{
get_scan();
}
}
catch(hokuyoaist::BaseError &e)
{
std::cerr << "Error getting laser scan: " << e.what() << '\n';
time_t now = time(NULL);
if (now - last_error_time_ <= error_time_)
{
last_error_time_ = now;
return RTC::RTC_ERROR;
}
else
{
last_error_time_ = now;
try
{
std::cerr << "Attempting to reset laser.\n";
reset_laser();
}
catch(hokuyoaist::BaseError &e)
{
std::cerr << "Reset failed: " << e.what() << '\n';
return RTC::RTC_ERROR;
}
catch(flexiport::PortException &e)
{
std::cerr << "Reset failed: " << e.what() << '\n';
return RTC::RTC_ERROR;
}
}
}
return RTC::RTC_OK;
}
int vp9_optimize_b(MACROBLOCK *mb, int plane, int block, TX_SIZE tx_size,
int ctx) {
MACROBLOCKD *const xd = &mb->e_mbd;
struct macroblock_plane *const p = &mb->plane[plane];
struct macroblockd_plane *const pd = &xd->plane[plane];
const int ref = is_inter_block(xd->mi[0]);
vp9_token_state tokens[1025][2];
uint8_t token_cache[1024];
const tran_low_t *const coeff = BLOCK_OFFSET(mb->plane[plane].coeff, block);
tran_low_t *const qcoeff = BLOCK_OFFSET(p->qcoeff, block);
tran_low_t *const dqcoeff = BLOCK_OFFSET(pd->dqcoeff, block);
const int eob = p->eobs[block];
const PLANE_TYPE type = get_plane_type(plane);
const int default_eob = 16 << (tx_size << 1);
const int shift = (tx_size == TX_32X32);
const int16_t *const dequant_ptr = pd->dequant;
const uint8_t *const band_translate = get_band_translate(tx_size);
const scan_order *const so = get_scan(xd, tx_size, type, block);
const int16_t *const scan = so->scan;
const int16_t *const nb = so->neighbors;
const int dq_step[2] = { dequant_ptr[0] >> shift, dequant_ptr[1] >> shift };
static void tokenize_b(int plane, int block, BLOCK_SIZE plane_bsize,
TX_SIZE tx_size, void *arg) {
struct tokenize_b_args* const args = arg;
VP9_COMP *cpi = args->cpi;
ThreadData *const td = args->td;
MACROBLOCK *const x = &td->mb;
MACROBLOCKD *const xd = &x->e_mbd;
TOKENEXTRA **tp = args->tp;
uint8_t token_cache[32 * 32];
struct macroblock_plane *p = &x->plane[plane];
struct macroblockd_plane *pd = &xd->plane[plane];
MB_MODE_INFO *mbmi = &xd->mi[0].src_mi->mbmi;
int pt; /* near block/prev token context index */
int c;
TOKENEXTRA *t = *tp; /* store tokens starting here */
int eob = p->eobs[block];
const PLANE_TYPE type = pd->plane_type;
const tran_low_t *qcoeff = BLOCK_OFFSET(p->qcoeff, block);
const int segment_id = mbmi->segment_id;
const int16_t *scan, *nb;
const scan_order *so;
const int ref = is_inter_block(mbmi);
unsigned int (*const counts)[COEFF_CONTEXTS][ENTROPY_TOKENS] =
td->rd_counts.coef_counts[tx_size][type][ref];
vp9_prob (*const coef_probs)[COEFF_CONTEXTS][UNCONSTRAINED_NODES] =
cpi->common.fc->coef_probs[tx_size][type][ref];
unsigned int (*const eob_branch)[COEFF_CONTEXTS] =
td->counts->eob_branch[tx_size][type][ref];
const uint8_t *const band = get_band_translate(tx_size);
const int seg_eob = get_tx_eob(&cpi->common.seg, segment_id, tx_size);
int16_t token;
EXTRABIT extra;
int aoff, loff;
txfrm_block_to_raster_xy(plane_bsize, tx_size, block, &aoff, &loff);
pt = get_entropy_context(tx_size, pd->above_context + aoff,
pd->left_context + loff);
so = get_scan(xd, tx_size, type, block);
scan = so->scan;
nb = so->neighbors;
c = 0;
while (c < eob) {
int v = 0;
int skip_eob = 0;
v = qcoeff[scan[c]];
while (!v) {
add_token_no_extra(&t, coef_probs[band[c]][pt], ZERO_TOKEN, skip_eob,
counts[band[c]][pt]);
eob_branch[band[c]][pt] += !skip_eob;
skip_eob = 1;
token_cache[scan[c]] = 0;
++c;
pt = get_coef_context(nb, token_cache, c);
v = qcoeff[scan[c]];
}
vp9_get_token_extra(v, &token, &extra);
add_token(&t, coef_probs[band[c]][pt], extra, (uint8_t)token,
(uint8_t)skip_eob, counts[band[c]][pt]);
eob_branch[band[c]][pt] += !skip_eob;
token_cache[scan[c]] = vp9_pt_energy_class[token];
++c;
pt = get_coef_context(nb, token_cache, c);
}
if (c < seg_eob) {
add_token_no_extra(&t, coef_probs[band[c]][pt], EOB_TOKEN, 0,
counts[band[c]][pt]);
++eob_branch[band[c]][pt];
}
*tp = t;
vp9_set_contexts(xd, pd, plane_bsize, tx_size, c > 0, aoff, loff);
}
static int optimize_b(MACROBLOCK *mb, int plane, int block,
TX_SIZE tx_size, int ctx) {
MACROBLOCKD *const xd = &mb->e_mbd;
struct macroblock_plane *const p = &mb->plane[plane];
struct macroblockd_plane *const pd = &xd->plane[plane];
const int ref = is_inter_block(xd->mi[0]);
vp9_token_state tokens[1025][2];
unsigned best_index[1025][2];
uint8_t token_cache[1024];
const tran_low_t *const coeff = BLOCK_OFFSET(mb->plane[plane].coeff, block);
tran_low_t *const qcoeff = BLOCK_OFFSET(p->qcoeff, block);
tran_low_t *const dqcoeff = BLOCK_OFFSET(pd->dqcoeff, block);
const int eob = p->eobs[block];
const PLANE_TYPE type = get_plane_type(plane);
const int default_eob = 16 << (tx_size << 1);
const int mul = 1 + (tx_size == TX_32X32);
const int16_t *dequant_ptr = pd->dequant;
const uint8_t *const band_translate = get_band_translate(tx_size);
const scan_order *const so = get_scan(xd, tx_size, type, block);
const int16_t *const scan = so->scan;
const int16_t *const nb = so->neighbors;
int next = eob, sz = 0;
int64_t rdmult = mb->rdmult * plane_rd_mult[type], rddiv = mb->rddiv;
int64_t rd_cost0, rd_cost1;
int rate0, rate1, error0, error1;
int16_t t0, t1;
EXTRABIT e0;
int best, band, pt, i, final_eob;
#if CONFIG_VP9_HIGHBITDEPTH
const int *cat6_high_cost = vp9_get_high_cost_table(xd->bd);
#else
const int *cat6_high_cost = vp9_get_high_cost_table(8);
#endif
assert((!type && !plane) || (type && plane));
assert(eob <= default_eob);
/* Now set up a Viterbi trellis to evaluate alternative roundings. */
if (!ref)
rdmult = (rdmult * 9) >> 4;
/* Initialize the sentinel node of the trellis. */
tokens[eob][0].rate = 0;
tokens[eob][0].error = 0;
tokens[eob][0].next = default_eob;
tokens[eob][0].token = EOB_TOKEN;
tokens[eob][0].qc = 0;
tokens[eob][1] = tokens[eob][0];
for (i = 0; i < eob; i++)
token_cache[scan[i]] =
vp9_pt_energy_class[vp9_get_token(qcoeff[scan[i]])];
for (i = eob; i-- > 0;) {
int base_bits, d2, dx;
const int rc = scan[i];
int x = qcoeff[rc];
/* Only add a trellis state for non-zero coefficients. */
if (x) {
int shortcut = 0;
error0 = tokens[next][0].error;
error1 = tokens[next][1].error;
/* Evaluate the first possibility for this state. */
rate0 = tokens[next][0].rate;
rate1 = tokens[next][1].rate;
vp9_get_token_extra(x, &t0, &e0);
/* Consider both possible successor states. */
if (next < default_eob) {
band = band_translate[i + 1];
pt = trellis_get_coeff_context(scan, nb, i, t0, token_cache);
rate0 += mb->token_costs[tx_size][type][ref][band][0][pt]
[tokens[next][0].token];
rate1 += mb->token_costs[tx_size][type][ref][band][0][pt]
[tokens[next][1].token];
}
UPDATE_RD_COST();
/* And pick the best. */
best = rd_cost1 < rd_cost0;
base_bits = vp9_get_cost(t0, e0, cat6_high_cost);
dx = mul * (dqcoeff[rc] - coeff[rc]);
#if CONFIG_VP9_HIGHBITDEPTH
if (xd->cur_buf->flags & YV12_FLAG_HIGHBITDEPTH) {
dx >>= xd->bd - 8;
}
#endif // CONFIG_VP9_HIGHBITDEPTH
d2 = dx * dx;
tokens[i][0].rate = base_bits + (best ? rate1 : rate0);
tokens[i][0].error = d2 + (best ? error1 : error0);
tokens[i][0].next = next;
tokens[i][0].token = t0;
tokens[i][0].qc = x;
best_index[i][0] = best;
/* Evaluate the second possibility for this state. */
rate0 = tokens[next][0].rate;
rate1 = tokens[next][1].rate;
if ((abs(x) * dequant_ptr[rc != 0] > abs(coeff[rc]) * mul) &&
(abs(x) * dequant_ptr[rc != 0] < abs(coeff[rc]) * mul +
dequant_ptr[rc != 0]))
shortcut = 1;
else
shortcut = 0;
if (shortcut) {
sz = -(x < 0);
x -= 2 * sz + 1;
}
/* Consider both possible successor states. */
if (!x) {
/* If we reduced this coefficient to zero, check to see if
* we need to move the EOB back here.
*/
t0 = tokens[next][0].token == EOB_TOKEN ? EOB_TOKEN : ZERO_TOKEN;
t1 = tokens[next][1].token == EOB_TOKEN ? EOB_TOKEN : ZERO_TOKEN;
e0 = 0;
} else {
vp9_get_token_extra(x, &t0, &e0);
t1 = t0;
}
if (next < default_eob) {
band = band_translate[i + 1];
if (t0 != EOB_TOKEN) {
pt = trellis_get_coeff_context(scan, nb, i, t0, token_cache);
rate0 += mb->token_costs[tx_size][type][ref][band][!x][pt]
[tokens[next][0].token];
}
if (t1 != EOB_TOKEN) {
pt = trellis_get_coeff_context(scan, nb, i, t1, token_cache);
rate1 += mb->token_costs[tx_size][type][ref][band][!x][pt]
[tokens[next][1].token];
}
}
UPDATE_RD_COST();
/* And pick the best. */
best = rd_cost1 < rd_cost0;
base_bits = vp9_get_cost(t0, e0, cat6_high_cost);
if (shortcut) {
#if CONFIG_VP9_HIGHBITDEPTH
if (xd->cur_buf->flags & YV12_FLAG_HIGHBITDEPTH) {
dx -= ((dequant_ptr[rc != 0] >> (xd->bd - 8)) + sz) ^ sz;
} else {
dx -= (dequant_ptr[rc != 0] + sz) ^ sz;
}
#else
dx -= (dequant_ptr[rc != 0] + sz) ^ sz;
#endif // CONFIG_VP9_HIGHBITDEPTH
d2 = dx * dx;
}
static void tokenize_b(int plane, int block, BLOCK_SIZE plane_bsize,
TX_SIZE tx_size, void *arg) {
struct tokenize_b_args* const args = arg;
VP9_COMP *cpi = args->cpi;
MACROBLOCKD *xd = args->xd;
TOKENEXTRA **tp = args->tp;
uint8_t *token_cache = args->token_cache;
struct macroblock_plane *p = &cpi->mb.plane[plane];
struct macroblockd_plane *pd = &xd->plane[plane];
MB_MODE_INFO *mbmi = &xd->mi_8x8[0]->mbmi;
int pt; /* near block/prev token context index */
int c = 0;
TOKENEXTRA *t = *tp; /* store tokens starting here */
int eob = p->eobs[block];
const PLANE_TYPE type = pd->plane_type;
const int16_t *qcoeff_ptr = BLOCK_OFFSET(p->qcoeff, block);
const int segment_id = mbmi->segment_id;
const int16_t *scan, *nb;
const scan_order *so;
vp9_coeff_count *const counts = cpi->coef_counts[tx_size];
vp9_coeff_probs_model *const coef_probs = cpi->common.fc.coef_probs[tx_size];
const int ref = is_inter_block(mbmi);
const uint8_t *const band = get_band_translate(tx_size);
const int seg_eob = get_tx_eob(&cpi->common.seg, segment_id, tx_size);
int aoff, loff;
txfrm_block_to_raster_xy(plane_bsize, tx_size, block, &aoff, &loff);
pt = get_entropy_context(tx_size, pd->above_context + aoff,
pd->left_context + loff);
so = get_scan(xd, tx_size, type, block);
scan = so->scan;
nb = so->neighbors;
c = 0;
while (c < eob) {
int v = 0;
int skip_eob = 0;
v = qcoeff_ptr[scan[c]];
while (!v) {
add_token(&t, coef_probs[type][ref][band[c]][pt], 0, ZERO_TOKEN, skip_eob,
counts[type][ref][band[c]][pt]);
cpi->common.counts.eob_branch[tx_size][type][ref][band[c]][pt] +=
!skip_eob;
skip_eob = 1;
token_cache[scan[c]] = 0;
++c;
pt = get_coef_context(nb, token_cache, c);
v = qcoeff_ptr[scan[c]];
}
add_token(&t, coef_probs[type][ref][band[c]][pt],
vp9_dct_value_tokens_ptr[v].extra,
vp9_dct_value_tokens_ptr[v].token, skip_eob,
counts[type][ref][band[c]][pt]);
cpi->common.counts.eob_branch[tx_size][type][ref][band[c]][pt] += !skip_eob;
token_cache[scan[c]] =
vp9_pt_energy_class[vp9_dct_value_tokens_ptr[v].token];
++c;
pt = get_coef_context(nb, token_cache, c);
}
if (c < seg_eob) {
add_token(&t, coef_probs[type][ref][band[c]][pt], 0, EOB_TOKEN, 0,
counts[type][ref][band[c]][pt]);
++cpi->common.counts.eob_branch[tx_size][type][ref][band[c]][pt];
}
*tp = t;
set_contexts(xd, pd, plane_bsize, tx_size, c > 0, aoff, loff);
}
static void tokenize_b(int plane, int block, BLOCK_SIZE plane_bsize,
TX_SIZE tx_size, void *arg) {
struct tokenize_b_args* const args = arg;
VP9_COMP *cpi = args->cpi;
MACROBLOCKD *xd = args->xd;
TOKENEXTRA **tp = args->tp;
uint8_t token_cache[32 * 32];
struct macroblock_plane *p = &cpi->mb.plane[plane];
struct macroblockd_plane *pd = &xd->plane[plane];
MB_MODE_INFO *mbmi = &xd->mi[0].src_mi->mbmi;
int pt; /* near block/prev token context index */
int c;
TOKENEXTRA *t = *tp; /* store tokens starting here */
int eob = p->eobs[block];
const PLANE_TYPE type = pd->plane_type;
const tran_low_t *qcoeff = BLOCK_OFFSET(p->qcoeff, block);
const int segment_id = mbmi->segment_id;
const int16_t *scan, *nb;
const scan_order *so;
const int ref = is_inter_block(mbmi);
unsigned int (*const counts)[COEFF_CONTEXTS][ENTROPY_TOKENS] =
cpi->coef_counts[tx_size][type][ref];
vp9_prob (*const coef_probs)[COEFF_CONTEXTS][UNCONSTRAINED_NODES] =
cpi->common.fc.coef_probs[tx_size][type][ref];
unsigned int (*const eob_branch)[COEFF_CONTEXTS] =
cpi->common.counts.eob_branch[tx_size][type][ref];
const uint8_t *const band = get_band_translate(tx_size);
const int seg_eob = get_tx_eob(&cpi->common.seg, segment_id, tx_size);
const TOKENVALUE *dct_value_tokens;
int aoff, loff;
txfrm_block_to_raster_xy(plane_bsize, tx_size, block, &aoff, &loff);
pt = get_entropy_context(tx_size, pd->above_context + aoff,
pd->left_context + loff);
so = get_scan(xd, tx_size, type, block);
scan = so->scan;
nb = so->neighbors;
c = 0;
#if CONFIG_VP9_HIGHBITDEPTH
if (cpi->common.profile >= PROFILE_2) {
dct_value_tokens = (cpi->common.bit_depth == VPX_BITS_10 ?
vp9_dct_value_tokens_high10_ptr :
vp9_dct_value_tokens_high12_ptr);
} else {
dct_value_tokens = vp9_dct_value_tokens_ptr;
}
#else
dct_value_tokens = vp9_dct_value_tokens_ptr;
#endif
while (c < eob) {
int v = 0;
int skip_eob = 0;
v = qcoeff[scan[c]];
while (!v) {
add_token_no_extra(&t, coef_probs[band[c]][pt], ZERO_TOKEN, skip_eob,
counts[band[c]][pt]);
eob_branch[band[c]][pt] += !skip_eob;
skip_eob = 1;
token_cache[scan[c]] = 0;
++c;
pt = get_coef_context(nb, token_cache, c);
v = qcoeff[scan[c]];
}
add_token(&t, coef_probs[band[c]][pt],
dct_value_tokens[v].extra,
(uint8_t)dct_value_tokens[v].token,
(uint8_t)skip_eob,
counts[band[c]][pt]);
eob_branch[band[c]][pt] += !skip_eob;
token_cache[scan[c]] = vp9_pt_energy_class[dct_value_tokens[v].token];
++c;
pt = get_coef_context(nb, token_cache, c);
}
if (c < seg_eob) {
add_token_no_extra(&t, coef_probs[band[c]][pt], EOB_TOKEN, 0,
counts[band[c]][pt]);
++eob_branch[band[c]][pt];
}
*tp = t;
vp9_set_contexts(xd, pd, plane_bsize, tx_size, c > 0, aoff, loff);
}
static int decode_coefs(VP9_COMMON *cm, const MACROBLOCKD *xd,
vp9_reader *r, int block_idx,
PLANE_TYPE type, int seg_eob, int16_t *qcoeff_ptr,
TX_SIZE tx_size, const int16_t *dq, int pt) {
const FRAME_CONTEXT *const fc = &cm->fc;
FRAME_COUNTS *const counts = &cm->counts;
const int ref = is_inter_block(&xd->mi_8x8[0]->mbmi);
int band, c = 0;
const vp9_prob (*coef_probs)[PREV_COEF_CONTEXTS][UNCONSTRAINED_NODES] =
fc->coef_probs[tx_size][type][ref];
vp9_prob coef_probs_full[COEF_BANDS][PREV_COEF_CONTEXTS][ENTROPY_NODES];
uint8_t load_map[COEF_BANDS][PREV_COEF_CONTEXTS] = { { 0 } };
const vp9_prob *prob;
vp9_coeff_count_model *coef_counts = counts->coef[tx_size];
const int16_t *scan, *nb;
const uint8_t *const band_translate = get_band_translate(tx_size);
uint8_t token_cache[1024];
get_scan(xd, tx_size, type, block_idx, &scan, &nb);
while (1) {
int val;
const uint8_t *cat6 = cat6_prob;
if (c >= seg_eob)
break;
if (c)
pt = get_coef_context(nb, token_cache, c);
band = get_coef_band(band_translate, c);
prob = coef_probs[band][pt];
if (!cm->frame_parallel_decoding_mode)
++counts->eob_branch[tx_size][type][ref][band][pt];
if (!vp9_read(r, prob[EOB_CONTEXT_NODE]))
break;
SKIP_START:
if (c >= seg_eob)
break;
if (c)
pt = get_coef_context(nb, token_cache, c);
band = get_coef_band(band_translate, c);
prob = coef_probs[band][pt];
if (!vp9_read(r, prob[ZERO_CONTEXT_NODE])) {
INCREMENT_COUNT(ZERO_TOKEN);
++c;
goto SKIP_START;
}
// ONE_CONTEXT_NODE_0_
if (!vp9_read(r, prob[ONE_CONTEXT_NODE])) {
WRITE_COEF_CONTINUE(1, ONE_TOKEN);
}
// Load full probabilities if not already loaded
if (!load_map[band][pt]) {
vp9_model_to_full_probs(coef_probs[band][pt],
coef_probs_full[band][pt]);
load_map[band][pt] = 1;
}
prob = coef_probs_full[band][pt];
// LOW_VAL_CONTEXT_NODE_0_
if (!vp9_read(r, prob[LOW_VAL_CONTEXT_NODE])) {
if (!vp9_read(r, prob[TWO_CONTEXT_NODE])) {
WRITE_COEF_CONTINUE(2, TWO_TOKEN);
}
if (!vp9_read(r, prob[THREE_CONTEXT_NODE])) {
WRITE_COEF_CONTINUE(3, THREE_TOKEN);
}
WRITE_COEF_CONTINUE(4, FOUR_TOKEN);
}
// HIGH_LOW_CONTEXT_NODE_0_
if (!vp9_read(r, prob[HIGH_LOW_CONTEXT_NODE])) {
if (!vp9_read(r, prob[CAT_ONE_CONTEXT_NODE])) {
val = CAT1_MIN_VAL;
ADJUST_COEF(CAT1_PROB0, 0);
WRITE_COEF_CONTINUE(val, DCT_VAL_CATEGORY1);
}
val = CAT2_MIN_VAL;
ADJUST_COEF(CAT2_PROB1, 1);
ADJUST_COEF(CAT2_PROB0, 0);
WRITE_COEF_CONTINUE(val, DCT_VAL_CATEGORY2);
}
// CAT_THREEFOUR_CONTEXT_NODE_0_
if (!vp9_read(r, prob[CAT_THREEFOUR_CONTEXT_NODE])) {
if (!vp9_read(r, prob[CAT_THREE_CONTEXT_NODE])) {
val = CAT3_MIN_VAL;
ADJUST_COEF(CAT3_PROB2, 2);
ADJUST_COEF(CAT3_PROB1, 1);
ADJUST_COEF(CAT3_PROB0, 0);
WRITE_COEF_CONTINUE(val, DCT_VAL_CATEGORY3);
}
val = CAT4_MIN_VAL;
ADJUST_COEF(CAT4_PROB3, 3);
ADJUST_COEF(CAT4_PROB2, 2);
ADJUST_COEF(CAT4_PROB1, 1);
ADJUST_COEF(CAT4_PROB0, 0);
WRITE_COEF_CONTINUE(val, DCT_VAL_CATEGORY4);
}
// CAT_FIVE_CONTEXT_NODE_0_:
if (!vp9_read(r, prob[CAT_FIVE_CONTEXT_NODE])) {
val = CAT5_MIN_VAL;
ADJUST_COEF(CAT5_PROB4, 4);
ADJUST_COEF(CAT5_PROB3, 3);
ADJUST_COEF(CAT5_PROB2, 2);
ADJUST_COEF(CAT5_PROB1, 1);
ADJUST_COEF(CAT5_PROB0, 0);
WRITE_COEF_CONTINUE(val, DCT_VAL_CATEGORY5);
}
val = 0;
while (*cat6) {
val = (val << 1) | vp9_read(r, *cat6++);
}
val += CAT6_MIN_VAL;
WRITE_COEF_CONTINUE(val, DCT_VAL_CATEGORY6);
}
if (c < seg_eob) {
if (!cm->frame_parallel_decoding_mode)
++coef_counts[type][ref][band][pt][DCT_EOB_MODEL_TOKEN];
}
return c;
}
/*
** NUMBER
** scans numerical constants (both integer and floating). Each
** constant is converted from ascii to its numerical representation
** and is entered into the symbol table, indexed by 'yylval'.
** A token is returned for the number type.
**
** due to the current atof in the utility library, floating overflow
** is not checked.
*/
int
number(char chr)
{
extern int yylval;
double ftemp;
long ltemp;
short itemp;
char buf[256];
register int lsave;
register char *ptr;
lsave = Lcase;
Lcase = 0;
ptr = buf;
if ((*ptr = chr) != '.') {
do {
/* get integer portion */
if ((ptr - buf) >= 256) {
/* buffer overflow */
par_error(NUMBUFOFLO, WARN, 0, 0, 0);
}
*++ptr = get_scan(NORMAL);
} while (parser_cmap(*ptr) == NUMBR);
}
/* do rest of type determination */
switch (*ptr) {
case '.':
/* floating point */
do {
/* fill into ptr with up to next non-digit */
if ((ptr - buf) >= 256) {
/* buf oflo */
par_error(NUMBUFOFLO, WARN, 0, 0, 0);
}
*++ptr = get_scan(NORMAL);
} while (parser_cmap(*ptr) == NUMBR);
if (*ptr != 'e' && *ptr != 'E') {
backup(*ptr);
*ptr = 0;
goto convr;
}
case 'e':
case 'E':
if ((ptr - buf) >= 256) {
par_error(NUMBUFOFLO, WARN, 0, 0, 0); /* buf oflo */
}
*++ptr = get_scan(NORMAL);
if (parser_cmap(*ptr) == NUMBR || *ptr == '-' || *ptr == '+') {
do {
/* get exponent */
if ((ptr - buf) >= 256) {
/* buf oflo */
par_error(NUMBUFOFLO, WARN, 0, 0, 0);
}
*++ptr = get_scan(NORMAL);
} while (parser_cmap(*ptr) == NUMBR);
}
backup(*ptr);
*ptr = 0;
/* FALLTHROUGH */
convr:
if (ingres_atof(buf, &ftemp)) {
/* floating conversion error */
par_error(FCONSTERR, WARN, buf, 0, 0);
}
yylval = (int) syment(&ftemp, 8);
Lastok.toktyp = Tokens.f8const;
break;
default:
/* integer */
backup(*ptr);
*ptr = 0;
if (ingres_atol(buf, <emp)) {
/* long conversion error */
goto convr;
}
if (ltemp > 32767) {
yylval = (int) syment(<emp, 4);
Lastok.toktyp = Tokens.i4const;
break;
}
itemp = ltemp;
yylval = (int) syment(&itemp, 2);
Lastok.toktyp = Tokens.i2const;
break;
}
Lcase = lsave;
Lastok.tok = (char *) yylval;
Lastok.tokop = 0;
return (Lastok.toktyp);
}
static int optimize_b(MACROBLOCK *mb, int plane, int block,
TX_SIZE tx_size, int ctx) {
MACROBLOCKD *const xd = &mb->e_mbd;
struct macroblock_plane *const p = &mb->plane[plane];
struct macroblockd_plane *const pd = &xd->plane[plane];
const int ref = is_inter_block(&xd->mi[0]->mbmi);
vp9_token_state tokens[1025][2];
unsigned best_index[1025][2];
uint8_t token_cache[1024];
const int16_t *const coeff = BLOCK_OFFSET(mb->plane[plane].coeff, block);
int16_t *const qcoeff = BLOCK_OFFSET(p->qcoeff, block);
int16_t *const dqcoeff = BLOCK_OFFSET(pd->dqcoeff, block);
const int eob = p->eobs[block];
const PLANE_TYPE type = pd->plane_type;
const int default_eob = 16 << (tx_size << 1);
const int mul = 1 + (tx_size == TX_32X32);
const int16_t *dequant_ptr = pd->dequant;
const uint8_t *const band_translate = get_band_translate(tx_size);
const scan_order *const so = get_scan(xd, tx_size, type, block);
const int16_t *const scan = so->scan;
const int16_t *const nb = so->neighbors;
int next = eob, sz = 0;
int64_t rdmult = mb->rdmult * plane_rd_mult[type], rddiv = mb->rddiv;
int64_t rd_cost0, rd_cost1;
int rate0, rate1, error0, error1, t0, t1;
int best, band, pt, i, final_eob;
assert((!type && !plane) || (type && plane));
assert(eob <= default_eob);
/* Now set up a Viterbi trellis to evaluate alternative roundings. */
if (!ref)
rdmult = (rdmult * 9) >> 4;
/* Initialize the sentinel node of the trellis. */
tokens[eob][0].rate = 0;
tokens[eob][0].error = 0;
tokens[eob][0].next = default_eob;
tokens[eob][0].token = EOB_TOKEN;
tokens[eob][0].qc = 0;
tokens[eob][1] = tokens[eob][0];
for (i = 0; i < eob; i++)
token_cache[scan[i]] =
vp9_pt_energy_class[vp9_dct_value_tokens_ptr[qcoeff[scan[i]]].token];
for (i = eob; i-- > 0;) {
int base_bits, d2, dx;
const int rc = scan[i];
int x = qcoeff[rc];
/* Only add a trellis state for non-zero coefficients. */
if (x) {
int shortcut = 0;
error0 = tokens[next][0].error;
error1 = tokens[next][1].error;
/* Evaluate the first possibility for this state. */
rate0 = tokens[next][0].rate;
rate1 = tokens[next][1].rate;
t0 = (vp9_dct_value_tokens_ptr + x)->token;
/* Consider both possible successor states. */
if (next < default_eob) {
band = band_translate[i + 1];
pt = trellis_get_coeff_context(scan, nb, i, t0, token_cache);
rate0 += mb->token_costs[tx_size][type][ref][band][0][pt]
[tokens[next][0].token];
rate1 += mb->token_costs[tx_size][type][ref][band][0][pt]
[tokens[next][1].token];
}
UPDATE_RD_COST();
/* And pick the best. */
best = rd_cost1 < rd_cost0;
base_bits = vp9_dct_value_cost_ptr[x];
dx = mul * (dqcoeff[rc] - coeff[rc]);
d2 = dx * dx;
tokens[i][0].rate = base_bits + (best ? rate1 : rate0);
tokens[i][0].error = d2 + (best ? error1 : error0);
tokens[i][0].next = next;
tokens[i][0].token = t0;
tokens[i][0].qc = x;
best_index[i][0] = best;
/* Evaluate the second possibility for this state. */
rate0 = tokens[next][0].rate;
rate1 = tokens[next][1].rate;
if ((abs(x) * dequant_ptr[rc != 0] > abs(coeff[rc]) * mul) &&
(abs(x) * dequant_ptr[rc != 0] < abs(coeff[rc]) * mul +
dequant_ptr[rc != 0]))
shortcut = 1;
else
shortcut = 0;
if (shortcut) {
sz = -(x < 0);
x -= 2 * sz + 1;
}
/* Consider both possible successor states. */
if (!x) {
/* If we reduced this coefficient to zero, check to see if
* we need to move the EOB back here.
*/
t0 = tokens[next][0].token == EOB_TOKEN ? EOB_TOKEN : ZERO_TOKEN;
t1 = tokens[next][1].token == EOB_TOKEN ? EOB_TOKEN : ZERO_TOKEN;
} else {
t0 = t1 = (vp9_dct_value_tokens_ptr + x)->token;
}
if (next < default_eob) {
band = band_translate[i + 1];
if (t0 != EOB_TOKEN) {
pt = trellis_get_coeff_context(scan, nb, i, t0, token_cache);
rate0 += mb->token_costs[tx_size][type][ref][band][!x][pt]
[tokens[next][0].token];
}
if (t1 != EOB_TOKEN) {
pt = trellis_get_coeff_context(scan, nb, i, t1, token_cache);
rate1 += mb->token_costs[tx_size][type][ref][band][!x][pt]
[tokens[next][1].token];
}
}
UPDATE_RD_COST();
/* And pick the best. */
best = rd_cost1 < rd_cost0;
base_bits = vp9_dct_value_cost_ptr[x];
if (shortcut) {
dx -= (dequant_ptr[rc != 0] + sz) ^ sz;
d2 = dx * dx;
}
tokens[i][1].rate = base_bits + (best ? rate1 : rate0);
tokens[i][1].error = d2 + (best ? error1 : error0);
tokens[i][1].next = next;
tokens[i][1].token = best ? t1 : t0;
tokens[i][1].qc = x;
best_index[i][1] = best;
/* Finally, make this the new head of the trellis. */
next = i;
} else {
/* There's no choice to make for a zero coefficient, so we don't
* add a new trellis node, but we do need to update the costs.
*/
band = band_translate[i + 1];
t0 = tokens[next][0].token;
t1 = tokens[next][1].token;
/* Update the cost of each path if we're past the EOB token. */
if (t0 != EOB_TOKEN) {
tokens[next][0].rate +=
mb->token_costs[tx_size][type][ref][band][1][0][t0];
tokens[next][0].token = ZERO_TOKEN;
}
if (t1 != EOB_TOKEN) {
tokens[next][1].rate +=
mb->token_costs[tx_size][type][ref][band][1][0][t1];
tokens[next][1].token = ZERO_TOKEN;
}
best_index[i][0] = best_index[i][1] = 0;
/* Don't update next, because we didn't add a new node. */
}
}
/* Now pick the best path through the whole trellis. */
band = band_translate[i + 1];
rate0 = tokens[next][0].rate;
rate1 = tokens[next][1].rate;
error0 = tokens[next][0].error;
error1 = tokens[next][1].error;
t0 = tokens[next][0].token;
t1 = tokens[next][1].token;
rate0 += mb->token_costs[tx_size][type][ref][band][0][ctx][t0];
rate1 += mb->token_costs[tx_size][type][ref][band][0][ctx][t1];
UPDATE_RD_COST();
best = rd_cost1 < rd_cost0;
final_eob = -1;
vpx_memset(qcoeff, 0, sizeof(*qcoeff) * (16 << (tx_size * 2)));
vpx_memset(dqcoeff, 0, sizeof(*dqcoeff) * (16 << (tx_size * 2)));
for (i = next; i < eob; i = next) {
const int x = tokens[i][best].qc;
const int rc = scan[i];
if (x) {
final_eob = i;
}
qcoeff[rc] = x;
dqcoeff[rc] = (x * dequant_ptr[rc != 0]) / mul;
next = tokens[i][best].next;
best = best_index[i][best];
}
final_eob++;
mb->plane[plane].eobs[block] = final_eob;
return final_eob;
}
void RTCHokuyoAIST::request_scan()
{
coil::Guard<coil::Mutex> guard(mutex_);
get_scan();
}
