From 9b453537fee5142076cded4db076df8097e05ab0 Mon Sep 17 00:00:00 2001
From: xing <xing@DESKTOP-VVL9AE6.localdomain>
Date: Mon, 7 Nov 2022 15:59:45 +0800
Subject: [PATCH] use the new function replace the deprecated function

---
 .../liveview/dji_camera_stream_decoder.cpp    | 554 +++++++++---------
 .../liveview/dji_camera_stream_decoder.hpp    | 193 +++---
 2 files changed, 374 insertions(+), 373 deletions(-)

diff --git a/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp b/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp
index 9c723a3a..ebb24f56 100644
--- a/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp
+++ b/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.cpp
@@ -1,277 +1,277 @@
-/**
- ********************************************************************
- * @file    dji_camera_stream_decoder.cpp
- * @brief
- *
- * @copyright (c) 2021 DJI. All rights reserved.
- *
- * All information contained herein is, and remains, the property of DJI.
- * The intellectual and technical concepts contained herein are proprietary
- * to DJI and may be covered by U.S. and foreign patents, patents in process,
- * and protected by trade secret or copyright law.  Dissemination of this
- * information, including but not limited to data and other proprietary
- * material(s) incorporated within the information, in any form, is strictly
- * prohibited without the express written consent of DJI.
- *
- * If you receive this source code without DJI’s authorization, you may not
- * further disseminate the information, and you must immediately remove the
- * source code and notify DJI of its removal. DJI reserves the right to pursue
- * legal actions against you for any loss(es) or damage(s) caused by your
- * failure to do so.
- *
- *********************************************************************
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "dji_camera_stream_decoder.hpp"
-#include "unistd.h"
-#include "pthread.h"
-#include "dji_logger.h"
-
-/* Private constants ---------------------------------------------------------*/
-
-/* Private types -------------------------------------------------------------*/
-
-/* Private values -------------------------------------------------------------*/
-
-/* Private functions declaration ---------------------------------------------*/
-
-/* Exported functions definition ---------------------------------------------*/
-DJICameraStreamDecoder::DJICameraStreamDecoder()
-    : initSuccess(false),
-      cbThreadIsRunning(false),
-      cbThreadStatus(-1),
-      cb(nullptr),
-      cbUserParam(nullptr),
-      pCodecCtx(nullptr),
-      pCodec(nullptr),
-      pCodecParserCtx(nullptr),
-      pSwsCtx(nullptr),
-      pFrameYUV(nullptr),
-      pFrameRGB(nullptr),
-      rgbBuf(nullptr),
-      bufSize(0)
-{
-    pthread_mutex_init(&decodemutex, nullptr);
-}
-
-DJICameraStreamDecoder::~DJICameraStreamDecoder()
-{
-    pthread_mutex_destroy(&decodemutex);
-    if(cb)
-    {
-        registerCallback(nullptr, nullptr);
-    }
-
-    cleanup();
-}
-
-bool DJICameraStreamDecoder::init()
-{
-    pthread_mutex_lock(&decodemutex);
-
-    if (true == initSuccess) {
-        USER_LOG_INFO("Decoder already initialized.\n");
-        return true;
-    }
-
-    avcodec_register_all();
-    pCodecCtx = avcodec_alloc_context3(nullptr);
-    if (!pCodecCtx) {
-        return false;
-    }
-
-    pCodecCtx->thread_count = 4;
-    pCodec = avcodec_find_decoder(AV_CODEC_ID_H264);
-    if (!pCodec || avcodec_open2(pCodecCtx, pCodec, nullptr) < 0) {
-        return false;
-    }
-
-    pCodecParserCtx = av_parser_init(AV_CODEC_ID_H264);
-    if (!pCodecParserCtx) {
-        return false;
-    }
-
-    pFrameYUV = av_frame_alloc();
-    if (!pFrameYUV) {
-        return false;
-    }
-
-    pFrameRGB = av_frame_alloc();
-    if (!pFrameRGB) {
-        return false;
-    }
-
-    pSwsCtx = nullptr;
-
-    pCodecCtx->flags2 |= AV_CODEC_FLAG2_SHOW_ALL;
-    initSuccess = true;
-
-    pthread_mutex_unlock(&decodemutex);
-
-    return true;
-}
-
-void DJICameraStreamDecoder::cleanup()
-{
-    pthread_mutex_lock(&decodemutex);
-
-    initSuccess = false;
-    if (nullptr != pSwsCtx) {
-        sws_freeContext(pSwsCtx);
-        pSwsCtx = nullptr;
-    }
-
-    if (nullptr != pFrameYUV) {
-        av_free(pFrameYUV);
-        pFrameYUV = nullptr;
-    }
-
-    if (nullptr != pCodecParserCtx) {
-        av_parser_close(pCodecParserCtx);
-        pCodecParserCtx = nullptr;
-    }
-
-    if (nullptr != pCodec) {
-        avcodec_close(pCodecCtx);
-        pCodec = nullptr;
-    }
-
-    if (nullptr != pCodecCtx) {
-        av_free(pCodecCtx);
-        pCodecCtx = nullptr;
-    }
-
-    if (nullptr != rgbBuf) {
-        av_free(rgbBuf);
-        rgbBuf = nullptr;
-    }
-
-    if (nullptr != pFrameRGB) {
-        av_free(pFrameRGB);
-        pFrameRGB = nullptr;
-    }
-
-    pthread_mutex_unlock(&decodemutex);
-}
-
-void *DJICameraStreamDecoder::callbackThreadEntry(void *p)
-{
-    //DSTATUS_PRIVATE("****** Decoder Callback Thread Start ******\n");
-    usleep(50 * 1000);
-    static_cast<DJICameraStreamDecoder *>(p)->callbackThreadFunc();
-    return nullptr;
-}
-
-void DJICameraStreamDecoder::callbackThreadFunc()
-{
-    while (cbThreadIsRunning) {
-        CameraRGBImage copyOfImage;
-        if (!decodedImageHandler.getNewImageWithLock(copyOfImage, 1000)) {
-            //DDEBUG_PRIVATE("Decoder Callback Thread: Get image time out\n");
-            continue;
-        }
-
-        if (cb) {
-            (*cb)(copyOfImage, cbUserParam);
-        }
-    }
-}
-
-void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
-{
-    const uint8_t *pData = buf;
-    int remainingLen = bufLen;
-    int processedLen = 0;
-
-    AVPacket pkt;
-    av_init_packet(&pkt);
-    pthread_mutex_lock(&decodemutex);
-    while (remainingLen > 0) {
-        if (!pCodecParserCtx || !pCodecCtx) {
-            //DSTATUS("Invalid decoder ctx.");
-            break;
-        }
-        processedLen = av_parser_parse2(pCodecParserCtx, pCodecCtx,
-                                        &pkt.data, &pkt.size,
-                                        pData, remainingLen,
-                                        AV_NOPTS_VALUE, AV_NOPTS_VALUE, AV_NOPTS_VALUE);
-        remainingLen -= processedLen;
-        pData += processedLen;
-
-        if (pkt.size > 0) {
-            int gotPicture = 0;
-            avcodec_decode_video2(pCodecCtx, pFrameYUV, &gotPicture, &pkt);
-
-            if (!gotPicture) {
-                ////DSTATUS_PRIVATE("Got Frame, but no picture\n");
-                continue;
-            } else {
-                int w = pFrameYUV->width;
-                int h = pFrameYUV->height;
-                ////DSTATUS_PRIVATE("Got picture! size=%dx%d\n", w, h);
-
-                if (nullptr == pSwsCtx) {
-                    pSwsCtx = sws_getContext(w, h, pCodecCtx->pix_fmt,
-                                             w, h, AV_PIX_FMT_RGB24,
-                                             4, nullptr, nullptr, nullptr);
-                }
-
-                if (nullptr == rgbBuf) {
-                    bufSize = avpicture_get_size(AV_PIX_FMT_RGB24, w, h);
-                    rgbBuf = (uint8_t *) av_malloc(bufSize);
-                    avpicture_fill((AVPicture *) pFrameRGB, rgbBuf, AV_PIX_FMT_RGB24, w, h);
-                }
-
-                if (nullptr != pSwsCtx && nullptr != rgbBuf) {
-                    sws_scale(pSwsCtx,
-                              (uint8_t const *const *) pFrameYUV->data, pFrameYUV->linesize, 0, pFrameYUV->height,
-                              pFrameRGB->data, pFrameRGB->linesize);
-
-                    pFrameRGB->height = h;
-                    pFrameRGB->width = w;
-
-                    decodedImageHandler.writeNewImageWithLock(pFrameRGB->data[0], bufSize, w, h);
-                }
-            }
-        }
-    }
-    pthread_mutex_unlock(&decodemutex);
-    av_free_packet(&pkt);
-}
-
-bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param)
-{
-    cb = f;
-    cbUserParam = param;
-
-    /* When users register a non-nullptr callback, we will start the callback thread. */
-    if (nullptr != cb) {
-        if (!cbThreadIsRunning) {
-            cbThreadStatus = pthread_create(&callbackThread, nullptr, callbackThreadEntry, this);
-            if (0 == cbThreadStatus) {
-                //DSTATUS_PRIVATE("User callback thread created successfully!\n");
-                cbThreadIsRunning = true;
-                return true;
-            } else {
-                //DERROR_PRIVATE("User called thread creation failed!\n");
-                cbThreadIsRunning = false;
-                return false;
-            }
-        } else {
-            //DERROR_PRIVATE("Callback thread already running!\n");
-            return true;
-        }
-    } else {
-        if (cbThreadStatus == 0) {
-            cbThreadIsRunning = false;
-            pthread_join(callbackThread, nullptr);
-            cbThreadStatus = -1;
-        }
-        return true;
-    }
-}
-
-/* Private functions definition-----------------------------------------------*/
-
-/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
+/**
+ ********************************************************************
+ * @file    dji_camera_stream_decoder.cpp
+ * @brief
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_camera_stream_decoder.hpp"
+#include "unistd.h"
+#include "pthread.h"
+#include "dji_logger.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+DJICameraStreamDecoder::DJICameraStreamDecoder()
+    : initSuccess(false),
+      cbThreadIsRunning(false),
+      cbThreadStatus(-1),
+      cb(nullptr),
+      cbUserParam(nullptr),
+      pCodecCtx(nullptr),
+      pCodec(nullptr),
+      pCodecParserCtx(nullptr),
+      pSwsCtx(nullptr),
+      pFrameYUV(nullptr),
+      pFrameRGB(nullptr),
+      rgbBuf(nullptr),
+      bufSize(0)
+{
+    pthread_mutex_init(&decodemutex, nullptr);
+}
+
+DJICameraStreamDecoder::~DJICameraStreamDecoder()
+{
+    pthread_mutex_destroy(&decodemutex);
+    if(cb)
+    {
+        registerCallback(nullptr, nullptr);
+    }
+
+    cleanup();
+}
+
+bool DJICameraStreamDecoder::init()
+{
+    pthread_mutex_lock(&decodemutex);
+
+    if (true == initSuccess) {
+        USER_LOG_INFO("Decoder already initialized.\n");
+        return true;
+    }
+
+    //avcodec_register_all();
+    pCodecCtx = avcodec_alloc_context3(nullptr);
+    if (!pCodecCtx) {
+        return false;
+    }
+
+    pCodecCtx->thread_count = 4;
+    pCodec =const_cast<AVCodec*>(avcodec_find_decoder(AV_CODEC_ID_H264));
+    if (!pCodec || avcodec_open2(pCodecCtx, pCodec, nullptr) < 0) {
+        return false;
+    }
+    pCodecParserCtx = av_parser_init(AV_CODEC_ID_H264);
+    if (!pCodecParserCtx) {
+        return false;
+    }
+
+    pFrameYUV = av_frame_alloc();
+    if (!pFrameYUV) {
+        return false;
+    }
+
+    pFrameRGB = av_frame_alloc();
+    if (!pFrameRGB) {
+        return false;
+    }
+
+    pSwsCtx = nullptr;
+
+    pCodecCtx->flags2 |= AV_CODEC_FLAG2_SHOW_ALL;
+    initSuccess = true;
+
+    pthread_mutex_unlock(&decodemutex);
+
+    return true;
+}
+
+void DJICameraStreamDecoder::cleanup()
+{
+    pthread_mutex_lock(&decodemutex);
+
+    initSuccess = false;
+    if (nullptr != pSwsCtx) {
+        sws_freeContext(pSwsCtx);
+        pSwsCtx = nullptr;
+    }
+
+    if (nullptr != pFrameYUV) {
+        av_free(pFrameYUV);
+        pFrameYUV = nullptr;
+    }
+
+    if (nullptr != pCodecParserCtx) {
+        av_parser_close(pCodecParserCtx);
+        pCodecParserCtx = nullptr;
+    }
+
+    if (nullptr != pCodec) {
+        avcodec_close(pCodecCtx);
+        pCodec = nullptr;
+    }
+
+    if (nullptr != pCodecCtx) {
+        av_free(pCodecCtx);
+        pCodecCtx = nullptr;
+    }
+
+    if (nullptr != rgbBuf) {
+        av_free(rgbBuf);
+        rgbBuf = nullptr;
+    }
+
+    if (nullptr != pFrameRGB) {
+        av_free(pFrameRGB);
+        pFrameRGB = nullptr;
+    }
+
+    pthread_mutex_unlock(&decodemutex);
+}
+
+void *DJICameraStreamDecoder::callbackThreadEntry(void *p)
+{
+    //DSTATUS_PRIVATE("****** Decoder Callback Thread Start ******\n");
+    usleep(50 * 1000);
+    static_cast<DJICameraStreamDecoder *>(p)->callbackThreadFunc();
+    return nullptr;
+}
+
+void DJICameraStreamDecoder::callbackThreadFunc()
+{
+    while (cbThreadIsRunning) {
+        CameraRGBImage copyOfImage;
+        if (!decodedImageHandler.getNewImageWithLock(copyOfImage, 1000)) {
+            //DDEBUG_PRIVATE("Decoder Callback Thread: Get image time out\n");
+            continue;
+        }
+
+        if (cb) {
+            (*cb)(copyOfImage, cbUserParam);
+        }
+    }
+}
+
+void DJICameraStreamDecoder::decodeBuffer(const uint8_t *buf, int bufLen)
+{
+    const uint8_t *pData = buf;
+    int remainingLen = bufLen;
+    int processedLen = 0;
+
+    AVPacket pkt;
+    av_init_packet(&pkt);
+    pthread_mutex_lock(&decodemutex);
+    while (remainingLen > 0) {
+        if (!pCodecParserCtx || !pCodecCtx) {
+            //DSTATUS("Invalid decoder ctx.");
+            break;
+        }
+        processedLen = av_parser_parse2(pCodecParserCtx, pCodecCtx,
+                                        &pkt.data, &pkt.size,
+                                        pData, remainingLen,
+                                        AV_NOPTS_VALUE, AV_NOPTS_VALUE, AV_NOPTS_VALUE);
+        remainingLen -= processedLen;
+        pData += processedLen;
+
+        if (pkt.size > 0) {
+            //int gotPicture = 0;
+            //avcodec_decode_video2(pCodecCtx, pFrameYUV, &gotPicture, &pkt);
+            int ret = avcodec_send_packet(pCodecCtx, &pkt);
+            if (ret != 0){
+                continue;
+            }
+            while( avcodec_receive_frame(pCodecCtx, pFrameYUV) == 0){
+                int w = pFrameYUV->width;
+                int h = pFrameYUV->height;
+                ////DSTATUS_PRIVATE("Got picture! size=%dx%d\n", w, h);
+
+                if (nullptr == pSwsCtx) {
+                    pSwsCtx = sws_getContext(w, h, pCodecCtx->pix_fmt,
+                                             w, h, AV_PIX_FMT_RGB24,
+                                             4, nullptr, nullptr, nullptr);
+                }
+
+                if (nullptr == rgbBuf) {
+                    bufSize = av_image_get_buffer_size(AV_PIX_FMT_RGB24, w, h,1);
+                    rgbBuf = (uint8_t *) av_malloc(bufSize);
+                    //avpicture_fill((AVPicture *) pFrameRGB, rgbBuf, AV_PIX_FMT_RGB24, w, h);
+                    av_image_fill_arrays(pFrameRGB->data,pFrameRGB->linesize, rgbBuf, AV_PIX_FMT_YUV420P,pCodecCtx->width, pCodecCtx->height, 1);
+                }
+
+                if (nullptr != pSwsCtx && nullptr != rgbBuf) {
+                    sws_scale(pSwsCtx,
+                              (uint8_t const *const *) pFrameYUV->data, pFrameYUV->linesize, 0, pFrameYUV->height,
+                              pFrameRGB->data, pFrameRGB->linesize);
+
+                    pFrameRGB->height = h;
+                    pFrameRGB->width = w;
+
+                    decodedImageHandler.writeNewImageWithLock(pFrameRGB->data[0], bufSize, w, h);
+                }
+            }
+        }
+    }
+    pthread_mutex_unlock(&decodemutex);
+    av_packet_unref(&pkt);
+}
+
+bool DJICameraStreamDecoder::registerCallback(CameraImageCallback f, void *param)
+{
+    cb = f;
+    cbUserParam = param;
+
+    /* When users register a non-nullptr callback, we will start the callback thread. */
+    if (nullptr != cb) {
+        if (!cbThreadIsRunning) {
+            cbThreadStatus = pthread_create(&callbackThread, nullptr, callbackThreadEntry, this);
+            if (0 == cbThreadStatus) {
+                //DSTATUS_PRIVATE("User callback thread created successfully!\n");
+                cbThreadIsRunning = true;
+                return true;
+            } else {
+                //DERROR_PRIVATE("User called thread creation failed!\n");
+                cbThreadIsRunning = false;
+                return false;
+            }
+        } else {
+            //DERROR_PRIVATE("Callback thread already running!\n");
+            return true;
+        }
+    } else {
+        if (cbThreadStatus == 0) {
+            cbThreadIsRunning = false;
+            pthread_join(callbackThread, nullptr);
+            cbThreadStatus = -1;
+        }
+        return true;
+    }
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/
diff --git a/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp b/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp
index a0b3536b..1edffe65 100644
--- a/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp
+++ b/samples/sample_c++/module_sample/liveview/dji_camera_stream_decoder.hpp
@@ -1,96 +1,97 @@
-/**
- ********************************************************************
- * @file    dji_camera_stream_decoder.hpp
- * @brief   This is the header file for "dji_camera_stream_decoder.cpp", defining the structure and
- * (exported) function prototypes.
- *
- * @copyright (c) 2021 DJI. All rights reserved.
- *
- * All information contained herein is, and remains, the property of DJI.
- * The intellectual and technical concepts contained herein are proprietary
- * to DJI and may be covered by U.S. and foreign patents, patents in process,
- * and protected by trade secret or copyright law.  Dissemination of this
- * information, including but not limited to data and other proprietary
- * material(s) incorporated within the information, in any form, is strictly
- * prohibited without the express written consent of DJI.
- *
- * If you receive this source code without DJI’s authorization, you may not
- * further disseminate the information, and you must immediately remove the
- * source code and notify DJI of its removal. DJI reserves the right to pursue
- * legal actions against you for any loss(es) or damage(s) caused by your
- * failure to do so.
- *
- *********************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef DJI_CAMERA_STREAM_DECCODER_H
-#define DJI_CAMERA_STREAM_DECCODER_H
-
-/* Includes ------------------------------------------------------------------*/
-extern "C" {
-#include <libavcodec/avcodec.h>
-#include <libavformat/avformat.h>
-#include <libswscale/swscale.h>
-}
-
-#include "pthread.h"
-#include "dji_camera_image_handler.hpp"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Exported constants --------------------------------------------------------*/
-
-/* Exported types ------------------------------------------------------------*/
-class DJICameraStreamDecoder {
-public:
-    DJICameraStreamDecoder();
-    ~DJICameraStreamDecoder();
-    bool init();
-    void cleanup();
-
-    void callbackThreadFunc();
-    void decodeBuffer(const uint8_t *pBuf, int len);
-    static void *callbackThreadEntry(void *p);
-    bool registerCallback(CameraImageCallback f, void *param);
-    DJICameraImageHandler decodedImageHandler;
-
-private:
-    pthread_t callbackThread;
-    bool initSuccess;
-    bool cbThreadIsRunning;
-    int cbThreadStatus;
-    CameraImageCallback cb;
-    void *cbUserParam;
-
-    pthread_mutex_t decodemutex;
-    AVCodecContext *pCodecCtx;
-    AVCodec *pCodec;
-    AVCodecParserContext *pCodecParserCtx;
-    SwsContext *pSwsCtx;
-
-    AVFrame *pFrameYUV;
-    AVFrame *pFrameRGB;
-    uint8_t *rgbBuf;
-    size_t bufSize;
-};
-
-/* Exported functions --------------------------------------------------------*/
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // DJI_CAMERA_STREAM_DECCODER_H
-/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
-
-
-
-
-
-
-
-
-
+/**
+ ********************************************************************
+ * @file    dji_camera_stream_decoder.hpp
+ * @brief   This is the header file for "dji_camera_stream_decoder.cpp", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_CAMERA_STREAM_DECCODER_H
+#define DJI_CAMERA_STREAM_DECCODER_H
+
+/* Includes ------------------------------------------------------------------*/
+extern "C" {
+#include <libavcodec/avcodec.h>
+#include <libavformat/avformat.h>
+#include <libswscale/swscale.h>
+#include <libavutil/imgutils.h>
+}
+
+#include "pthread.h"
+#include "dji_camera_image_handler.hpp"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+class DJICameraStreamDecoder {
+public:
+    DJICameraStreamDecoder();
+    ~DJICameraStreamDecoder();
+    bool init();
+    void cleanup();
+
+    void callbackThreadFunc();
+    void decodeBuffer(const uint8_t *pBuf, int len);
+    static void *callbackThreadEntry(void *p);
+    bool registerCallback(CameraImageCallback f, void *param);
+    DJICameraImageHandler decodedImageHandler;
+
+private:
+    pthread_t callbackThread;
+    bool initSuccess;
+    bool cbThreadIsRunning;
+    int cbThreadStatus;
+    CameraImageCallback cb;
+    void *cbUserParam;
+
+    pthread_mutex_t decodemutex;
+    AVCodecContext *pCodecCtx;
+    AVCodec *pCodec;
+    AVCodecParserContext *pCodecParserCtx;
+    SwsContext *pSwsCtx;
+
+    AVFrame *pFrameYUV;
+    AVFrame *pFrameRGB;
+    uint8_t *rgbBuf;
+    size_t bufSize;
+};
+
+/* Exported functions --------------------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_CAMERA_STREAM_DECCODER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
+
+
+
+
+
+
+
+
+