text: /*
   * Copyright (C) 2016 Open Source Robotics Foundation
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *
  */
  #ifndef IGNITION_COMMON_FFMPEG_INC_HH_
  #define IGNITION_COMMON_FFMPEG_INC_HH_
  
  #include <string>
  
  #include <ignition/common/config.hh>
  
  #ifndef _WIN32
  #pragma GCC system_header
  #endif
  
  #ifndef INT64_C
  #define INT64_C(c) (c ## LL)
  #define UINT64_C(c) (c ## ULL)
  #endif
  
  #ifndef AV_ERROR_MAX_STRING_SIZE
  #define AV_ERROR_MAX_STRING_SIZE 64
  #endif
  
  extern "C" {
  #include <libavcodec/avcodec.h>
  #include <libavformat/avformat.h>
  #include <libswscale/swscale.h>
  #include <libavutil/mathematics.h>
  #include <libavutil/opt.h>
  #include <libavutil/error.h>
  #include <libavutil/imgutils.h>
  #include <libavutil/hwcontext.h>
  
  #if defined(__linux__) && defined(HAVE_AVDEVICE)
  #include <libavdevice/avdevice.h>
  #endif
  }
  
  #include <ignition/common/av/Export.hh>
  
  namespace ignition
  {
    namespace common
    {
      /// \brief Helper function to avoid deprecation warnings.
      IGNITION_COMMON_AV_VISIBLE
      AVFrame *AVFrameAlloc(void);
  
      /// \brief Helper function to avoid deprecation warnings.
      IGNITION_COMMON_AV_VISIBLE
      void AVFrameUnref(AVFrame *_frame);
  
      /// \brief Helper function to avoid deprecation warnings.
      /// \param[in] _packet AVPacket structure that stores compressed data
      IGNITION_COMMON_AV_VISIBLE
      void AVPacketUnref(AVPacket *_packet);
  
      /// \brief Helper function to avoid deprecation warnings
      /// from av_codec_decode_video2.
      /// \param[in] _codecCtx Codec context.
      /// \param[out] _frame AVFrame in which decoded video frame is stored.
      /// \param[out] _gotFrame Zero if no frame could be decompressed,
      /// otherwise nonzero.
      /// \param[in] _packet AVPacket structure that stores compressed data.
      /// \return On error or eof, a negative value is returned, otherwise
      /// the number of bytes used.
      /// \note If the codec is in draining mode, _packet can be null. The return
      /// value on success will then be 0, but _gotFrame will be non-zero.
      IGNITION_COMMON_AV_VISIBLE
      int AVCodecDecode(AVCodecContext *_codecCtx,
          AVFrame *_frame, int *_gotFrame, AVPacket *_packet);
  
      // av_err2str only works in C99, this is a version that works in C++;
      // https://github.com/joncampbell123/composite-video-simulator/issues/5#issuecomment-611885908
      inline std::string av_err2str_cpp(int errnum)
      {
        thread_local char buf[AV_ERROR_MAX_STRING_SIZE];
        memset(buf, 0, sizeof(buf));
        // lavu 51.58.100
        return av_make_error_string(buf, AV_ERROR_MAX_STRING_SIZE, errnum);
      }
    }
  }
  
  #endif
  