#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include "ufodecode.h"
#include "ufodecode-private.h"
#include "config.h"

#ifdef HAVE_SSE
#include <xmmintrin.h>
#endif

#define CHECKS

#define IPECAMERA_NUM_ROWS              1088
#define IPECAMERA_NUM_CHANNELS          16      /**< Number of channels per row */
#define IPECAMERA_PIXELS_PER_CHANNEL    128     /**< Number of pixels per channel */
#define IPECAMERA_WIDTH (IPECAMERA_NUM_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL) /**< Total pixel width of row */

#define IPECAMERA_MODE_16_CHAN_IO	0
#define IPECAMERA_MODE_4_CHAN_IO	2

#define IPECAMERA_MODE_12_BIT_ADC	2
#define IPECAMERA_MODE_11_BIT_ADC	1
#define IPECAMERA_MODE_10_BIT_ADC	0

typedef struct {
    unsigned int pixel_number : 8;
    unsigned int row_number : 12;
    unsigned int pixel_size : 4;
    unsigned int magic : 8;
} payload_header_v5;


/**
 * Check if value matches expected input.
 */
#ifdef DEBUG
# define CHECK_VALUE(value, expected) \
    if (value != expected) { \
        fprintf(stderr, "<%s:%i> 0x%x != 0x%x\n", __FILE__, __LINE__, value, expected); \
        err = 1; \
    }
#else
# define CHECK_VALUE(value, expected) \
    if (value != expected) { \
        err = 1; \
    }
#endif

/**
 * Check that flag evaluates to non-zero.
 */
#ifdef DEBUG
# define CHECK_FLAG(flag, check, ...) \
    if (!(check)) { \
        fprintf(stderr, "<%s:%i> Unexpected value 0x%x of " flag "\n", __FILE__, __LINE__,  __VA_ARGS__); \
        err = 1; \
    }
#else
# define CHECK_FLAG(flag, check, ...) \
    if (!(check)) { \
        err = 1; \
    }
#endif

/**
 * \brief Setup a new decoder instance
 *
 * \param height Number of rows that are expected in the data stream. Set this
 *      smaller 0 to let the decoder figure out the number of rows.
 * \param raw The data stream from the camera or NULL if set later with
 * ufo_decoder_set_raw_data.
 * \param num_bytes Size of the data stream buffer in bytes
 *
 * \return A new decoder instance that can be used to iterate over the frames
 * using ufo_decoder_get_next_frame.
 */
UfoDecoder *
ufo_decoder_new (int32_t height, uint32_t width, uint32_t *raw, size_t num_bytes)
{
    if (width % IPECAMERA_PIXELS_PER_CHANNEL)
        return NULL;

    UfoDecoder *decoder = malloc(sizeof(UfoDecoder));

    if (decoder == NULL)
        return NULL;

    decoder->width = width;
    decoder->height = height;
    ufo_decoder_set_raw_data(decoder, raw, num_bytes);
    return decoder;
}

/**
 * \brief Release decoder instance
 *
 * \param decoder An UfoDecoder instance
 */
void
ufo_decoder_free(UfoDecoder *decoder)
{
    free(decoder);
}

/**
 * \brief Set raw data stream
 *
 * \param decoder An UfoDecoder instance
 * \param raw Raw data stream
 * \param num_bytes Size of data stream buffer in bytes
 */
void
ufo_decoder_set_raw_data(UfoDecoder *decoder, uint32_t *raw, size_t num_bytes)
{
    decoder->raw = raw;
    decoder->num_bytes = num_bytes;
    decoder->current_pos = 0;
}

static int
ufo_decode_frame_channels_v0(UfoDecoder     *decoder,
                             uint16_t       *pixel_buffer,
                             uint32_t       *raw,
                             size_t          num_words,
                             size_t         *offset)
{
    static int channel_order[IPECAMERA_NUM_CHANNELS] = { 15, 13, 14, 12, 10, 8, 11, 7, 9, 6, 5, 2, 4, 3, 0, 1 };
    static int channel_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3);

    const int bytes = channel_size - 1;
    const int num_rows = decoder->height;
    const size_t cpl = (decoder->width / IPECAMERA_PIXELS_PER_CHANNEL);
    const size_t cpi = num_rows * cpl;
    int pos = 0;
    uint32_t data;

#if defined(HAVE_SSE) && !defined(DEBUG)
    __m128i mask = _mm_set_epi32(0x3FF, 0x3FF, 0x3FF, 0x3FF);
    __m128i packed;
    __m128i tmp1, tmp2;
    uint32_t result[4] __attribute__ ((aligned (16))) = {0};
#endif

    if (cpi * channel_size > num_words) {
#ifdef DEBUG
        fprintf(stderr, "Not enough data to decode frame, expected %lu bytes, but received %lu\n", cpi * channel_size * sizeof(uint32_t), num_words * sizeof(uint32_t));
#endif
        return EILSEQ;
    }

    for (size_t c = 0; c < cpi; c++) {
        const int info = raw[0];
        int row = (info >> 4) & 0x7FF;
        int channel = info & 0x0F;
        int pixels = (info >> 20) & 0xFF;

#ifdef CHECKS
        int header = (info >> 30) & 0x03;
        const int bpp = (info >> 16) & 0x0F;
        int err;
        CHECK_FLAG("raw header magick", header == 2, header);
        CHECK_FLAG("row number, only %i rows requested", row < num_rows, row, num_rows);
        CHECK_FLAG("pixel size, only 10 bits are supported", bpp == 10, bpp);
        CHECK_FLAG("channel, limited by %zu output channels", channel < cpl, channel, cpl);
#endif

        if ((row > num_rows) || (channel > cpl) || (pixels > IPECAMERA_PIXELS_PER_CHANNEL))
            return EILSEQ;

        channel = channel_order[channel];
        int base = row * IPECAMERA_WIDTH + channel * IPECAMERA_PIXELS_PER_CHANNEL;

        /* "Correct" missing pixel */
        if ((row < 2) && (pixels == (IPECAMERA_PIXELS_PER_CHANNEL - 1))) {
            pixel_buffer[base] = 0;
            /* base++; */
        }
#ifdef CHECKS
        else
            CHECK_FLAG("number of pixels, %i is expected", pixels == IPECAMERA_PIXELS_PER_CHANNEL, pixels, IPECAMERA_PIXELS_PER_CHANNEL);
#endif

#if defined(HAVE_SSE) && !defined(DEBUG)
        for (int i = 1 ; i < bytes-4; i += 4, base += 12) {
            packed = _mm_set_epi32(raw[i], raw[i+1], raw[i+2], raw[i+3]);

            tmp1 = _mm_srli_epi32(packed, 20);
            tmp2 = _mm_and_si128(tmp1, mask);
            _mm_storeu_si128((__m128i*) result, tmp2);

            pixel_buffer[base+0] = result[3];
            pixel_buffer[base+3] = result[2];
            pixel_buffer[base+6] = result[1];
            pixel_buffer[base+9] = result[0];

            tmp1 = _mm_srli_epi32(packed, 10);
            tmp2 = _mm_and_si128(tmp1, mask);
            _mm_storeu_si128((__m128i*) result, tmp2);
            pixel_buffer[base+1] = result[3];
            pixel_buffer[base+4] = result[2];
            pixel_buffer[base+7] = result[1];
            pixel_buffer[base+10] = result[0];

            tmp1 = _mm_and_si128(packed, mask);
            _mm_storeu_si128((__m128i*) result, tmp1);
            pixel_buffer[base+2] = result[3];
            pixel_buffer[base+5] = result[2];
            pixel_buffer[base+8] = result[1];
            pixel_buffer[base+11] = result[0];
        }

        /* Compute last pixels by hand */
        data = raw[41];
        pixel_buffer[base++] = (data >> 20) & 0x3FF;
        pixel_buffer[base++] = (data >> 10) & 0x3FF;
        pixel_buffer[base++] = data & 0x3FF;

        data = raw[42];
        pixel_buffer[base++] = (data >> 20) & 0x3FF;
        pixel_buffer[base++] = (data >> 10) & 0x3FF;
        pixel_buffer[base++] = data & 0x3FF;
#else
        for (int i = 1 ; i < bytes; i++) {
            data = raw[i];
#ifdef DEBUG
            header = (data >> 30) & 0x03;
            CHECK_FLAG("raw data magic", header == 3, header);
            if (err)
                return err;
#endif
            pixel_buffer[base++] = (data >> 20) & 0x3FF;
            pixel_buffer[base++] = (data >> 10) & 0x3FF;
            pixel_buffer[base++] = data & 0x3FF;
        }
#endif

        data = raw[bytes];
#ifdef DEBUG
        header = (data >> 30) & 0x03;
        CHECK_FLAG("raw data magic", header == 3, header);
        CHECK_FLAG("raw footer magic", (data & 0x3FF) == 0x55, (data & 0x3FF));
        if (err)
            return err;
#endif

        int ppw = pixels >> 6;
        for (int j = 0; j < ppw; j++)
            pixel_buffer[base++] = (data >> (10 * (ppw - j))) & 0x3FF;

        pos += channel_size;
        raw += channel_size;
    }

    *offset = pos;
    return 0;
}

static int
ufo_decode_frame_channels_v4(UfoDecoder     *decoder,
                             uint16_t       *pixel_buffer,
                             uint32_t       *raw,
                             size_t          num_words,
                             size_t          num_rows,
                             size_t         *offset)
{
    static const int channel_order[IPECAMERA_NUM_CHANNELS] = { 15, 13, 14, 12, 10, 8, 11, 7, 9, 6, 5, 2, 4, 3, 0, 1 };
    static const int channel_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3);

    const int bytes = channel_size - 1;
    const size_t channels_per_row = (decoder->width / IPECAMERA_PIXELS_PER_CHANNEL);
    const size_t cpi = num_rows * channels_per_row;
    int pos = 0;
    uint32_t data;

#if defined(HAVE_SSE) && !defined(DEBUG)
    __m128i mask = _mm_set_epi32(0x3FF, 0x3FF, 0x3FF, 0x3FF);
    __m128i packed;
    __m128i tmp1, tmp2;
    uint32_t result[4] __attribute__ ((aligned (16))) = {0};
#endif

    if (cpi * channel_size > num_words) {
#ifdef DEBUG
        fprintf(stderr, "Not enough data to decode frame, expected %lu bytes, but received %lu\n", cpi * channel_size * sizeof(uint32_t), num_words * sizeof(uint32_t));
#endif
        return EILSEQ;
    }

    for (size_t c = 0; c < cpi; c++) {
        const int info = raw[0];
        int row = (info >> 4) & 0x7FF;
        int channel = info & 0x0F;
        int pixels = (info >> 20) & 0xFF;

#ifdef DEBUG
        int err = 0;
        int header = (info >> 30) & 0x03;
        const int bpp = (info >> 16) & 0x0F;
        CHECK_FLAG("raw header magick", header == 2, header);
        CHECK_FLAG("pixel size, only 10 bits are supported", bpp == 10, bpp);
        CHECK_FLAG("channel, limited by %zu output channels", channel < channels_per_row, channel, channels_per_row);
#endif

        if ((channel > channels_per_row) || (pixels > IPECAMERA_PIXELS_PER_CHANNEL))
            return EILSEQ;

        channel = channel_order[channel];
        int base = row * IPECAMERA_WIDTH + channel * IPECAMERA_PIXELS_PER_CHANNEL;

        /* "Correct" missing pixel */
        if ((row < 2) && (pixels == (IPECAMERA_PIXELS_PER_CHANNEL - 1))) {
            pixel_buffer[base] = 0;
            /* base++; */
        }

#if defined(HAVE_SSE) && !defined(DEBUG)
        for (int i = 1 ; i < bytes-4; i += 4, base += 12) {
            packed = _mm_set_epi32(raw[i], raw[i+1], raw[i+2], raw[i+3]);

            tmp1 = _mm_srli_epi32(packed, 20);
            tmp2 = _mm_and_si128(tmp1, mask);
            _mm_storeu_si128((__m128i*) result, tmp2);

            pixel_buffer[base+0] = result[3];
            pixel_buffer[base+3] = result[2];
            pixel_buffer[base+6] = result[1];
            pixel_buffer[base+9] = result[0];

            tmp1 = _mm_srli_epi32(packed, 10);
            tmp2 = _mm_and_si128(tmp1, mask);
            _mm_storeu_si128((__m128i*) result, tmp2);
            pixel_buffer[base+1] = result[3];
            pixel_buffer[base+4] = result[2];
            pixel_buffer[base+7] = result[1];
            pixel_buffer[base+10] = result[0];

            tmp1 = _mm_and_si128(packed, mask);
            _mm_storeu_si128((__m128i*) result, tmp1);
            pixel_buffer[base+2] = result[3];
            pixel_buffer[base+5] = result[2];
            pixel_buffer[base+8] = result[1];
            pixel_buffer[base+11] = result[0];
        }

        /* Compute last pixels by hand */
        data = raw[41];
        pixel_buffer[base++] = (data >> 20) & 0x3FF;
        pixel_buffer[base++] = (data >> 10) & 0x3FF;
        pixel_buffer[base++] = data & 0x3FF;

        data = raw[42];
        pixel_buffer[base++] = (data >> 20) & 0x3FF;
        pixel_buffer[base++] = (data >> 10) & 0x3FF;
        pixel_buffer[base++] = data & 0x3FF;
#else
        for (int i = 1 ; i < bytes; i++) {
            data = raw[i];
#ifdef DEBUG
            header = (data >> 30) & 0x03;
            CHECK_FLAG("raw data magic", header == 3, header);
            if (err)
                return err;
#endif
            pixel_buffer[base++] = (data >> 20) & 0x3FF;
            pixel_buffer[base++] = (data >> 10) & 0x3FF;
            pixel_buffer[base++] = data & 0x3FF;
        }
#endif

        data = raw[bytes];
#ifdef DEBUG
        header = (data >> 30) & 0x03;
        CHECK_FLAG("raw data magic", header == 3, header);
        CHECK_FLAG("raw footer magic", (data & 0x3FF) == 0x55, (data & 0x3FF));
        if (err)
            return err;
#endif

        int ppw = pixels >> 6;
        for (int j = 0; j < ppw; j++)
            pixel_buffer[base++] = (data >> (10 * (ppw - j))) & 0x3FF;

        pos += channel_size;
        raw += channel_size;
    }

    *offset = pos;
    return 0;
}

static int
ufo_decode_frame_channels_v5(UfoDecoder     *decoder,
                             uint16_t       *pixel_buffer,
                             uint32_t       *raw,
                             size_t          num_rows,
                             size_t         *offset,
                             uint8_t         output_mode)
{
    payload_header_v5 *header;
    size_t base = 0, index = 0;

    header = (payload_header_v5 *) &raw[base];

    if (output_mode == IPECAMERA_MODE_4_CHAN_IO) {
        size_t off = 0;

        while (raw[base] != 0xAAAAAAA) {
            header = (payload_header_v5 *) &raw[base];
            index = header->row_number * IPECAMERA_WIDTH + header->pixel_number;

            /* Skip header + one zero-filled words */
            base += 2;

            if ((header->magic != 0xe0) && (header->magic != 0xc0)) {
                pixel_buffer[index +  (0+off)*IPECAMERA_PIXELS_PER_CHANNEL] = 0xfff & (raw[base+5] >> 12);
                pixel_buffer[index +  (4+off)*IPECAMERA_PIXELS_PER_CHANNEL] = 0xfff & (raw[base+4] >> 4);
                pixel_buffer[index +  (8+off)*IPECAMERA_PIXELS_PER_CHANNEL] = ((0xf & raw[base+1]) << 8) | (raw[base+2] >> 24);
                pixel_buffer[index + (12+off)*IPECAMERA_PIXELS_PER_CHANNEL] = 0xfff & (raw[base+1] >> 16);
            }
            else {
                off++;

                if (header->magic == 0xc0)
                    off = 0;
            }

            base += 6;
        }
    }
    else {
        while (raw[base] != 0xAAAAAAA) {
            header = (payload_header_v5 *) &raw[base];
            index = header->row_number * IPECAMERA_WIDTH + header->pixel_number;

            /* Skip header + two zero-filled words */
            base += 2;

            if (header->magic != 0xc0) {
                pixel_buffer[index + 15*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base] >> 20);
                pixel_buffer[index + 13*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base] >> 8);
                pixel_buffer[index + 14*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (((0xff & raw[base]) << 4) | (raw[base+1] >> 28));
                pixel_buffer[index + 12*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+1] >> 16);
                pixel_buffer[index + 10*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+1] >> 4);
                pixel_buffer[index +  8*IPECAMERA_PIXELS_PER_CHANNEL] = ((0x3 & raw[base+1]) << 8) | (raw[base+2] >> 24);
                pixel_buffer[index + 11*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+2] >> 12);
                pixel_buffer[index +  7*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & raw[base+2];
                pixel_buffer[index +  9*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+3] >> 20);
                pixel_buffer[index +  6*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+3] >> 8);
                pixel_buffer[index +  5*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (((0xff & raw[base+3]) << 4) | (raw[base+4] >> 28));
                pixel_buffer[index +  2*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+4] >> 16);
                pixel_buffer[index +  4*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+4] >> 4);
                pixel_buffer[index +  3*IPECAMERA_PIXELS_PER_CHANNEL] = ((0x3 & raw[base+4]) << 8) | (raw[base+5] >> 24);
                pixel_buffer[index +  0*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & (raw[base+5] >> 12);
                pixel_buffer[index +  1*IPECAMERA_PIXELS_PER_CHANNEL] = 0x3ff & raw[base+5];
            }

            base += 6;
        }
    }

    *offset = base;
    return 0;
}

/**
 * \brief Deinterlace by interpolating between two rows
 *
 * \param in Input frame
 * \param out Destination of interpolated frame
 * \param width Width of frame in pixels
 * \param height Height of frame in pixels
 */
void ufo_deinterlace_interpolate(const uint16_t *in, uint16_t *out, int width, int height)
{
    const size_t row_size_bytes = width * sizeof(uint16_t);

    for (int row = 0; row < height; row++) {
        /* Copy one line */
        memcpy(out, in + row*width, row_size_bytes);
        out += width;

        /* Interpolate between source row and row+1 */
        for (int x = 0; x < width; x++)
            out[x] = (int) (0.5 * in[row*width + x] + 0.5 * in[(row+1)*width + x]);

        out += width;
    }

    /* Copy last row */
    memcpy(out, in + width * (height - 1), row_size_bytes);
}

/**
 * \brief Deinterlace by "weaving" the rows of two frames
 *
 * \param in1 First frame
 * \param in2 Second frame
 * \param out Destination of weaved frame
 * \param width Width of frame in pixels
 * \param height Height of frame in pixels
 */
void ufo_deinterlace_weave(const uint16_t *in1, const uint16_t *in2, uint16_t *out, int width, int height)
{
    const size_t row_size_bytes = width * sizeof(uint16_t);
    for (int row = 0; row < height; row++) {
        memcpy(out, in1 + row*width, row_size_bytes);
        out += width;
        memcpy(out, in2 + row*width, row_size_bytes);
        out += width;
    }
}

/**
 * \brief Decodes frame
 *
 * This function tries to decode the supplied data
 *
 * \param decoder An UfoDecoder instance
 * \param raw Raw data stream
 * \param num_bytes Size of data stream buffer in bytes
 * \param pixels If pointer with NULL content is passed, a new buffer is
 * allocated otherwise, this user-supplied buffer is used.
 * \param frame_number Frame number as reported in the header
 * \param time_stamp Time stamp of the frame as reported in the header
 *
 * \return number of decoded bytes or 0 in case of error
 */
size_t ufo_decoder_decode_frame(UfoDecoder      *decoder,
                                uint32_t        *raw,
                                size_t           num_bytes,
                                uint16_t        *pixels,
                                UfoDecoderMeta  *meta)
{
    int err = 0;
    size_t pos = 0;
    size_t advance = 0;
    const size_t num_words = num_bytes / 4;

    if ((pixels == NULL) || (num_words < 16))
        return 0;

    size_t rows_per_frame = decoder->height;
    const int version = (raw[pos+6] >> 24) & 0xF;

#ifdef DEBUG
    CHECK_VALUE(raw[pos++], 0x51111111);
    CHECK_VALUE(raw[pos++], 0x52222222);
    CHECK_VALUE(raw[pos++], 0x53333333);
    CHECK_VALUE(raw[pos++], 0x54444444);
    CHECK_VALUE(raw[pos++], 0x55555555);

    switch (version) {
        case 0:
            CHECK_VALUE(raw[pos++], 0x56666666);
            CHECK_VALUE(raw[pos] >> 28, 0x5);
            meta->frame_number = raw[pos++] & 0xFFFFFFF;
            CHECK_VALUE(raw[pos] >> 28, 0x5);
            meta->time_stamp = raw[pos++] & 0xFFFFFFF;
            meta->n_rows = 1088;
            break;

        case 4:
        case 5:
            CHECK_VALUE(raw[pos] >> 28, 0x5);
            meta->cmosis_start_address = (raw[pos] >> 21) & 0x1FF;
            meta->n_skipped_rows = (raw[pos] >> 15) & 0x3F;
            meta->n_rows = rows_per_frame = raw[pos] & 0x7FF;
            pos++;

            meta->frame_number = raw[pos++] & 0x1FFFFFF;
            CHECK_VALUE(raw[pos] >> 28, 0x5);
            meta->time_stamp = raw[pos] & 0xFFFFFF;
            meta->output_mode = (raw[pos] >> 24) & 0x3;
            meta->adc_resolution = (raw[pos] >> 26) & 0x3;
            pos++;

            if ((meta->output_mode != IPECAMERA_MODE_4_CHAN_IO) && (meta->output_mode != IPECAMERA_MODE_16_CHAN_IO)) {
                fprintf(stderr, "Output mode 0x%x is not supported\n", meta->output_mode);
                return EILSEQ;
            }
            break;

        default:
            fprintf(stderr, "Unsupported data format version %i detected\n", version);
            return 0;
    }

    if (err) {
        fprintf(stderr, "Corrupt data:");

        for (int i = 0; i < pos; i++) {
            if ((i % 8) == 0)
                fprintf(stderr, "\n");

            fprintf(stderr, " %#08x", raw[i]);
        }

        fprintf(stderr, "\n");
        return 0;
    }
#else
    switch (version) {
        case 0:
            meta->n_rows = 1088;
            meta->frame_number = raw[pos + 6] & 0xFFFFFFF;
            meta->time_stamp = raw[pos + 7] & 0xFFFFFFF;
            break;
        case 4:
        case 5:
            meta->n_rows = rows_per_frame = raw[pos + 5] & 0x7FF;
            meta->frame_number = raw[pos + 6] & 0x1FFFFFF;
            meta->time_stamp = raw[pos + 7] & 0xFFFFFF;
            meta->output_mode = (raw[pos + 7] >> 24) & 0x3;
            meta->adc_resolution = (raw[pos + 7] >> 26) & 0x3;

            break;
        default:
            fprintf(stderr, "Unsupported data format detected\n");
            return 0;
    }

    pos += 8;
#endif

    switch (version) {
        case 0:
            err = ufo_decode_frame_channels_v0(decoder, pixels, raw + pos, num_words - pos - 8, &advance);
            break;
        case 4:
            err = ufo_decode_frame_channels_v4(decoder, pixels, raw + pos, num_words - pos - 8, rows_per_frame, &advance);
            break;
        case 5:
            err = ufo_decode_frame_channels_v5(decoder, pixels, raw + pos, rows_per_frame, &advance, meta->output_mode);
            break;
        default:
            break;
    }

    if (err)
        return 0;

    pos += advance;

#ifdef CHECKS
    CHECK_VALUE(raw[pos++], 0x0AAAAAAA);

    meta->status1.bits = raw[pos++];
    meta->status2.bits = raw[pos++];
    meta->status3.bits = raw[pos++];
    pos++;
    pos++;
    CHECK_VALUE(raw[pos++], 0x00000000);
    CHECK_VALUE(raw[pos++], 0x01111111);

    if (err)
        return 0;
#else
    pos += 8;
#endif

    return pos;
}

/**
 * \brief Iterate and decode next frame
 *
 * This function tries to decode the next frame in the currently set raw data
 * stream.
 *
 * \param decoder An UfoDecoder instance
 * \param pixels If pointer with NULL content is passed, a new buffer is
 * allocated otherwise, this user-supplied buffer is used.
 * \param num_rows Number of actual decoded rows
 * \param frame_number Frame number as reported in the header
 * \param time_stamp Time stamp of the frame as reported in the header
 *
 * \return 0 in case of no error, EIO if end of stream was reached, ENOMEM if
 * NULL was passed but no memory could be allocated, EILSEQ if data stream is
 * corrupt and EFAULT if pixels is a NULL-pointer.
 */
int ufo_decoder_get_next_frame(UfoDecoder     *decoder,
                               uint16_t      **pixels,
                               UfoDecoderMeta *meta)
{
    uint32_t *raw = decoder->raw;
    size_t pos = decoder->current_pos;
    size_t advance;
    const size_t num_words = decoder->num_bytes / 4;

    if (pixels == NULL)
        return 0;

    if (pos >= num_words)
        return EIO;

    if (num_words < 16)
        return EILSEQ;

    if (*pixels == NULL) {
        *pixels = (uint16_t *) malloc(IPECAMERA_WIDTH * decoder->height * sizeof(uint16_t));
        if (*pixels == NULL)
            return ENOMEM;
    }

    while ((pos < num_words) && (raw[pos] != 0x51111111))
        pos++;

    advance = ufo_decoder_decode_frame(decoder, raw + pos, decoder->num_bytes - pos, *pixels, meta);

    /*
     * On error, advance is 0 but we have to advance at least a bit to net get
     * caught in an infinite loop when trying to decode subsequent frames.
     */
    pos += advance == 0 ? 1 : advance;

    /* if bytes left and we see fill bytes, skip them */
    if (((pos + 2) < num_words) && ((raw[pos] == 0x0) && ((raw[pos+1] == 0x1111111) || raw[pos+1] == 0x0))) {
        pos += 2;
        while ((pos < num_words) &&
               ((raw[pos] == 0x89abcdef) || (raw[pos] == 0x1234567) ||
                (raw[pos] == 0x0) || (raw[pos] == 0xdeadbeef) || (0x98badcfe)))     /* new filling ... */ {
            pos++;
        }
    }

    decoder->current_pos = pos;

    if (!advance)
        return EILSEQ;

    return 0;
}

/**
 * \brief Convert Bayer pattern to RGB
 *
 * Convert Bayer pattern to RGB via bilinear interpolation.
 *
 * \param in 16 bit input data in Bayer pattern format
 * \param out Location for 24 bit output data in RGB format. At
 * least width x height x 3 bytes must be allocated.
 * \param width Width of a frame
 * \param height Height of a frame
 */
void ufo_convert_bayer_to_rgb (const uint16_t *in,
                               uint8_t *out,
                               int width,
                               int height)
{
    /* According to the CMV docs, the pattern starts at (0,0) with
     *
     *   R G
     *   G B
     */

#define BY(x,y) in[(x) + width * (y)]
#define R(x,y) out[0 + 3 * ((x) + width * (y))]
#define G(x,y) out[1 + 3 * ((x) + width * (y))]
#define B(x,y) out[2 + 3 * ((x) + width * (y))]

    double scale;
    uint16_t max = 0;

    for (int i = 0; i < width * height; i++) {
        if (max < in[i])
            max = in[i];
    }

    scale = 255. / max;

    for (int i = 1; i < width - 1; i += 2) {
        for (int j = 1; j < height - 1; j += 2) {
            /* Top left */
            R(i + 0, j + 0) = ((uint32_t) BY(i - 1, j - 1) +
                               (uint32_t) BY(i + 1, j - 1) +
                               (uint32_t) BY(i - 1, j + 1) +
                               (uint32_t) BY(i + 1, j + 1)) / 4 * scale;
            G(i + 0, j + 0) = ((uint32_t) BY(i - 1, j + 0) +
                               (uint32_t) BY(i + 0, j - 1) +
                               (uint32_t) BY(i + 1, j + 0) +
                               (uint32_t) BY(i + 0, j + 1)) / 4 * scale;
            B(i + 0, j + 0) = BY(i + 0, j + 0) * scale;

            /* Top right */
            R(i + 1, j + 0) = ((uint32_t) BY(i + 1, j - 1) +
                               (uint32_t) BY(i + 1, j + 1)) / 2 * scale;
            G(i + 1, j + 0) = BY(i + 1, j + 0) * scale;
            B(i + 1, j + 0) = ((uint32_t) BY(i + 0, j + 0) +
                               (uint32_t) BY(i + 2, j + 0)) / 2 * scale;

            /* Lower left */
            R(i + 0, j + 1) = ((uint32_t) BY(i - 1, j + 0) +
                               (uint32_t) BY(i + 1, j + 1)) / 2 * scale;
            G(i + 0, j + 1) = BY(i + 0, j + 1) * scale;
            B(i + 0, j + 1) = ((uint32_t) BY(i + 0, j + 0) +
                               (uint32_t) BY(i + 0, j + 2)) / 2 * scale;

            /* Lower right */
            R(i + 1, j + 1) = BY(i + 1, j + 1) * scale;
            G(i + 1, j + 1) = ((uint32_t) BY(i + 1, j + 0) +
                               (uint32_t) BY(i + 0, j + 1) +
                               (uint32_t) BY(i + 2, j + 1) +
                               (uint32_t) BY(i + 2, j + 1)) / 4 * scale;
            B(i + 1, j + 1) = ((uint32_t) BY(i + 0, j + 0) +
                               (uint32_t) BY(i + 2, j + 0) +
                               (uint32_t) BY(i + 0, j + 2) +
                               (uint32_t) BY(i + 2, j + 2)) / 4 * scale;
        }
    }

#undef R
#undef G
#undef B
}