From bd6bb91c7279819ad4136001b5e5a138dffa5452 Mon Sep 17 00:00:00 2001
From: Evan Flynn <evanflynn.msu@gmail.com>
Date: Wed, 30 Aug 2023 19:19:59 -0700
Subject: [PATCH] Allocate unique avpacket for each frame

Signed-off-by: Evan Flynn <evanflynn.msu@gmail.com>
---
 include/usb_cam/formats/mjpeg.hpp | 24 ++++++------------------
 src/usb_cam_node.cpp              |  5 +----
 2 files changed, 7 insertions(+), 22 deletions(-)

diff --git a/include/usb_cam/formats/mjpeg.hpp b/include/usb_cam/formats/mjpeg.hpp
index 48ae3ea0..86c0308a 100644
--- a/include/usb_cam/formats/mjpeg.hpp
+++ b/include/usb_cam/formats/mjpeg.hpp
@@ -75,7 +75,6 @@ class MJPEG2RGB : public pixel_format_base
     m_avframe_device(av_frame_alloc()),
     m_avframe_rgb(av_frame_alloc()),
     m_avoptions(NULL),
-    m_avpacket(av_packet_alloc()),
     m_averror_str(reinterpret_cast<char *>(malloc(AV_ERROR_MAX_STRING_SIZE)))
   {
     if (!m_avcodec) {
@@ -85,9 +84,6 @@ class MJPEG2RGB : public pixel_format_base
     if (!m_avparser) {
       throw std::runtime_error("Could not find MJPEG parser");
     }
-    if (!m_avpacket) {
-      throw std::runtime_error("Could not allocate AVPacket");
-    }
 
     m_avcodec_context = avcodec_alloc_context3(m_avcodec);
 
@@ -151,9 +147,6 @@ class MJPEG2RGB : public pixel_format_base
     if (m_avoptions) {
       free(m_avoptions);
     }
-    if (m_avpacket) {
-      free(m_avpacket);
-    }
     if (m_avcodec_context) {
       avcodec_close(m_avcodec_context);
       avcodec_free_context(&m_avcodec_context);
@@ -179,18 +172,14 @@ class MJPEG2RGB : public pixel_format_base
     // clear the picture
     memset(dest, 0, m_avframe_device_size);
 
-    #if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(58, 133, 100)
-    // deprecated: https://github.com/FFmpeg/FFmpeg/commit/f7db77bd8785d1715d3e7ed7e69bd1cc991f2d07
-    av_init_packet(m_avpacket);
-    #endif
-
-    av_packet_from_data(
-      m_avpacket,
-      const_cast<uint8_t *>(reinterpret_cast<const uint8_t *>(src)),
-      bytes_used);
+    auto avpacket = av_packet_alloc();
+    av_new_packet(avpacket, bytes_used);
+    memcpy(avpacket->data, src, bytes_used);
 
     // Pass src MJPEG image to decoder
-    m_result = avcodec_send_packet(m_avcodec_context, m_avpacket);
+    m_result = avcodec_send_packet(m_avcodec_context, avpacket);
+
+    av_packet_free(&avpacket);
 
     // If result is not 0, report what went wrong
     if (m_result != 0) {
@@ -234,7 +223,6 @@ class MJPEG2RGB : public pixel_format_base
   AVFrame * m_avframe_device;
   AVFrame * m_avframe_rgb;
   AVDictionary * m_avoptions;
-  AVPacket * m_avpacket;
   SwsContext * m_sws_context;
   size_t m_avframe_device_size;
   size_t m_avframe_rgb_size;
diff --git a/src/usb_cam_node.cpp b/src/usb_cam_node.cpp
index e46064b0..585888d3 100644
--- a/src/usb_cam_node.cpp
+++ b/src/usb_cam_node.cpp
@@ -362,13 +362,10 @@ void UsbCamNode::update()
 {
   if (m_camera->is_capturing()) {
     // If the camera exposure longer higher than the framerate period
-    // then that caps the framerate.
-    // auto t0 = now();
+    // then that caps the framerate
     if (!take_and_send_image()) {
       RCLCPP_WARN_ONCE(this->get_logger(), "USB camera did not respond in time.");
     }
-    // auto diff = now() - t0;
-    // INFO(diff.nanoseconds() / 1e6 << " " << int(t0.nanoseconds() / 1e9));
   }
 }
 }  // namespace usb_cam