code:

typedef struct {
uint8_t signature[4]; /* "PaVE" - used to identify the start of
frame */
uint8_t version; /* Version code */
uint8_t video_codec; /* Codec of the following frame */
uint16_t header_size; /* Size of the parrot_video_encapsulation_t
*/
uint32_t payload_size; /* Amount of data following this PaVE */
uint16_t encoded_stream_width; /* ex: 640 */
uint16_t encoded_stream_height; /* ex: 368 */
uint16_t display_width; /* ex: 640 */
uint16_t display_height; /* ex: 360 */
uint32_t frame_number; /* Frame position inside the current stream
*/
uint32_t timestamp; /* In milliseconds */
uint8_t total_chuncks; /* Number of UDP packets containing the
current decodable payload - currently unused */
uint8_t chunck_index ; /* Position of the packet - first chunk is #0
- currenty unused*/
uint8_t frame_type; /* I-frame, P-frame parrot_video_encapsulation_frametypes_t */
uint8_t control; /* Special commands like end-of-stream or
advertised frames */
uint32_t stream_byte_position_lw; /* Byte position of the current payload in
the encoded stream - lower 32-bit word */
uint32_t stream_byte_position_uw; /* Byte position of the current payload in
the encoded stream - upper 32-bit word */
uint16_t stream_id; /* This ID indentifies packets that should be
recorded together */
uint8_t total_slices; /* number of slices composing the current
frame */
uint8_t slice_index ; /* position of the current slice in the frame
*/
uint8_t header1_size; /* H.264 only : size of SPS inside payload no SPS present if value is zero */
uint8_t header2_size; /* H.264 only : size of PPS inside payload no PPS present if value is zero */
uint8_t reserved2[2]; /* Padding to align on 48 bytes */
uint32_t advertised_size; /* Size of frames announced as advertised
frames */
uint8_t reserved3[12]; /* Padding to align on 64 bytes */
} __attribute__ ((packed)) parrot_video_encapsulation_t;