NvRosImgPipeline.h

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/*Copyright (c) 2018, NVIDIA CORPORATION.  All rights reserved.

NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto.  Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.*/

#ifndef __NVROSIMGPIPELINE_H_
#define __NVROSIMGPIPELINE_H_

#include "nvmedia_core.h"
#include "nvmedia_surface.h"
#include "nvmedia_image.h"
#include "nvmedia_ipp.h"
#include "nvmedia_isp.h"
#include "nvmedia_vop.h"
#include "img_dev.h"
#include "nvmedia_eglstream.h"

#include "nvroscommon.h"
#include "nvros_egl_utils/nvros_egl_utils.h"

#include <thread>
#include <deque>

#define MAX_AGGREGATE_IMAGES 4
#define MAX_STRING_SIZE 256
#define IMAGE_BUFFERS_POOL_SIZE 3
#define CAMERA_PORTS 4
#define FRAME_RATE 30

namespace nvros
{
    typedef struct _CaptureConfigParams
    {
        char  name[MAX_STRING_SIZE];
        char  description[MAX_STRING_SIZE];
        char  board[MAX_STRING_SIZE];
        char  inputDevice[MAX_STRING_SIZE];
        char  inputFormat[MAX_STRING_SIZE];
        char  surfaceFormat[MAX_STRING_SIZE];
        char  resolution[MAX_STRING_SIZE];
        char  interface[MAX_STRING_SIZE];
        unsigned int  i2cDevice;
        unsigned int  csiLanes;
        unsigned int  embeddedDataLinesTop;
        unsigned int  embeddedDataLinesBottom;
        unsigned int  desAddr;
        unsigned int  brdcstSerAddr;
        unsigned int  serAddr[MAX_AGGREGATE_IMAGES];
        unsigned int  brdcstSensorAddr;
        unsigned int  sensorAddr[MAX_AGGREGATE_IMAGES];
        unsigned int  e2pPhysicalAddr;
        unsigned int  e2pAddr[MAX_AGGREGATE_IMAGES];
        unsigned int  inputOrder;

    } CaptureConfigParams;
class NvRosImgPipeline
{
    private:

        // Surface parameters
        NvMediaSurfaceType outSurfaceType;
        NvMediaSurfaceType inSurfaceType;
        NvMediaSurfaceType ispOutSurfaceType;
        NvMediaISPSelect ispSelect;
        unsigned int surfaceAttr;
        unsigned int outputWidth;
        unsigned int outputHeight;
        unsigned int inputWidth;
        unsigned int inputHeight;
        unsigned int ispOutWidth;
        unsigned int ispOutHeight;
        unsigned int ispOutColorStd;

        // Capture configuration
        bool isYUV;
        const char* configFile;
        CaptureConfigParams* mCaptureConfigParams;
        unsigned int mCaptureConfigSetsNum;
        unsigned int cameraGrp;
        unsigned int numOfCameras;
        ExtImgDevMapInfo cameraMap;
        ExtImgDevice* mExtImgDevice;

        // NvMedia IPP specific private variables
        bool isIspEnabled[MAX_AGGREGATE_IMAGES];
        bool isOutputEnabled[MAX_AGGREGATE_IMAGES];
        bool isControlAlgoEnabled[MAX_AGGREGATE_IMAGES];
        unsigned int rawBytesPerPixel;

        // NvMediaDevice handle for IPP
        NvMediaDevice* mNvmediaDevice;

        //IPP manager
        NvMediaIPPManager* mIppManager;

        // IPP pipeline
        NvMediaIPPPipeline* mIppPipeline[NVMEDIA_MAX_PIPELINES_PER_MANAGER];

        //IPP components
        NvMediaIPPComponent* mIppComponents[NVMEDIA_MAX_PIPELINES_PER_MANAGER][NVMEDIA_MAX_COMPONENTS_PER_PIPELINE];

        //ISP components
        NvMediaIPPComponent* mIspComponents[NVMEDIA_MAX_PIPELINES_PER_MANAGER];

        //ICP components
        NvMediaIPPComponent* mIscComponents[NVMEDIA_MAX_PIPELINES_PER_MANAGER];

        //Control algo. components
        NvMediaIPPComponent* mControlAlgoComponents[NVMEDIA_MAX_PIPELINES_PER_MANAGER];

        //output component
        NvMediaIPPComponent* mOutComponent[NVMEDIA_MAX_PIPELINES_PER_MANAGER];

        //ICP settings
        NvMediaICPSettings mIcpSettings;

        //component number
        unsigned int componentNumber[NVMEDIA_MAX_PIPELINES_PER_MANAGER];

        //Pixel order
        unsigned int pixelOrder;
        char* inPixelOrder;
        unsigned int bitsPerPixel;

        // NvRosEglUtil instance
        NvRosEglUtil* mNvRosEglUtil = new NvRosEglUtil(IMAGE_PRODUCER, EGLDEVICE, MAILBOX);
        EglUtilState* mEglUtilState;
        EglUtilOptions* mEglUtilOptions;
        EGLStreamKHR mEglStreams[MAX_AGGREGATE_IMAGES];

        // EGL Producer related private variables
        NvMediaEGLStreamProducer* cameraStreamEglProducer[MAX_AGGREGATE_IMAGES];
        std::thread imgProducerThread;
        NvMediaImage* eglStreamImages[MAX_AGGREGATE_IMAGES];

        //socket paths
        const char* eglStreamSocketPath[CAMERA_PORTS][MAX_AGGREGATE_IMAGES] =
        {
            {
                "/tmp/nvros_cam_0_0",
                "/tmp/nvros_cam_0_1",
                "/tmp/nvros_cam_0_2",
                "/tmp/nvros_cam_0_3"
            },

            {
                "/tmp/nvros_cam_1_0",
                "/tmp/nvros_cam_1_1",
                "/tmp/nvros_cam_1_2",
                "/tmp/nvros_cam_1_3"
            },

            {
                "/tmp/nvros_cam_2_0",
                "/tmp/nvros_cam_2_1",
                "/tmp/nvros_cam_2_2",
                "/tmp/nvros_cam_2_3"

            },

            {
                "/tmp/nvros_cam_3_0",
                "/tmp/nvros_cam_3_1",
                "/tmp/nvros_cam_3_2",
                "/tmp/nvros_cam_3_3"
            }
        };

        // Pipeline control variables
        bool runPipeline;
        bool shutdownPipeline;

        //Private methods
        const char* GetCaptureConfigFile();
        const char* GetEglStreamSocketPath();
        NvRosErr ConfigParserInterface();
        NvRosErr InitNvMediaIPP();
        NvRosErr IPPSetCaptureSettings();
        NvRosErr CreateIPPPipeline();
        NvRosErr CreateSensorControlComponent();
        NvRosErr CreateCaptureComponent();
        NvRosErr CreateISPComponent();
        NvRosErr CreateControlAlgoComponent();
        NvRosErr CreateOutputComponent();
        NvRosErr AddComponentsIntoPipeline();
        NvRosErr SetICPBufferPoolConfig(NvMediaIPPBufferPoolParamsNew* poolConfig);
        NvRosErr SetISPBufferPoolConfig(NvMediaIPPBufferPoolParamsNew* poolConfig,
                                        NvMediaIPPBufferPoolParamsNew *poolStatsConfig);
        NvRosErr SetControlAlgorithmBufferPoolConfig(NvMediaIPPBufferPoolParamsNew *poolConfig);
        NvRosErr ImgProducerLoop();

    public:

        NvRosErr SetCaptureConfig(const char* cfgFilePath, const unsigned int camGrp,
                                    const unsigned int cameras, const bool yuv);

        NvRosErr InitPipeline();

        NvRosErr StartPipeline();

        NvRosErr StopPipeline();

        NvRosErr ShutdownPipeline();

}; // NvRosImgPipeline

}
#endif // __NVROSIMGPIPELINE_H_