nvros_egl_cuda_io.h

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/*Copyright (c) 2020, 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 _NVROS_EGL_CUDA_IO_
#define _NVROS_EGL_CUDA_IO_
#include <queue>
#include <mutex>
#include <condition_variable>
 
#include "nvros_egl_utils/nvros_egl_utils.h"
 
namespace nvros
{
    typedef enum _EglCuIOErrors
    {
        EGL_CU_IO_STREAM_DISCONNECTED = 1,
 
        EGL_CU_IO_CUDA_API_ERR = 2,
 
        EGL_CU_IO_UNSUPPORTED_EGL_FRAME = 3,
 
    } EglCuIOErrors;
 
    typedef struct _EglFrameParams
    {
        unsigned int frameWidth;
 
        unsigned int frameHeight;
 
        unsigned int channels;
 
        unsigned int colorFormat;
 
        unsigned int planes;
 
        unsigned int frameType;
 
        unsigned int pitch;
 
        unsigned int depth;
 
    } EglFrameParams;
 
class NvRosEglCudaIO
{
 
    private:
        NvRosEglUtil mNvRosEglUtilIn;
        NvRosEglUtil mNvRosEglUtilOut;
        std::queue<CUarray> inQ;
        std::queue<CUarray> outQ;
        std::queue<CUdeviceptr> inQPl;
        std::queue<CUdeviceptr> outQPl;
        const char* inSocketPath;
        const char* outSocketPath;
        EglFrameParams mEglFrameParamsIn;
        EglFrameParams mEglFrameParamsOut;
        CudaEglParams* mCudaConsumerParams;
        CudaEglParams* mCudaProducerParams;
        EGLStreamKHR eglStreamIn;
        EGLStreamKHR eglStreamOut;
        EGLDisplay eglDisplayIn;
        EGLDisplay eglDisplayOut;
        EglUtilState* eglUtilStateIn;
        EglUtilState* eglUtilStateOut;
        void (*errCallback)(unsigned int);
        bool stopCuEglLoop;
 
        /* Synchronization vars */
        std::mutex inQMutex;
        std::condition_variable inQCV;
        std::mutex outFrameParamsWaitCVMtx;
        std::condition_variable outFrameParamsWaitCV;
        std::mutex outQMutex;
        std::condition_variable outQCV;
 
 
        /* Private methods */
        NvRosErr EglCudaInputLooper();
        NvRosErr EglCudaOutputLooper();
 
    public:
 
        NvRosEglCudaIO();
 
        ~NvRosEglCudaIO();
 
        NvRosErr SetGlobalContext(CUcontext& context);
 
        NvRosErr InitEglCuIO(const char* inputSocketPath, const char* outputSocketPath);
 
        NvRosErr RunEglCuInputLoop();
 
        NvRosErr RunEglCuOutputLoop();
 
        NvRosErr StopEglCuInputLoop();
 
        NvRosErr StopEglCuOutputLoop();
 
        NvRosErr RegisterErrCallbackFunc(void(*errCallback)(unsigned int));
 
        EglFrameParams GetInEglFrameParams();
 
        NvRosErr SetOutEglFrameParams(EglFrameParams mOutEglFrameParams);
 
        int GetAvailableFrameCount();
 
        CUarray GetEglFrameContent();
 
        CUdeviceptr GetEglFrameContent(bool pitchLinearFrame);
 
        NvRosErr PushEglFrameOut(CUarray outputArray);
 
        NvRosErr PushEglFrameOut(CUdeviceptr outCUdevptr);
    };
 
}
#endif