Types.h

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#ifndef DW_CORE_TYPES_H_
#define DW_CORE_TYPES_H_

#include <dw/core/Exports.h>
#include <dw/core/Status.h>

#include <cuda_runtime_api.h>
#include <stdalign.h>

#include <cuda_fp16.h>

#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef float float32_t;
typedef double float64_t;
typedef char char8_t;

#if defined(__cplusplus)
typedef __half float16_t;
#else
typedef __half_raw float16_t;
#endif

typedef int64_t dwTime_t;

static const dwTime_t DW_TIMEOUT_INFINITE = 0x0123456789ABCDEF;

static const dwTime_t DW_TIME_INVALID = INT64_MIN;

#if defined(__cplusplus)
#define DW_NULL_HANDLE nullptr
#define DW_NO_CALLBACK nullptr
#else
#define DW_NULL_HANDLE NULL
#define DW_NO_CALLBACK NULL
#endif

typedef enum dwTrivialDataType {

    /* The type of the data is unknown. */
    DW_TYPE_UNKNOWN = 0,

    /* The underlying data type is bool. */
    DW_TYPE_BOOL = 1 << 1,

    /* 8-bit signed integer. */
    DW_TYPE_INT8 = 1 << 2,
    /* 16-bit signed integer. */
    DW_TYPE_INT16 = 1 << 3,
    /* 32-bit signed integer. */
    DW_TYPE_INT32 = 1 << 4,
    /* 64-bit signed integer. */
    DW_TYPE_INT64 = 1 << 5,

    /* 8-bit unsigned integer. */
    DW_TYPE_UINT8 = 1 << 6,
    /* 16-bit unsigned integer. */
    DW_TYPE_UINT16 = 1 << 7,
    /* 32-bit unsigned integer. */
    DW_TYPE_UINT32 = 1 << 8,
    /* 64-bit unsigned integer. */
    DW_TYPE_UINT64 = 1 << 9,

    /* 32-bit float number. */
    DW_TYPE_FLOAT32 = 1 << 10,
    /* 64-bit float number, i.e., double. */
    DW_TYPE_FLOAT64 = 1 << 11,
    /* 16-bit float number. */
    DW_TYPE_FLOAT16 = 1 << 12

} dwTrivialDataType;

DW_API_PUBLIC uint8_t dwSizeOf(dwTrivialDataType type);

typedef enum dwPrecision {
    DW_PRECISION_INT8 = 0,
    DW_PRECISION_FP16 = 1,
    DW_PRECISION_FP32 = 2,
    DW_PRECISION_MIXED = 3
} dwPrecision;

typedef enum dwGPUDeviceType {
    DW_GPU_DEVICE_DISCRETE   = 0,
    DW_GPU_DEVICE_INTEGRATED = 1
} dwGPUDeviceType;

typedef enum dwProcessorType {
    DW_PROCESSOR_TYPE_CPU     = 0,
    DW_PROCESSOR_TYPE_GPU     = 1,
    DW_PROCESSOR_TYPE_DLA_0   = 2,
    DW_PROCESSOR_TYPE_DLA_1   = 3,
    DW_PROCESSOR_TYPE_PVA_0   = 4,
    DW_PROCESSOR_TYPE_PVA_1   = 5,
    DW_PROCESSOR_TYPE_NVENC_0 = 6,
    DW_PROCESSOR_TYPE_NVENC_1 = 7
} dwProcessorType;

typedef enum dwProcessType {
    DW_PROCESS_TYPE_ASYNC = 0,
    DW_PROCESS_TYPE_SYNC  = 1
} dwProcessType;

typedef enum dwMemoryType {
    DW_MEMORY_TYPE_CUDA = 0,

    DW_MEMORY_TYPE_CPU = 1,

    DW_MEMORY_TYPE_PINNED = 2,
} dwMemoryType;

typedef struct dwRect
{
    alignas(8) int32_t x;
    int32_t y;
    int32_t width;
    int32_t height;
} dwRect;

static const dwRect DW_INVALID_RECT = {.x = 0, .y = 0, .width = -1, .height = -1};

typedef struct dwRectf
{
    alignas(8) float32_t x;
    float32_t y;
    float32_t width;
    float32_t height;
} dwRectf;

static const dwRectf DW_INVALID_RECTF = {.x = 0.0f, .y = 0.0f, .width = -1.0f, .height = -1.0f};

typedef dwRect dwBox2D;
typedef dwRectf dwBox2Df;

typedef struct dwMatrix2f
{
    alignas(16) float32_t array[2 * 2];
} dwMatrix2f;

static const dwMatrix2f DW_IDENTITY_MATRIX2F = {{1, 0,
                                                 0, 1}};

typedef struct dwMatrix3f
{
    float32_t array[3 * 3];
} dwMatrix3f;

static const dwMatrix3f DW_IDENTITY_MATRIX3F = {{1, 0, 0,
                                                 0, 1, 0,
                                                 0, 0, 1}};

typedef struct dwMatrix3d
{
    float64_t array[3 * 3];
} dwMatrix3d;

static const dwMatrix3d DW_IDENTITY_MATRIX3D = {{1, 0, 0,
                                                 0, 1, 0,
                                                 0, 0, 1}};

typedef struct dwMatrix34f
{
    alignas(16) float32_t array[3 * 4];
} dwMatrix34f;

typedef struct dwMatrix4f
{
    alignas(16) float32_t array[4 * 4];
} dwMatrix4f;

static const dwMatrix4f DW_IDENTITY_MATRIX4F = {{1, 0, 0, 0,
                                                 0, 1, 0, 0,
                                                 0, 0, 1, 0,
                                                 0, 0, 0, 1}};

typedef struct dwMatrix6f
{
    float32_t array[6 * 6];
} dwMatrix6f;

typedef struct dwVector2f
{
    alignas(8) float32_t x;
    float32_t y;
} dwVector2f;

typedef struct dwVector2d
{
    alignas(16) float64_t x;
    float64_t y;
} dwVector2d;

typedef struct dwVector2i
{
    alignas(8) int32_t x;
    int32_t y;
} dwVector2i;

typedef struct dwVector2ui
{
    alignas(8) uint32_t x;
    uint32_t y;
} dwVector2ui;

typedef struct dwVector3f
{
    float32_t x;
    float32_t y;
    float32_t z;
} dwVector3f;

typedef struct dwVector3d
{
    float64_t x;
    float64_t y;
    float64_t z;
} dwVector3d;

typedef struct dwVector4f
{
    alignas(16) float32_t x;
    float32_t y;
    float32_t z;
    float32_t w;
} dwVector4f;

typedef struct dwVector4d
{
    alignas(16) float64_t x;
    float64_t y;
    float64_t z;
    float64_t w;
} dwVector4d;

typedef struct dwVector3ui
{
    uint32_t x;
    uint32_t y;
    uint32_t z;
} dwVector3ui;

typedef struct dwBbox3Df
{
    dwVector3f aa;
    dwVector3f bb;
} dwBbox3Df;

typedef struct dwBbox2Df
{
    // AABB bounding box 2D
    dwVector2f aa;
    dwVector2f bb;
} dwBbox2Df;

typedef struct dwLine3f
{
    dwVector3f p[2];
} dwLine3f;

typedef struct dwLine3d
{
    dwVector3d p[2];
} dwLine3d;

typedef struct dwPolyline2f
{
    const dwVector2f* points; 
    uint32_t pointCount;      
} dwPolyline2f;

typedef struct dwPolyline2d
{
    const dwVector2d* points; 
    uint32_t pointCount;      
} dwPolyline2d;

typedef struct dwPolyline3f
{
    const dwVector3f* points; 
    uint32_t pointCount;      
} dwPolyline3f;

typedef struct dwPolyline3d
{
    const dwVector3d* points; 
    uint32_t pointCount;      
} dwPolyline3d;

typedef struct dwQuaternionf
{
    alignas(16) float32_t x;
    float32_t y;
    float32_t z;
    float32_t w;
} dwQuaternionf;

static const dwQuaternionf DW_IDENTITY_QUATERNIONF = {0.f, 0.f, 0.f, 1.f};

typedef struct dwQuaterniond
{
    alignas(16) float64_t x;
    float64_t y;
    float64_t z;
    float64_t w;
} dwQuaterniond;

static const dwQuaterniond DW_IDENTITY_QUATERNIOND = {0., 0., 0., 1.};

typedef struct dwTransformation2f
{
    float32_t array[3 * 3];
} dwTransformation2f;

static const dwTransformation2f DW_IDENTITY_TRANSFORMATION2F = {{1.f, 0.f, 0.f,
                                                                 0.f, 1.f, 0.f,
                                                                 0.f, 0.f, 1.f}};

typedef struct dwTransformation3f
{
    alignas(16) float32_t array[4 * 4];
} dwTransformation3f;

static const dwTransformation3f DW_IDENTITY_TRANSFORMATION3F = {{1.f, 0.f, 0.f, 0.f,
                                                                 0.f, 1.f, 0.f, 0.f,
                                                                 0.f, 0.f, 1.f, 0.f,
                                                                 0.f, 0.f, 0.f, 1.f}};

typedef enum dwSide {
    DW_SIDE_LEFT   = 0,
    DW_SIDE_RIGHT  = 1,
    DW_SIDE_CENTER = 2
} dwSide;

typedef struct dwOrientedBoundingBox3f
{
    dwVector3f center;
    dwVector3f halfAxisXYZ;
    dwMatrix3f rotation;
} dwOrientedBoundingBox3f;

typedef struct dwConfidence1f
{
    float32_t confidence; 
    float32_t threshold;  
    float32_t variance;   
} dwConfidence1f;

typedef struct dwConfidence2f
{
    float32_t confidence;  
    float32_t threshold;   
    dwMatrix2f covariance; 
} dwConfidence2f;

typedef struct dwConfidence3f
{
    float32_t confidence;  
    float32_t threshold;   
    dwMatrix3f covariance; 
} dwConfidence3f;

typedef enum {
    DW_BIND_SLOT_INVALID = 0,
    DW_BIND_SLOT_1,
    DW_BIND_SLOT_2,
    DW_BIND_SLOT_3,
    DW_BIND_SLOT_4,
    DW_BIND_SLOT_5,
    DW_BIND_SLOT_6,
    DW_BIND_SLOT_7,
    DW_BIND_SLOT_8,
    DW_BIND_SLOT_9,
    DW_BIND_SLOT_10,
    DW_BIND_SLOT_11,
    DW_BIND_SLOT_12,
    DW_BIND_SLOT_13,
    DW_BIND_SLOT_14,
    DW_BIND_SLOT_15,
    DW_BIND_SLOT_16,
    DW_BIND_SLOT_MAX_COUNT
} dwBindSlot;

#ifdef __cplusplus
}
#endif

#endif // DW_CORE_TYPES_H_