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Types.h
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1 /*
2  * Copyright (c) 2016, NVIDIA CORPORATION. All rights reserved.
3  *
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14  * from this software without specific prior written permission.
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16  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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25  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27  */
28 
29 #ifndef _ARGUS_TYPES_H
30 #define _ARGUS_TYPES_H
31 
32 /**
33  * @file Types.h
34  * Defines the basic types that are used by the API.
35  */
36 
37 #include <stdint.h>
38 #include <vector>
39 #include <assert.h>
40 
41 #include <EGL/egl.h>
42 #include <EGL/eglext.h>
43 
44 // Some versions of the Xlib.h header file define 'Status' to 'int'. This collides with the Argus
45 // 'Status' type.
46 // If 'Status' is defined then undefine it and use a typedef instead.
47 #ifdef Status
48 #undef Status
49 typedef int Status;
50 #endif // Status
51 
52 namespace Argus
53 {
54 
55 /*
56  * Forward declaration of standard objects
57  */
58 class CameraDevice;
59 class CameraProvider;
60 class CaptureSession;
61 class CaptureMetadata;
62 class CaptureMetadataContainer;
63 class Event;
64 class EventQueue;
65 class InputStream;
66 class OutputStream;
67 class OutputStreamSettings;
68 class Request;
69 class SensorMode;
70 
71 /*
72  * Forward declaration of standard interfaces
73  */
74 class ICameraProperties;
75 class ICameraProvider;
76 class ICaptureSession;
77 class IAutoControlSettings;
78 class IRequest;
79 class IStream;
80 class IStreamSettings;
81 
82 /**
83  * Constant used for infinite timeouts.
84  */
85 const uint64_t TIMEOUT_INFINITE = 0xFFFFFFFFFFFFFFFF;
86 
87 /**
88  * Extension name UUID. Values are defined in extension headers.
89  */
90 class ExtensionName : public NamedUUID
91 {
92 public:
93  ExtensionName(uint32_t time_low_
94  , uint16_t time_mid_
95  , uint16_t time_hi_and_version_
96  , uint16_t clock_seq_
97  , uint8_t c0, uint8_t c1, uint8_t c2, uint8_t c3, uint8_t c4, uint8_t c5
98  , const char* name)
99  : NamedUUID(time_low_, time_mid_, time_hi_and_version_, clock_seq_,
100  c0, c1, c2, c3, c4, c5, name)
101  {}
102 
104  : NamedUUID(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "EXT_UNSPECIFIED")
105  {}
106 };
107 
108 /*
109  * Named UUID classes.
110  */
111 
112 DEFINE_NAMED_UUID_CLASS(AwbMode);
113 DEFINE_NAMED_UUID_CLASS(CaptureIntent);
114 DEFINE_NAMED_UUID_CLASS(DenoiseMode);
115 DEFINE_NAMED_UUID_CLASS(EdgeEnhanceMode);
116 DEFINE_NAMED_UUID_CLASS(SensorModeType);
117 DEFINE_NAMED_UUID_CLASS(VideoStabilizationMode);
118 
119 /*
120  * Named UUIDs sorted alphabetically.
121  */
122 
123 DEFINE_UUID(AwbMode, AWB_MODE_OFF, FB3F365A,CC62,11E5,9956,62,56,62,87,07,61);
124 DEFINE_UUID(AwbMode, AWB_MODE_AUTO, FB3F365B,CC62,11E5,9956,62,56,62,87,07,61);
125 DEFINE_UUID(AwbMode, AWB_MODE_INCANDESCENT, FB3F365C,CC62,11E5,9956,62,56,62,87,07,61);
126 DEFINE_UUID(AwbMode, AWB_MODE_FLUORESCENT, FB3F365D,CC62,11E5,9956,62,56,62,87,07,61);
127 DEFINE_UUID(AwbMode, AWB_MODE_WARM_FLUORESCENT, FB3F365E,CC62,11E5,9956,62,56,62,87,07,61);
128 DEFINE_UUID(AwbMode, AWB_MODE_DAYLIGHT, FB3F365F,CC62,11E5,9956,62,56,62,87,07,61);
129 DEFINE_UUID(AwbMode, AWB_MODE_CLOUDY_DAYLIGHT, FB3F3660,CC62,11E5,9956,62,56,62,87,07,61);
130 DEFINE_UUID(AwbMode, AWB_MODE_TWILIGHT, FB3F3661,CC62,11E5,9956,62,56,62,87,07,61);
131 DEFINE_UUID(AwbMode, AWB_MODE_SHADE, FB3F3662,CC62,11E5,9956,62,56,62,87,07,61);
132 DEFINE_UUID(AwbMode, AWB_MODE_MANUAL, 20FB45DA,C49F,4293,AB02,13,3F,8C,CA,DD,69);
133 
134 DEFINE_UUID(CaptureIntent, CAPTURE_INTENT_MANUAL,
135  FB3F3663,CC62,11E5,9956,62,56,62,87,07,61);
136 DEFINE_UUID(CaptureIntent, CAPTURE_INTENT_PREVIEW,
137  FB3F3664,CC62,11E5,9956,62,56,62,87,07,61);
138 DEFINE_UUID(CaptureIntent, CAPTURE_INTENT_STILL_CAPTURE,
139  FB3F3665,CC62,11E5,9956,62,56,62,87,07,61);
140 DEFINE_UUID(CaptureIntent, CAPTURE_INTENT_VIDEO_RECORD,
141  FB3F3666,CC62,11E5,9956,62,56,62,87,07,61);
142 DEFINE_UUID(CaptureIntent, CAPTURE_INTENT_VIDEO_SNAPSHOT,
143  FB3F3667,CC62,11E5,9956,62,56,62,87,07,61);
144 
145 DEFINE_UUID(DenoiseMode, DENOISE_MODE_OFF, FB3F3668,CC62,11E5,9956,62,56,62,87,07,61);
146 DEFINE_UUID(DenoiseMode, DENOISE_MODE_FAST, FB3F3669,CC62,11E5,9956,62,56,62,87,07,61);
147 DEFINE_UUID(DenoiseMode, DENOISE_MODE_HIGH_QUALITY, FB3F366A,CC62,11E5,9956,62,56,62,87,07,61);
148 
149 DEFINE_UUID(EdgeEnhanceMode, EDGE_ENHANCE_MODE_OFF, F7100B40,6A5F,11E6,BDF4,08,00,20,0C,9A,66);
150 DEFINE_UUID(EdgeEnhanceMode, EDGE_ENHANCE_MODE_FAST, F7100B41,6A5F,11E6,BDF4,08,00,20,0C,9A,66);
151 DEFINE_UUID(EdgeEnhanceMode, EDGE_ENHANCE_MODE_HIGH_QUALITY, F7100B42,6A5F,11E6,BDF4,08,00,20,0C,9A,66);
152 
153 DEFINE_UUID(SensorModeType, SENSOR_MODE_TYPE_DEPTH,
154  64483464,4b91,11e6,bbbd,40,16,7e,ab,86,92);
155 DEFINE_UUID(SensorModeType, SENSOR_MODE_TYPE_YUV,
156  6453e00c,4b91,11e6,871d,40,16,7e,ab,86,92);
157 DEFINE_UUID(SensorModeType, SENSOR_MODE_TYPE_RGB,
158  6463d4c6,4b91,11e6,88a3,40,16,7e,ab,86,92);
159 DEFINE_UUID(SensorModeType, SENSOR_MODE_TYPE_BAYER,
160  646f04ea,4b91,11e6,9c06,40,16,7e,ab,86,92);
161 
162 DEFINE_UUID(VideoStabilizationMode, VIDEO_STABILIZATION_MODE_OFF,
163  FB3F366E,CC62,11E5,9956,62,56,62,87,07,61);
164 DEFINE_UUID(VideoStabilizationMode, VIDEO_STABILIZATION_MODE_ON,
165  FB3F366F,CC62,11E5,9956,62,56,62,87,07,61);
166 
167 /*
168  * Camera settings constants - sorted alphabetically.
169  */
170 
172 {
177 
179 };
180 
182 {
188 
190 };
191 
193 {
198 
200 };
201 
203 {
208 
210 };
211 
212 /**
213  * Status values returned by API function calls.
214  */
215 enum Status
216 {
217  /// Function succeeded.
219 
220  /// The set of parameters passed was invalid.
222 
223  /// The requested settings are invalid.
225 
226  /// The requested device is unavailable.
228 
229  /// An operation failed because of insufficient mavailable memory.
231 
232  /// This method has not been implemented.
234 
235  /// An operation timed out.
237 
238  /// The capture was aborted. @see ICaptureSession::cancelRequests()
240 
241  /// The stream or other resource has been disconnected.
243 
244  // Number of elements in this enum.
246 };
247 
249 {
253 
255 };
256 
257 
258 /**
259  * Pixel formats.
260  */
261 class PixelFormat : public NamedUUID
262 {
263 public:
264  PixelFormat(uint32_t time_low_
265  , uint16_t time_mid_
266  , uint16_t time_hi_and_version_
267  , uint16_t clock_seq_
268  , uint8_t c0, uint8_t c1, uint8_t c2, uint8_t c3, uint8_t c4, uint8_t c5
269  , const char* name)
270  : NamedUUID(time_low_, time_mid_, time_hi_and_version_, clock_seq_,
271  c0, c1, c2, c3, c4, c5, name)
272  {}
273 
274 private:
275  PixelFormat(); // No default c'tor please use PIXEL_FMT_UNKNOWN
276 };
277 
278 DEFINE_UUID(PixelFormat, PIXEL_FMT_UNKNOWN, 00000000,93d5,11e5,0000,1c,b7,2c,ef,d4,1e);
279 DEFINE_UUID(PixelFormat, PIXEL_FMT_Y8, 569be14a,93d5,11e5,91bc,1c,b7,2c,ef,d4,1e);
280 DEFINE_UUID(PixelFormat, PIXEL_FMT_Y16, 56ddb19c,93d5,11e5,8e2c,1c,b7,2c,ef,d4,1e);
281 DEFINE_UUID(PixelFormat, PIXEL_FMT_YCbCr_420_888, 570c10e6,93d5,11e5,8ff3,1c,b7,2c,ef,d4,1e);
282 DEFINE_UUID(PixelFormat, PIXEL_FMT_YCbCr_422_888, 573a7940,93d5,11e5,99c2,1c,b7,2c,ef,d4,1e);
283 DEFINE_UUID(PixelFormat, PIXEL_FMT_YCbCr_444_888, 576043dc,93d5,11e5,8983,1c,b7,2c,ef,d4,1e);
284 DEFINE_UUID(PixelFormat, PIXEL_FMT_JPEG_BLOB, 578b08c4,93d5,11e5,9686,1c,b7,2c,ef,d4,1e);
285 DEFINE_UUID(PixelFormat, PIXEL_FMT_RAW16, 57b484d8,93d5,11e5,aeb6,1c,b7,2c,ef,d4,1e);
286 
287 /**
288  * Utility class for Argus interfaces.
289  */
291 {
292 protected:
294 
295 private:
296  NonCopyable(NonCopyable& other);
298 };
299 
300 /**
301  * The top-level interface class.
302  *
303  * By convention, every Interface subclass exposes a public static method called @c id(),
304  * which returns the unique InterfaceID for that interface.
305  * This is required for the @c interface_cast<> template to work with that interface.
306  */
308 {
309 protected:
312 };
313 
314 /**
315  * A unique identifier for an Argus Interface.
316  */
317 class InterfaceID : public NamedUUID
318 {
319 public:
320  InterfaceID(uint32_t time_low_
321  , uint16_t time_mid_
322  , uint16_t time_hi_and_version_
323  , uint16_t clock_seq_
324  , uint8_t c0, uint8_t c1, uint8_t c2, uint8_t c3, uint8_t c4, uint8_t c5
325  , const char* name)
326  : NamedUUID(time_low_, time_mid_, time_hi_and_version_, clock_seq_,
327  c0, c1, c2, c3, c4, c5, name)
328  {}
329 
331  : NamedUUID(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, "IID_UNSPECIFIED")
332  {}
333 };
334 
335 /**
336  * The base interface for a class that provides Argus Interfaces.
337  */
339 {
340 public:
341 
342  /**
343  * Acquire the interface specified by @c interfaceId.
344  * @returns An instance of the requested interface,
345  * or NULL if that interface is not available.
346  */
347  virtual Interface* getInterface(const InterfaceID& interfaceId) = 0;
348 
349 protected:
351 };
352 
353 /**
354  * Interface-casting helper similar to dynamic_cast.
355  */
356 
357 template <typename TheInterface>
358 inline TheInterface* interface_cast(InterfaceProvider* obj)
359 {
360  return static_cast<TheInterface*>(obj ? obj->getInterface(TheInterface::id()): 0);
361 }
362 
363 template <typename TheInterface>
364 inline TheInterface* interface_cast(const InterfaceProvider* obj)
365 {
366  return static_cast<TheInterface*>(
367  obj ? const_cast<const Interface*>(
368  const_cast<InterfaceProvider*>(obj)->getInterface(TheInterface::id())): 0);
369 }
370 
371 /**
372  * A top level object class for Argus objects that are created and owned by
373  * the client. All Destructable objects created by the client must be explicitly destroyed.
374  */
376 {
377 public:
378 
379  /**
380  * Destroy this object.
381  * After making this call, the client cannot make any more calls on this object.
382  */
383  virtual void destroy() = 0;
384 
385 protected:
387 };
388 
389 /**
390  * Template helper emulating C++11 rvalue semantics.
391  */
392 template<typename T>
393 class rv : public T
394 {
395  rv();
396  ~rv();
397  rv(const rv&);
398  void operator=(const rv&);
399 };
400 
401 template<typename T>
402  rv<T>& move(T& self)
403 {
404  return *static_cast<rv<T>*>(&self);
405 }
406 
407 /**
408  * Movable smart pointer mimicking std::unique_ptr.
409  */
410 template <typename T> struct remove_const;
411 template <typename T> struct remove_const<const T&>{ typedef T& type; };
412 template <typename T> struct remove_const<const T*>{ typedef T* type; };
413 template <typename T> struct remove_const<const T >{ typedef T type; };
414 template <typename T> struct remove_const { typedef T type; };
415 
416 template <typename T>
418 {
419 public:
420  explicit UniqueObj(T* obj=NULL): m_obj(obj) {}
421 
422  void reset(T* obj=NULL)
423  { if (m_obj) const_cast<typename remove_const<T*>::type>(m_obj)->destroy(); m_obj = obj; }
424  T* release()
425  { T* obj = m_obj; m_obj = NULL; return obj; }
426 
427  UniqueObj( rv<UniqueObj>& moved ): m_obj(moved.release()) {}
428  UniqueObj& operator=( rv<UniqueObj>& moved ){ reset( moved.release()); return *this; }
429 
430  ~UniqueObj() { reset(); }
431 
432  T& operator*() const { return *m_obj; }
433  T* get() const { return m_obj; }
434 
435  operator bool() const { return !!m_obj; }
436 
437  operator rv<UniqueObj>&() { return *static_cast< rv<UniqueObj>*>(this); }
438  operator const rv<UniqueObj>&() const { return *static_cast<const rv<UniqueObj>*>(this); }
439 
440 private:
441  T* m_obj;
442 
443  T* operator->() const; // Prevent calling destroy() directly.
444  // Note: For getInterface functionality use interface_cast.
445 };
446 
447 template <typename TheInterface, typename TObject>
448 inline TheInterface* interface_cast(const UniqueObj<TObject>& obj)
449 {
450  return interface_cast<TheInterface>( obj.get());
451 }
452 
453 /**
454  * A templatized class to hold a min/max range of values.
455  */
456 template <typename T>
457 struct Range
458 {
459  T min;
460  T max;
461 
462  Range(T value) : min( value ), max( value ) {}
463  Range(T min, T max) : min( min ), max( max ) {};
464  bool operator== (const Range<T>& rhs) const
465  {
466  return (min == rhs.min && max == rhs.max);
467  }
468 
469  bool empty() const
470  {
471  return max < min;
472  }
473 };
474 
475 /**
476  * Defines a rectangle in pixel space.
477  */
478 struct Rectangle
479 {
480  uint32_t left;
481  uint32_t top;
482  uint32_t width;
483  uint32_t height;
484 
485  Rectangle() : left(0), top(0), width(0), height(0) {}
486  Rectangle(uint32_t _left, uint32_t _top, uint32_t _width, uint32_t _height)
487  : left(_left), top(_top), width(_width), height(_height)
488  {}
489 
490  bool operator==(const Rectangle& other) const
491  {
492  return (left == other.left) && (top == other.top) &&
493  (width == other.width) && (height == other.height);
494  }
495 };
496 
497 /**
498  * Aggregates width and height in a single structure.
499  */
500 struct Size
501 {
502  uint32_t width;
503  uint32_t height;
504 
505  Size() : width(0), height(0) {}
506 
507  /// Construct size from width and height
508  Size(uint32_t w, uint32_t h) : width(w), height(h) {}
509 
510  bool operator==(const Size& a) const
511  {
512  return width == a.width && height == a.height;
513  }
514 
515  Size operator+(const Size& b) const
516  {
517  return Size(width + b.width, height + b.height);
518  }
519 
520  Size operator-(const Size& b) const
521  {
522  return Size(width - b.width, height - b.height);
523  }
524 };
525 
526 /**
527  * Aggregates 2D co-ordinates of a location in a single structure.
528  */
529 struct Location
530 {
531  uint32_t x;
532  uint32_t y;
533 
534  Location() : x(0), y(0) {}
535 
536  /// Construct location from x and y
537  Location(uint32_t a, uint32_t b) : x(a), y(b) {}
538 
539  bool operator==(const Location& other) const
540  {
541  return x == other.x && y == other.y;
542  }
543 };
544 
545 /**
546  * Defines a normalized rectangle region in [0.0, 1.0].
547  */
549 {
550  float left;
551  float top;
552  float right;
553  float bottom;
554 
555  NormalizedRect() : left(0.0f), top(0.0f), right(1.0f), bottom(1.0f) {}
556  NormalizedRect(float l, float t, float r, float b) : left(l), top(t), right(r), bottom(b) {}
557  bool operator==(const NormalizedRect& other) const
558  {
559  return (left == other.left) &&
560  (top == other.top) &&
561  (right == other.right) &&
562  (bottom == other.bottom);
563  }
564 };
565 
566 /**
567  * Tuple template class. This provides a finite ordered list of N elements having type T.
568  */
569 template <unsigned int N, typename T>
570 struct Tuple
571 {
572  T data[N];
573 
574  bool operator==(const Tuple<N,T>& other) const {
575  return !memcmp(data, other.data, sizeof(data));
576  }
577 
578  T& operator[](unsigned int i) { assert(i < N); return data[i]; }
579  const T& operator[](unsigned int i) const { assert(i < N); return data[i]; }
580 };
581 
582 /**
583  * BayerTuple template class. This is a Tuple specialization containing 4 elements corresponding
584  * to the Bayer color channels: R, G_EVEN, G_ODD, and B. Values can be accessed using the named
585  * methods or subscript indexing using the Argus::BayerChannel enum.
586  */
587 template <typename T>
588 struct BayerTuple : public Tuple<BAYER_CHANNEL_COUNT, T>
589 {
591  BayerTuple(T r, T gEven, T gOdd, T b)
592  {
597  }
598 
607 };
608 
609 /**
610  * Defines an autocontrol region of interest (in pixel space).
611  */
612 struct AcRegion
613 {
615  : rect(0, 0, 0, 0)
616  , weight(1.0f)
617  {}
618 
619  AcRegion(uint32_t _left, uint32_t _top, uint32_t _width, uint32_t _height, float _weight)
620  : rect(_left, _top, _width, _height)
621  , weight(_weight)
622  {}
623 
624  bool operator==(const AcRegion& other) const
625  {
626  return (weight == other.weight) &&
627  (rect == other.rect);
628  }
629 
631  float weight;
632 };
633 
634 /**
635  * A template class to hold a 2-dimensional array of data.
636  * Data in this array is tightly packed in a 1-dimensional vector in row-major order;
637  * that is, the vector index for any value given its 2-dimensional Location is
638  * index = location.x + (location.y * size.x);
639  * Indexing operators using iterators, 1-dimensional, or 2-dimensional coordinates are provided.
640  */
641 template <typename T>
642 class Array2D
643 {
644 public:
645  // Iterator types.
646  typedef T* iterator;
647  typedef const T* const_iterator;
648 
649  /// Default Constructor.
650  Array2D() : m_size(0, 0) {}
651 
652  /// Constructor given initial array size.
654  {
655  m_data.resize(size.width * size.height);
656  }
657 
658  /// Constructor given initial array size and initial fill value.
659  Array2D(Size size, const T& value) : m_size(size)
660  {
661  m_data.resize(size.width * size.height, value);
662  }
663 
664  /// Copy constructor.
665  Array2D(const Array2D<T>& other)
666  {
667  m_data = other.m_data;
668  m_size = other.m_size;
669  }
670 
671  /// Assignment operator.
673  {
674  m_data = other.m_data;
675  m_size = other.m_size;
676  return *this;
677  }
678 
679  /// Equality operator.
680  bool operator== (const Array2D<T>& other) const
681  {
682  return (m_size == other.m_size && m_data == other.m_data);
683  }
684 
685  /// Returns the size (dimensions) of the array.
686  Size size() const { return m_size; }
687 
688  /// Resize the array. Array contents after resize are undefined.
689  /// Boolean return value enables error checking when exceptions are not available.
691  {
692  uint32_t s = size.width * size.height;
693  m_data.resize(s);
694  if (m_data.size() != s)
695  return false;
696  m_size = size;
697  return true;
698  }
699 
700  /// STL style iterators.
701  inline const_iterator begin() const { return m_data.data(); }
702  inline const_iterator end() const { return m_data.data() + m_data.size(); }
703  inline iterator begin() { return m_data.data(); }
704  inline iterator end() { return m_data.data() + m_data.size(); }
705 
706  /// Array indexing using [] operator.
707  T& operator[](unsigned int i) { return m_data[checkIndex(i)]; }
708  const T& operator[](unsigned int i) const { return m_data[checkIndex(i)]; }
709 
710  /// Array indexing using () operator.
711  inline const T& operator() (uint32_t i) const { return m_data[checkIndex(i)]; }
712  inline const T& operator() (uint32_t x, uint32_t y) const { return m_data[checkIndex(x, y)]; }
713  inline const T& operator() (Location l) const { return m_data[checkIndex(l.x, l.y)]; }
714  inline T& operator() (uint32_t i) { return m_data[checkIndex(i)]; }
715  inline T& operator() (uint32_t x, uint32_t y) { return m_data[checkIndex(x, y)]; }
716  inline T& operator() (Location l) { return m_data[checkIndex(l.x, l.y)]; }
717 
718  // Get pointers to data.
719  inline const T* data() const { return m_data.data(); }
720  inline T* data() { return m_data.data(); }
721 
722 private:
723  inline uint32_t checkIndex(uint32_t i) const
724  {
725  assert(i < m_data.size());
726  return i;
727  }
728 
729  inline uint32_t checkIndex(uint32_t x, uint32_t y) const
730  {
731  assert(x < m_size.width);
732  assert(y < m_size.height);
733  return x + (y * m_size.width);
734  }
735 
736  std::vector<T> m_data;
738 };
739 
740 typedef uint32_t AutoControlId;
741 
742 } // namespace Argus
743 
744 #endif // _ARGUS_TYPES_H