dwCameraChannelNode.hpp

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#ifndef DW_FRAMEWORK_CAMERA_NODE_HPP_
#define DW_FRAMEWORK_CAMERA_NODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwcgf/pass/Pass.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
 
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
/* Need to include the appropriate ChannelPacketTypes.hpp since port initialization requires
   the parameter_trait overrides. Otherwise, it will be considered as a packet of generic type. */
// #include <dwframework/dwnodes/common/ChannelPacketTypes.hpp>
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/Rig.hpp>
 
#include <dw/sensors/common/Sensors.h>
#include <dw/sensors/common/SensorExtras.h>
#include <dw/sensors/common/SensorStats.h>
#include <dw/sensors/camera/Camera.h>
 
#include <nvmedia_6x/nvmedia_ldc.h>
 
namespace dw
{
namespace framework
{
 
class dwCameraChannelNodeImpl;
 
template <>
struct EnumDescription<dwSensorTsAndIDSource>
{
    static constexpr EnumDescriptionReturnType<dwSensorTsAndIDSource, 4> get()
    {
        return describeEnumeratorCollection<dwSensorTsAndIDSource>(
            DW_DESCRIBE_C_ENUMERATOR(DW_SENSOR_TS_AND_ID_SOURCE_UNSPECIFIED),
            DW_DESCRIBE_C_ENUMERATOR(DW_SENSOR_TS_AND_ID_SOURCE_SENSOR),
            DW_DESCRIBE_C_ENUMERATOR(DW_SENSOR_TS_AND_ID_SOURCE_SVS),
            DW_DESCRIBE_C_ENUMERATOR(DW_SENSOR_TS_AND_ID_SOURCE_SENSORSERVICE));
    }
};
 
struct dwCameraChannelNodeParams
{
    char8_t const* sensorName;
    cudaStream_t cudaStream;
    bool useEEPROMIntrinsics;
    dwConstRigHandle_t rig;
    dwSALHandle_t sal;
    dw::core::FixedString<32> frameSkipMask;
    dwImageProperties imageProperties;
    NvMediaLdc* nvmLdc;
    bool errorHandlingEnabled;
    dwSensorTsAndIDSource dataSource;
};
 
class dwCameraChannelNode : public ExceptionSafeSensorNode, public IChannelsConnectedListener
{
public:
    // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2980283
    // coverity[autosar_cpp14_m0_1_4_violation] FP: nvbugs/2980283
    static constexpr char LOG_TAG[] = "dwCameraChannelNode";
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeInputPorts()
    {
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "VIRTUAL_SYNC_TIME"_sv),
            DW_DESCRIBE_PORT(dwImageHandle_t, "IMAGE_NATIVE_PROCESSED"_sv));
    };
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeOutputPorts()
    {
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "SENSOR_PROPERTIES"_sv),
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwFThetaCameraConfig, "INTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwImageHandle_t, "IMAGE_NATIVE_PROCESSED"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "IMAGE_TIMESTAMP"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "NEXT_IMAGE_TIMESTAMP"_sv),
            DW_DESCRIBE_PORT(dwSensorStats, "SENSOR_STATS"_sv),
            DW_DESCRIBE_PORT(dwSensorTsAndID, "IMAGE_TIMESTAMP_AND_ID"_sv));
    };
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describePasses()
    {
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePassCollection(
            describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESSED_OUTPUT"}, DW_PROCESSOR_TYPE_GPU),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    };
 
    dwSensorType getSensorType() const
    {
        return DW_SENSOR_CAMERA;
    }
 
    void onChannelsConnected() override
    {
        IChannelsConnectedListener* channelConnectListnerNode{nullptr};
        channelConnectListnerNode = dynamic_cast<IChannelsConnectedListener*>(m_impl.get());
        if (channelConnectListnerNode)
        {
            // coverity[cert_exp39_c_violation] FP: nvbugs/3746116
            return channelConnectListnerNode->onChannelsConnected();
        }
        return;
    }
 
    static std::unique_ptr<dwCameraChannelNode> create(ParameterProvider& provider);
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeParameters()
    {
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describeConstructorArguments(
            describeConstructorArgument<dwCameraChannelNodeParams>(
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::CameraName,
                    "cameraIndex"_sv,
                    &dwCameraChannelNodeParams::sensorName),
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    dwImageProperties,
                    semantic_parameter_types::CameraImagePropertiesNativeProcessed,
                    "cameraIndex"_sv,
                    &dwCameraChannelNodeParams::imageProperties),
#if defined(VIBRANTE)
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    NvMediaLdc*,
                    semantic_parameter_types::NvMediaLdc,
                    &dwCameraChannelNodeParams::nvmLdc),
#endif
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "streamIndex"_sv,
                    &dwCameraChannelNodeParams::cudaStream),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "useEEPROMIntrinsics"_sv,
                    &dwCameraChannelNodeParams::useEEPROMIntrinsics),
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwCameraChannelNodeParams::rig),
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwSALHandle_t,
                    &dwCameraChannelNodeParams::sal),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(
                    bool,
                    "errorHandlingEnabled"_sv,
                    false,
                    &dwCameraChannelNodeParams::errorHandlingEnabled),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(
                    dwSensorTsAndIDSource,
                    "dataSource"_sv,
                    DW_SENSOR_TS_AND_ID_SOURCE_SENSOR,
                    &dwCameraChannelNodeParams::dataSource)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwCameraChannelNode(dwCameraChannelNodeParams const& params,
                        const dwContextHandle_t ctx);
};
} // namespace framework
} // namespace dw
#endif // DW_FRAMEWORK_CAMERA_NODE_HPP_