Codec.h

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#ifndef DW_SENSORS_CODECS_CODEC_H_
#define DW_SENSORS_CODECS_CODEC_H_
 
#include <dw/core/base/Types.h>
#include <dw/image/Image.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_CODEC_COMPLETE_PICTURE_FLAG (1 << 0)
 
typedef enum {
    DW_MEDIA_TYPE_VIDEO      = 0,  
    DW_MEDIA_TYPE_LIDAR      = 1,  
    DW_MEDIA_TYPE_RADAR      = 2,  
    DW_MEDIA_TYPE_IMU        = 3,  
    DW_MEDIA_TYPE_GPS        = 4,  
    DW_MEDIA_TYPE_CAN        = 5,  
    DW_MEDIA_TYPE_DATA       = 6,  
    DW_MEDIA_TYPE_TIME       = 7,  
    DW_MEDIA_TYPE_ROADCAST   = 8,  
    DW_MEDIA_TYPE_ULTRASONIC = 9,  
    DW_MEDIA_TYPE_METADATA   = 10, 
    DW_MEDIA_TYPE_COUNT      = 11  
} dwMediaType;
 
typedef enum {
    DW_CODEC_TYPE_INVALID                                                                     = -1,
    DW_CODEC_TYPE_VIDEO_H264 DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 0,
    DW_CODEC_TYPE_VIDEO_H265 DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 1,
    DW_CODEC_TYPE_VIDEO_VP9 DW_DEPRECATED_ENUM("dwCodecType deprecated")                      = 2,
    DW_CODEC_TYPE_VIDEO_AV1 DW_DEPRECATED_ENUM("dwCodecType deprecated")                      = 3,
    DW_CODEC_TYPE_VIDEO_LRAW DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 4,
    DW_CODEC_TYPE_VIDEO_LRAW_V2 DW_DEPRECATED_ENUM("dwCodecType deprecated")                  = 5,
    DW_CODEC_TYPE_VIDEO_XRAW DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 6,
    DW_CODEC_TYPE_VIDEO_RAW DW_DEPRECATED_ENUM("dwCodecType deprecated")                      = 7,
    DW_CODEC_TYPE_LIDAR_CUSTOM DW_DEPRECATED_ENUM("dwCodecType deprecated")                   = 8,
    DW_CODEC_TYPE_LIDAR_HESAI_P128 DW_DEPRECATED_ENUM("dwCodecType deprecated")               = 9,
    DW_CODEC_TYPE_LIDAR_HESAI_P128_V4P5 DW_DEPRECATED_ENUM("dwCodecType deprecated")          = 10,
    DW_CODEC_TYPE_LIDAR_LUMINAR_H DW_DEPRECATED_ENUM("dwCodecType deprecated")                = 11,
    DW_CODEC_TYPE_LIDAR_OUSTER_OS1 DW_DEPRECATED_ENUM("dwCodecType deprecated")               = 12,
    DW_CODEC_TYPE_LIDAR_OUSTER_OS2_128 DW_DEPRECATED_ENUM("dwCodecType deprecated")           = 13,
    DW_CODEC_TYPE_LIDAR_VELODYNE_HDL32E DW_DEPRECATED_ENUM("dwCodecType deprecated")          = 14,
    DW_CODEC_TYPE_LIDAR_VELODYNE_HDL64E DW_DEPRECATED_ENUM("dwCodecType deprecated")          = 15,
    DW_CODEC_TYPE_LIDAR_VELODYNE_VLP16 DW_DEPRECATED_ENUM("dwCodecType deprecated")           = 16,
    DW_CODEC_TYPE_LIDAR_VELODYNE_VLP16HR DW_DEPRECATED_ENUM("dwCodecType deprecated")         = 17,
    DW_CODEC_TYPE_LIDAR_VELODYNE_VLP32C DW_DEPRECATED_ENUM("dwCodecType deprecated")          = 18,
    DW_CODEC_TYPE_LIDAR_VELODYNE_VLS128 DW_DEPRECATED_ENUM("dwCodecType deprecated")          = 19,
    DW_CODEC_TYPE_RADAR_CONTINENTAL_ARS430 DW_DEPRECATED_ENUM("dwCodecType deprecated")       = 20,
    DW_CODEC_TYPE_RADAR_CONTINENTAL_ARS430CAN DW_DEPRECATED_ENUM("dwCodecType deprecated")    = 21,
    DW_CODEC_TYPE_RADAR_CONTINENTAL_ARS430RDI DW_DEPRECATED_ENUM("dwCodecType deprecated")    = 22,
    DW_CODEC_TYPE_RADAR_CONTINENTAL_ARS430RDI_V2 DW_DEPRECATED_ENUM("dwCodecType deprecated") = 23,
    DW_CODEC_TYPE_RADAR_CUSTOM DW_DEPRECATED_ENUM("dwCodecType deprecated")                   = 24,
    DW_CODEC_TYPE_RADAR_DELPHI DW_DEPRECATED_ENUM("dwCodecType deprecated")                   = 25,
    DW_CODEC_TYPE_IMU_BOSCH DW_DEPRECATED_ENUM("dwCodecType deprecated")                      = 26,
    DW_CODEC_TYPE_IMU_CAN DW_DEPRECATED_ENUM("dwCodecType deprecated")                        = 27,
    DW_CODEC_TYPE_IMU_CONTINENTAL DW_DEPRECATED_ENUM("dwCodecType deprecated")                = 28,
    DW_CODEC_TYPE_IMU_CUSTOM DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 29,
    DW_CODEC_TYPE_IMU_DATASPEED DW_DEPRECATED_ENUM("dwCodecType deprecated")                  = 30,
    DW_CODEC_TYPE_IMU_NOVATEL_ASCII DW_DEPRECATED_ENUM("dwCodecType deprecated")              = 31,
    DW_CODEC_TYPE_IMU_NOVATEL_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")             = 32,
    DW_CODEC_TYPE_IMU_NV_SIM DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 33,
    DW_CODEC_TYPE_IMU_XSENS_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")               = 34,
    DW_CODEC_TYPE_IMU_XSENS_CAN DW_DEPRECATED_ENUM("dwCodecType deprecated")                  = 35,
    DW_CODEC_TYPE_IMU_XSENS_NMEA DW_DEPRECATED_ENUM("dwCodecType deprecated")                 = 36,
    DW_CODEC_TYPE_GPS_CUSTOM DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 37,
    DW_CODEC_TYPE_GPS_DATASPEED DW_DEPRECATED_ENUM("dwCodecType deprecated")                  = 38,
    DW_CODEC_TYPE_GPS_DW_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")                  = 39,
    DW_CODEC_TYPE_GPS_NMEA DW_DEPRECATED_ENUM("dwCodecType deprecated")                       = 40,
    DW_CODEC_TYPE_GPS_NOVATEL DW_DEPRECATED_ENUM("dwCodecType deprecated")                    = 41,
    DW_CODEC_TYPE_GPS_NOVATEL_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")             = 42,
    DW_CODEC_TYPE_GPS_NOVATEL_ASCII DW_DEPRECATED_ENUM("dwCodecType deprecated")              = 43,
    DW_CODEC_TYPE_GPS_NV_SIM DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 44,
    DW_CODEC_TYPE_GPS_UBLOX DW_DEPRECATED_ENUM("dwCodecType deprecated")                      = 45,
    DW_CODEC_TYPE_GPS_XSENS_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")               = 46,
    DW_CODEC_TYPE_CAN_DW_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")                  = 47,
    DW_CODEC_TYPE_TIMESENSOR_DW_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")           = 48,
    DW_CODEC_TYPE_DATA_DW_BINARY DW_DEPRECATED_ENUM("dwCodecType deprecated")                 = 49,
    DW_CODEC_TYPE_ION DW_DEPRECATED_ENUM("dwCodecType deprecated")                            = 50,
    DW_CODEC_TYPE_ULTRASONIC_VALEO_USV DW_DEPRECATED_ENUM("dwCodecType deprecated")           = 51,
    DW_CODEC_TYPE_RADAR_CUSTOM_EX DW_DEPRECATED_ENUM("dwCodecType deprecated")                = 52,
    DW_CODEC_TYPE_LIDAR_CUSTOM_EX DW_DEPRECATED_ENUM("dwCodecType deprecated")                = 53,
    DW_CODEC_TYPE_RADAR_HELLA_ADAS6 DW_DEPRECATED_ENUM("dwCodecType deprecated")              = 54,
    DW_CODEC_TYPE_LIDAR_LUMINAR_IRIS_2129 DW_DEPRECATED_ENUM("dwCodecType deprecated")        = 55,
    DW_CODEC_TYPE_LIDAR_LUMINAR_IRIS_2142 DW_DEPRECATED_ENUM("dwCodecType deprecated")        = 56,
    DW_CODEC_TYPE_VIDEO_JPEG DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 57,
    DW_CODEC_TYPE_LIDAR_POINT_CLOUD_COMPRESSED DW_DEPRECATED_ENUM("dwCodecType deprecated")   = 58,
    DW_CODEC_TYPE_RADAR_IDC6 DW_DEPRECATED_ENUM("dwCodecType deprecated")                     = 59,
    DW_CODEC_TYPE_IMU_IDC6 DW_DEPRECATED_ENUM("dwCodecType deprecated")                       = 60,
    DW_CODEC_TYPE_GPS_IDC6 DW_DEPRECATED_ENUM("dwCodecType deprecated")                       = 61,
    DW_CODEC_TYPE_ROADCAST_AVMESSAGE DW_DEPRECATED_ENUM("dwCodecType deprecated")             = 62,
    DW_CODEC_TYPE_LIDAR_LUMINAR_SLIMV2 DW_DEPRECATED_ENUM("dwCodecType deprecated")           = 63,
    DW_CODEC_TYPE_USE_CODEC_MIME_TYPE                                                         = 64,
    DW_CODEC_TYPE_COUNT DW_DEPRECATED_ENUM("dwCodecType deprecated")                          = 65,
} dwCodecType;
 
typedef enum {
    DW_MAX_CODEC_MIME_TYPE_LENGTH = 64,
    DW_MAX_RAW_SIPL_HEADER_LENGTH = 7002
} dwCodecMaxLengths;
 
typedef struct dwCodecMimeType
{
    char8_t mime[DW_MAX_CODEC_MIME_TYPE_LENGTH];
} dwCodecMimeType;
 
typedef dwCodecMimeType dwCodecMimeTypeConst_t;
 
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_UNK;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_H264;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_H264_ANNEX_B;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_H265;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_H265_ANNEX_B;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_VP9;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_AV1;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_LRAW;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_LRAW_V2;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_XRAW;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_RAW;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_CUSTOM;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_HESAI_P128;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_HESAI_P128_V4P5;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_LUMINAR_H;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_OUSTER_OS1;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_OUSTER_OS2_128;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_VELODYNE_HDL32E;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_VELODYNE_HDL64E;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_VELODYNE_VLP16;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_VELODYNE_VLP16HR;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_VELODYNE_VLP32C;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_VELODYNE_VLS128;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_CONTINENTAL_ARS430;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_CONTINENTAL_ARS430CAN;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_CONTINENTAL_ARS430RDI;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_CONTINENTAL_ARS430RDI_V2;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_CUSTOM;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_DELPHI;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_BOSCH;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_CAN;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_CONTINENTAL;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_CUSTOM;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_DATASPEED;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_NOVATEL_ASCII;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_NOVATEL_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_NV_SIM;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_XSENS_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_XSENS_CAN;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_XSENS_NMEA;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_CUSTOM;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_DATASPEED;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_DW_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_NMEA;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_NOVATEL;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_NOVATEL_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_NOVATEL_ASCII;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_NV_SIM;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_UBLOX;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_XSENS_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_CAN_DW_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_TIMESENSOR_DW_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_DATA_DW_BINARY;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_ION;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_ULTRASONIC_VALEO_USV;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_ULTRASONIC_VALEO_USV_BSAMPLE;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_ULTRASONIC_CONTI_CUS3_OBJECT;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_CUSTOM_EX;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_CUSTOM_EX;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_HELLA_ADAS6;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_LUMINAR_IRIS_2129;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_LUMINAR_IRIS_2142;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_VIDEO_JPEG;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_POINT_CLOUD_COMPRESSED;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_RADAR_IDC6;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_IMU_IDC6;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_GPS_IDC6;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_ROADCAST_AVMESSAGE;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_LIDAR_LUMINAR_SLIMV2;
extern dwCodecMimeTypeConst_t const DW_CODEC_MIME_TYPE_KINECT;
 
typedef enum {
    DW_CODEC_CAPABILITY_HARDWARE    = 0, 
    DW_CODEC_CAPABILITY_SOFTWARE    = 1, 
    DW_CODEC_CAPABILITY_UNSUPPORTED = 2, 
} dwCodecCapability;
 
typedef enum {
    DW_ENCODER_RATE_CONTROL_MODE_CONSTQP = 0, // Constant QP mode
    DW_ENCODER_RATE_CONTROL_MODE_CBR     = 1, // Constant Bitrate mode; constant bitrate throughout all data independently of data complexity
    DW_ENCODER_RATE_CONTROL_MODE_VBR     = 2, // Variable Bitrate mode; aim for target (average) bitrate, but variates bitrate depending on local data complexity
} dwEncoderRateControlMode;
 
typedef struct dwCodecPacket
{
    uint64_t flags;
 
    dwTime_t pts;
 
    dwTime_t dts;
 
    uint8_t* data;
 
    uint64_t dataSizeBytes;
 
    void* reserved[4];
 
    dwTime_t sofTimestampUs;
    dwTime_t eofTimestampUs;
    dwTime_t moeTimestampUs;
    dwExposureDuration exposureDurationUs;
    dwTime_t subExposureStartTimestampsUs[DW_DEVBLK_CDI_MAX_EXPOSURES];
    float32_t sensorTempCelsius;
} dwCodecPacket;
 
typedef struct dwEncoderConfigRateControl
{
    uint32_t gopSize;              
    uint32_t bFrames;              
    uint32_t pFrames;              
    uint32_t quality;              
    uint32_t profile;              
    uint32_t level;                
    uint64_t averageBitRate;       
    uint64_t maxBitRate;           
    dwEncoderRateControlMode mode; 
} dwEncoderConfigRateControl;
 
typedef struct dwEncoderConfigNVMedia
{
    uint8_t encoderInstance;           
    uint8_t h265UltraFastEncodeEnable; 
} dwEncoderConfigNVMedia;
 
typedef struct dwEncoderConfig
{
    dwEncoderConfigRateControl rateControl; 
    dwEncoderConfigNVMedia nvMedia;         
} dwEncoderConfig;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_CODECS_CODEC_H_