gstCamera.h

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/*
 * Copyright (c) 2017, NVIDIA CORPORATION. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
 * DEALINGS IN THE SOFTWARE.
 */

#ifndef __GSTREAMER_CAMERA_H__
#define __GSTREAMER_CAMERA_H__

#include <gst/gst.h>
#include <string>

#include "Mutex.h"
#include "Event.h"


// Forward declarations
struct _GstAppSink;


enum gstCameraSrc
{
        GST_SOURCE_NVCAMERA,    /* use nvcamerasrc element */
        GST_SOURCE_NVARGUS,             /* use nvargussrc element */
        GST_SOURCE_V4L2         /* use v4l2src element */
};

const char* gstCameraSrcToString( gstCameraSrc src );   


class gstCamera
{
public:
        static gstCamera* Create( const char* camera=NULL ); // use MIPI CSI camera by default

        static gstCamera* Create( uint32_t width, uint32_t height, const char* camera=NULL );
        
        ~gstCamera();

        bool Open();

        void Close();
        
        inline bool IsStreaming() const    { return mStreaming; }

        bool Capture( void** cpu, void** cuda, uint64_t timeout=UINT64_MAX );

        bool CaptureRGBA( float** image, uint64_t timeout=UINT64_MAX, bool zeroCopy=false );
        
        bool ConvertRGBA( void* input, float** output, bool zeroCopy=false );
        
        inline uint32_t GetWidth() const           { return mWidth; }

        inline uint32_t GetHeight() const          { return mHeight; }

        inline uint32_t GetPixelDepth() const { return mDepth; }

        inline uint32_t GetSize() const    { return mSize; }
        
        static const uint32_t DefaultWidth  = 1280;

        static const uint32_t DefaultHeight = 720;
        
private:
        static void onEOS(_GstAppSink* sink, void* user_data);
        static GstFlowReturn onPreroll(_GstAppSink* sink, void* user_data);
        static GstFlowReturn onBuffer(_GstAppSink* sink, void* user_data);

        gstCamera();

        bool init( gstCameraSrc src );
        bool buildLaunchStr( gstCameraSrc src );
        bool parseCameraStr( const char* camera );

        void checkMsgBus();
        void checkBuffer();
        
        _GstBus*     mBus;
        _GstAppSink* mAppSink;
        _GstElement* mPipeline;
        gstCameraSrc mSource;

        std::string  mLaunchStr;
        std::string  mCameraStr;

        uint32_t mWidth;
        uint32_t mHeight;
        uint32_t mDepth;
        uint32_t mSize;

        static const uint32_t NUM_RINGBUFFERS = 16;
        
        void* mRingbufferCPU[NUM_RINGBUFFERS];
        void* mRingbufferGPU[NUM_RINGBUFFERS];
        
        Event mWaitEvent;
        Mutex mWaitMutex;
        Mutex mRingMutex;
        
        uint32_t mLatestRGBA;
        uint32_t mLatestRingbuffer;
        bool     mLatestRetrieved;
        
        void*  mRGBA[NUM_RINGBUFFERS];
        bool   mRGBAZeroCopy; // were the RGBA buffers allocated with zeroCopy?
        bool   mStreaming;        // true if the device is currently open
        int    mSensorCSI;        // -1 for V4L2, >=0 for MIPI CSI

        inline bool csiCamera() const           { return (mSensorCSI >= 0); }
};

#endif