cpp/surround_view/service-impl/IOModuleCommon.h - platform/packages/services/Car - Git at Google

 /*
  * Copyright 2020 The Android Open Source Project
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
  *      http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */

 #ifndef SURROUND_VIEW_SERVICE_IMPL_IOMODULECOMMON_H_
 #define SURROUND_VIEW_SERVICE_IMPL_IOMODULECOMMON_H_

 #include <string>

 #include "core_lib.h"

 namespace android {
 namespace hardware {
 namespace automotive {
 namespace sv {
 namespace V1_0 {
 namespace implementation {

 // Struct for camera related configurations.
 // Note: Does not include camera intrinsics and extrinsics, these are specified in EVS metadata.
 struct CameraConfig {
     // Id of logical group containing surronnd view cameras.
     std::string evsGroupId;

     // List of evs camera Ids  in order: front, right, rear, left.
     std::vector<std::string> evsCameraIds;

     // In order: front, right, rear, left.
     std::vector<std::string> maskFilenames;
 };

 struct SvConfig2d {
     // Bool flag for surround view 2d.
     bool sv2dEnabled;

     // Surround view 2d params.
     android_auto::surround_view::SurroundView2dParams sv2dParams;

     // Car model bounding box for 2d surround view.
     // To be moved into sv 2d params.
     android_auto::surround_view::BoundingBox carBoundingBox;
 };

 struct SvConfig3d {
     // Bool flag for enabling/disabling surround view 3d.
     bool sv3dEnabled;

     // Bool flag for enabling/disabling animations.
     bool sv3dAnimationsEnabled;

     // Car model config file.
     std::string carModelConfigFile;

     // Car model obj file.
     std::string carModelObjFile;

     // Surround view 3d params.
     android_auto::surround_view::SurroundView3dParams sv3dParams;
 };

 // Main struct in which surround view config is parsed into.
 struct SurroundViewConfig {
     // Version info.
     std::string version;

     // Camera config.
     CameraConfig cameraConfig;

     // Surround view 2d config.
     SvConfig2d sv2dConfig;

     // Surround view 3d config.
     SvConfig3d sv3dConfig;
 };

 struct Range {
     // Range start.
     // Start value may be greater than end value.
     float start;

     // Range end.
     float end;
 };

 // Rotation axis
 struct RotationAxis {
     // Unit axis direction vector.
     std::array<float, 3> axisVector;

     // Rotate about this point.
     std::array<float, 3> rotationPoint;
 };

 enum AnimationType {
     // Rotate a part about an axis from a start to end angle.
     ROTATION_ANGLE = 0,

     // Continuously rotate a part about an axis by a specified angular speed.
     ROTATION_SPEED = 1,

     // Linearly translates a part from one point to another.
     TRANSLATION = 2,

     // Switch to another texture once.
     SWITCH_TEXTURE_ONCE = 3,

     // Adjust the brightness of the texture once.
     ADJUST_GAMMA_ONCE = 4,

     // Repeatedly toggle between two textures.
     SWITCH_TEXTURE_REPEAT = 5,

     // Repeatedly toggle between two gamma values.
     ADJUST_GAMMA_REPEAT = 6,
 };

 // Rotation operation
 struct RotationOp {
     // VHAL signal to trigger operation.
     uint64_t vhalProperty;

     // Rotation operation type.
     AnimationType type;

     // Rotation axis.
     RotationAxis axis;

     // Default rotation (angle/speed) value.
     // It is used for default rotation when the signal is on while vhal_range is
     // not provided.
     float defaultRotationValue;

     // Default animation time elapsed to finish the rotation operation.
     // It is ignored if VHAL provides continuous signal value.
     float animationTime;

     // physical rotation range with start mapped to vhal_range start and
     // end mapped to vhal_range end.
     Range rotationRange;

     // VHAL signal range.
     // Un-supported types: STRING, BYTES and VEC
     // Refer:  hardware/interfaces/automotive/vehicle/2.0/types.hal
     // VehiclePropertyType
     Range vhalRange;
 };

 // Translation operation.
 struct TranslationOp {
     // VHAL signal to trigger operation.
     uint64_t vhalProperty;

     // Translation operation type.
     AnimationType type;

     // Unit direction vector.
     std::array<float, 3> direction;

     // Default translation value.
     // It is used for default translation when the signal is on while vhal_range
     // is not provided.
     float defaultTranslationValue;

     // Default animation time elapsed to finish the texture operation.
     // It is ignored if VHAL provides continuous signal value.
     float animationTime;

     // Physical translation range with start mapped to vhal_range start and
     // end mapped to vhal_range end.
     Range translationRange;

     // VHAL signal range.
     // Un-supported types: STRING, BYTES and VEC
     // Refer:  hardware/interfaces/automotive/vehicle/2.0/types.hal
     // VehiclePropertyType
     Range vhalRange;
 };

 // Texture operation.
 struct TextureOp {
     // VHAL signal to trigger operation.
     uint64_t vhalProperty;

     // Texture operation type.
     AnimationType type;

     // Default texture id.
     // It is used as default texture when the signal is on while vhal_range is
     // not provided.
     std::string defaultTexture;

     // Default animation time elapsed to finish the texture operation.
     // Unit is milliseconds.
     // If the animation time is specified, the vhal_property is assumed to be
     // on/off type.
     // It is ignored if it is equal or less than zero and vhal_property is
     // assumed to provide continuous value.
     int animationTime;

     // texture range mapped to texture_ids[i].first.
     Range textureRange;

     // VHAL signal range.
     // Un-supported types: STRING, BYTES and VEC
     // Refer:  hardware/interfaces/automotive/vehicle/2.0/types.hal
     // VehiclePropertyType
     Range vhalRange;

     // Texture ids for switching textures.
     // Applicable for animation types: kSwitchTextureOnce and
     // kSwitchTextureRepeated
     // 0 - n-1
     std::vector<std::pair<float, std::string>> textureIds;
 };

 // Gamma operation.
 struct GammaOp {
     // VHAL signal to trigger operation.
     uint64_t vhalProperty;

     // Texture operation type.
     // Applicable for animation types: kAdjustGammaOnce and kAdjustGammaRepeat.
     AnimationType type;

     // Default animation time elapsed to finish the gamma operation.
     // Unit is milliseconds.
     // If the animation time is specified, the vhal_property is assumed to be
     // on/off type.
     // It is ignored if it is equal or less than zero and vhal_property is
     // assumed to provide continuous value.
     int animationTime;

     // Gamma range with start mapped to vhal_range start and
     // end mapped to vhal_range end.
     Range gammaRange;

     // VHAL signal range.
     // Un-supported types: STRING, BYTES and VEC
     // Refer:  hardware/interfaces/automotive/vehicle/2.0/types.hal
     // VehiclePropertyType
     Range vhalRange;
 };

 // Animation info of a car part
 struct AnimationInfo {
     // Car animation part id(name). It is a unique id.
     std::string partId;

     // Car part parent name.
     std::string parentId;

     // List of child Ids.
     std::vector<std::string> childIds;

     // Car part pose w.r.t parent's coordinate.
     android_auto::surround_view::Mat4x4 pose;

     // VHAL priority from high [0] to low [n-1]. Only VHALs specified in the
     // vector have priority.
     std::vector<uint64_t> vhalPriority;

     // TODO(b/158245554): simplify xxOpsMap data structs.
     // Map of gamma operations. Key value is VHAL property.
     std::map<uint64_t, std::vector<GammaOp>> gammaOpsMap;

     // Map of texture operations. Key value is VHAL property.
     std::map<uint64_t, std::vector<TextureOp>> textureOpsMap;

     // Map of rotation operations. Key value is VHAL property.
     // Multiple rotation ops are supported and will be simultaneously animated in
     // order if their rotation axis are different and rotation points are the
     // same.
     std::map<uint64_t, std::vector<RotationOp>> rotationOpsMap;

     // Map of translation operations. Key value is VHAL property.
     std::map<uint64_t, std::vector<TranslationOp>> translationOpsMap;
 };

 // Main struct in which surround view car model config is parsed into.
 struct AnimationConfig {
     std::string version;

     std::vector<AnimationInfo> animations;
 };

 // Car model.
 struct CarModel {
     // Car model parts map.
     std::map<std::string, android_auto::surround_view::CarPart> partsMap;

     // Car testures map.
     std::map<std::string, android_auto::surround_view::CarTexture> texturesMap;
 };

 struct CarModelConfig {
     CarModel carModel;

     AnimationConfig animationConfig;
 };

 struct IOModuleConfig {
     // Camera config.
     CameraConfig cameraConfig;

     // Surround view 2d config.
     SvConfig2d sv2dConfig;

     // Surround view 3d config.
     SvConfig3d sv3dConfig;

     // Car model config.
     CarModelConfig carModelConfig;
 };

 enum IOStatus : uint8_t {
     // OK ststus. ALL fields read and parsed.
     OK = 0,

     // Error status. Cannot read the config file (config file missing or not
     // accessible)
     ERROR_READ_CONFIG_FILE = 1,

     // Error ststus. Config file format doesn't match.
     ERROR_CONFIG_FILE_FORMAT = 2,

     // Warning status. Read car model (obj, mtl) error. Either the files are
     // missing or wrong format.
     ERROR_READ_CAR_MODEL = 3,

     // Warning status. Read animation config file error. Either the file is
     // missing or wrong format.
     ERROR_READ_ANIMATION = 4,
 };

 }  // namespace implementation
 }  // namespace V1_0
 }  // namespace sv
 }  // namespace automotive
 }  // namespace hardware
 }  // namespace android

 #endif  // SURROUND_VIEW_SERVICE_IMPL_IOMODULECOMMON_H_
	/*
	* Copyright 2020 The Android Open Source Project
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	#ifndef SURROUND_VIEW_SERVICE_IMPL_IOMODULECOMMON_H_
	#define SURROUND_VIEW_SERVICE_IMPL_IOMODULECOMMON_H_

	#include <string>

	#include "core_lib.h"

	namespace android {
	namespace hardware {
	namespace automotive {
	namespace sv {
	namespace V1_0 {
	namespace implementation {

	// Struct for camera related configurations.
	// Note: Does not include camera intrinsics and extrinsics, these are specified in EVS metadata.
	struct CameraConfig {
	// Id of logical group containing surronnd view cameras.
	std::string evsGroupId;

	// List of evs camera Ids in order: front, right, rear, left.
	std::vector<std::string> evsCameraIds;

	// In order: front, right, rear, left.
	std::vector<std::string> maskFilenames;
	};

	struct SvConfig2d {
	// Bool flag for surround view 2d.
	bool sv2dEnabled;

	// Surround view 2d params.
	android_auto::surround_view::SurroundView2dParams sv2dParams;

	// Car model bounding box for 2d surround view.
	// To be moved into sv 2d params.
	android_auto::surround_view::BoundingBox carBoundingBox;
	};

	struct SvConfig3d {
	// Bool flag for enabling/disabling surround view 3d.
	bool sv3dEnabled;

	// Bool flag for enabling/disabling animations.
	bool sv3dAnimationsEnabled;

	// Car model config file.
	std::string carModelConfigFile;

	// Car model obj file.
	std::string carModelObjFile;

	// Surround view 3d params.
	android_auto::surround_view::SurroundView3dParams sv3dParams;
	};

	// Main struct in which surround view config is parsed into.
	struct SurroundViewConfig {
	// Version info.
	std::string version;

	// Camera config.
	CameraConfig cameraConfig;

	// Surround view 2d config.
	SvConfig2d sv2dConfig;

	// Surround view 3d config.
	SvConfig3d sv3dConfig;
	};

	struct Range {
	// Range start.
	// Start value may be greater than end value.
	float start;

	// Range end.
	float end;
	};

	// Rotation axis
	struct RotationAxis {
	// Unit axis direction vector.
	std::array<float, 3> axisVector;

	// Rotate about this point.
	std::array<float, 3> rotationPoint;
	};

	enum AnimationType {
	// Rotate a part about an axis from a start to end angle.
	ROTATION_ANGLE = 0,

	// Continuously rotate a part about an axis by a specified angular speed.
	ROTATION_SPEED = 1,

	// Linearly translates a part from one point to another.
	TRANSLATION = 2,

	// Switch to another texture once.
	SWITCH_TEXTURE_ONCE = 3,

	// Adjust the brightness of the texture once.
	ADJUST_GAMMA_ONCE = 4,

	// Repeatedly toggle between two textures.
	SWITCH_TEXTURE_REPEAT = 5,

	// Repeatedly toggle between two gamma values.
	ADJUST_GAMMA_REPEAT = 6,
	};

	// Rotation operation
	struct RotationOp {
	// VHAL signal to trigger operation.
	uint64_t vhalProperty;

	// Rotation operation type.
	AnimationType type;

	// Rotation axis.
	RotationAxis axis;

	// Default rotation (angle/speed) value.
	// It is used for default rotation when the signal is on while vhal_range is
	// not provided.
	float defaultRotationValue;

	// Default animation time elapsed to finish the rotation operation.
	// It is ignored if VHAL provides continuous signal value.
	float animationTime;

	// physical rotation range with start mapped to vhal_range start and
	// end mapped to vhal_range end.
	Range rotationRange;

	// VHAL signal range.
	// Un-supported types: STRING, BYTES and VEC
	// Refer: hardware/interfaces/automotive/vehicle/2.0/types.hal
	// VehiclePropertyType
	Range vhalRange;
	};

	// Translation operation.
	struct TranslationOp {
	// VHAL signal to trigger operation.
	uint64_t vhalProperty;

	// Translation operation type.
	AnimationType type;

	// Unit direction vector.
	std::array<float, 3> direction;

	// Default translation value.
	// It is used for default translation when the signal is on while vhal_range
	// is not provided.
	float defaultTranslationValue;

	// Default animation time elapsed to finish the texture operation.
	// It is ignored if VHAL provides continuous signal value.
	float animationTime;

	// Physical translation range with start mapped to vhal_range start and
	// end mapped to vhal_range end.
	Range translationRange;

	// VHAL signal range.
	// Un-supported types: STRING, BYTES and VEC
	// Refer: hardware/interfaces/automotive/vehicle/2.0/types.hal
	// VehiclePropertyType
	Range vhalRange;
	};

	// Texture operation.
	struct TextureOp {
	// VHAL signal to trigger operation.
	uint64_t vhalProperty;

	// Texture operation type.
	AnimationType type;

	// Default texture id.
	// It is used as default texture when the signal is on while vhal_range is
	// not provided.
	std::string defaultTexture;

	// Default animation time elapsed to finish the texture operation.
	// Unit is milliseconds.
	// If the animation time is specified, the vhal_property is assumed to be
	// on/off type.
	// It is ignored if it is equal or less than zero and vhal_property is
	// assumed to provide continuous value.
	int animationTime;

	// texture range mapped to texture_ids[i].first.
	Range textureRange;

	// VHAL signal range.
	// Un-supported types: STRING, BYTES and VEC
	// Refer: hardware/interfaces/automotive/vehicle/2.0/types.hal
	// VehiclePropertyType
	Range vhalRange;

	// Texture ids for switching textures.
	// Applicable for animation types: kSwitchTextureOnce and
	// kSwitchTextureRepeated
	// 0 - n-1
	std::vector<std::pair<float, std::string>> textureIds;
	};

	// Gamma operation.
	struct GammaOp {
	// VHAL signal to trigger operation.
	uint64_t vhalProperty;

	// Texture operation type.
	// Applicable for animation types: kAdjustGammaOnce and kAdjustGammaRepeat.
	AnimationType type;

	// Default animation time elapsed to finish the gamma operation.
	// Unit is milliseconds.
	// If the animation time is specified, the vhal_property is assumed to be
	// on/off type.
	// It is ignored if it is equal or less than zero and vhal_property is
	// assumed to provide continuous value.
	int animationTime;

	// Gamma range with start mapped to vhal_range start and
	// end mapped to vhal_range end.
	Range gammaRange;

	// VHAL signal range.
	// Un-supported types: STRING, BYTES and VEC
	// Refer: hardware/interfaces/automotive/vehicle/2.0/types.hal
	// VehiclePropertyType
	Range vhalRange;
	};

	// Animation info of a car part
	struct AnimationInfo {
	// Car animation part id(name). It is a unique id.
	std::string partId;

	// Car part parent name.
	std::string parentId;

	// List of child Ids.
	std::vector<std::string> childIds;

	// Car part pose w.r.t parent's coordinate.
	android_auto::surround_view::Mat4x4 pose;

	// VHAL priority from high [0] to low [n-1]. Only VHALs specified in the
	// vector have priority.
	std::vector<uint64_t> vhalPriority;

	// TODO(b/158245554): simplify xxOpsMap data structs.
	// Map of gamma operations. Key value is VHAL property.
	std::map<uint64_t, std::vector<GammaOp>> gammaOpsMap;

	// Map of texture operations. Key value is VHAL property.
	std::map<uint64_t, std::vector<TextureOp>> textureOpsMap;

	// Map of rotation operations. Key value is VHAL property.
	// Multiple rotation ops are supported and will be simultaneously animated in
	// order if their rotation axis are different and rotation points are the
	// same.
	std::map<uint64_t, std::vector<RotationOp>> rotationOpsMap;

	// Map of translation operations. Key value is VHAL property.
	std::map<uint64_t, std::vector<TranslationOp>> translationOpsMap;
	};

	// Main struct in which surround view car model config is parsed into.
	struct AnimationConfig {
	std::string version;

	std::vector<AnimationInfo> animations;
	};

	// Car model.
	struct CarModel {
	// Car model parts map.
	std::map<std::string, android_auto::surround_view::CarPart> partsMap;

	// Car testures map.
	std::map<std::string, android_auto::surround_view::CarTexture> texturesMap;
	};

	struct CarModelConfig {
	CarModel carModel;

	AnimationConfig animationConfig;
	};

	struct IOModuleConfig {
	// Camera config.
	CameraConfig cameraConfig;

	// Surround view 2d config.
	SvConfig2d sv2dConfig;

	// Surround view 3d config.
	SvConfig3d sv3dConfig;

	// Car model config.
	CarModelConfig carModelConfig;
	};

	enum IOStatus : uint8_t {
	// OK ststus. ALL fields read and parsed.
	OK = 0,

	// Error status. Cannot read the config file (config file missing or not
	// accessible)
	ERROR_READ_CONFIG_FILE = 1,

	// Error ststus. Config file format doesn't match.
	ERROR_CONFIG_FILE_FORMAT = 2,

	// Warning status. Read car model (obj, mtl) error. Either the files are
	// missing or wrong format.
	ERROR_READ_CAR_MODEL = 3,

	// Warning status. Read animation config file error. Either the file is
	// missing or wrong format.
	ERROR_READ_ANIMATION = 4,
	};

	} // namespace implementation
	} // namespace V1_0
	} // namespace sv
	} // namespace automotive
	} // namespace hardware
	} // namespace android

	#endif // SURROUND_VIEW_SERVICE_IMPL_IOMODULECOMMON_H_