camera_msg_spec.h

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// Copyright (c) Space-ng, inc. All rights reserved.
 
#pragma once
#include "sol3/base_unit/msg/component_id.h"
#include "sol3/camera_module/msg/camera_control.h"
#include "sol3/camera_module/msg/camera_frame.h"
#include "sol3/camera_module/msg/camera_snapshot_control.h"
#include "sol3/camera_module/msg/camera_snapshot_telemetry.h"
#include "sol3/camera_module/msg/video_encoded_packet.h"
#include "sol3/core/message_spec.h"
 
#include <cstdint>
 
namespace sol3::camera_module {
struct CameraModuleSpec {
  using CameraControl =
      core::MessageSpec<msg::CameraControl, core::msg::InterfaceType_INPUT, 0>;
 
  using CameraSnapshotControl = core::MessageSpec<
      msg::CameraSnapshotControl,
      core::msg::InterfaceType_INPUT,
      1>;
 
  using RawFrame =
      core::MessageSpec<msg::CameraFrame, core::msg::InterfaceType_OUTPUT, 1>;
 
  using YuvFrame =
      core::MessageSpec<msg::CameraFrame, core::msg::InterfaceType_OUTPUT, 2>;
 
  using ResizedYuvFrame =
      core::MessageSpec<msg::CameraFrame, core::msg::InterfaceType_OUTPUT, 3>;
 
  using VideoEncodedPacket = core::
      MessageSpec<msg::VideoEncodedPacket, core::msg::InterfaceType_OUTPUT, 4>;
 
  using RawFrameSnapshot =
      core::MessageSpec<msg::CameraFrame, core::msg::InterfaceType_OUTPUT, 5>;
 
  using CameraSnapshotTelemetry = core::MessageSpec<
      msg::CameraSnapshotTelemetry,
      core::msg::InterfaceType_OUTPUT,
      6>;
 
  static char constexpr const* camera_endpoint = "/run/sol3/camera";
  static char constexpr const* control_endpoint = "/run/sol3/camera_control";
 
  static char constexpr const* camera_server_config_path =
      "/opt/sol3/etc/camera_server/camera_server_config.json";
};
 
bool isCameraComponent(uint32_t component_id);
uint32_t getCameraComponentId(uint32_t cam_id);
uint32_t getCameraId(uint32_t component_id);
 
}  // namespace sol3::camera_module