1 /* 2 * Copyright (C) 2017 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 #ifndef CONFIG_MANAGER_H 17 #define CONFIG_MANAGER_H 18 19 #include <cerrno> 20 #include <string> 21 #include <vector> 22 23 #include <system/graphics-base.h> 24 25 26 class ConfigManager { 27 public: 28 struct CameraInfo { 29 std::string cameraId = ""; // The name of the camera from the point of view of the HAL 30 std::string function = ""; // The expected use for this camera ("reverse", "left", "right") 31 float position[3] = {0}; // x, y, z -> right, fwd, up in the units of car space 32 float yaw = 0; // radians positive to the left (right hand rule about global z axis) 33 float pitch = 0; // positive upward (ie: right hand rule about local x axis) 34 float roll = 0; // radians positively increasing clockwisely around the optical axis 35 float hfov = 0; // radians 36 float vfov = 0; // radians 37 bool hflip = false;// boolean to flip the preview horizontally 38 bool vflip = false;// boolean to flip the preview vertically 39 }; 40 41 struct DisplayInfo { 42 uint8_t port = 0; // Display port number to use 43 std::string function = ""; // The expected use for this display. 44 float frontRangeInCarSpace; // How far the display extends in front of the car 45 float rearRangeInCarSpace; // How far the display extends behind the car 46 }; 47 48 bool initialize(const char* configFileName); 49 50 // World space dimensions of the car getCarWidth()51 float getCarWidth() const { return mCarWidth; }; getCarLength()52 float getCarLength() const { return mWheelBase + mFrontExtent + mRearExtent; }; getWheelBase()53 float getWheelBase() const { return mWheelBase; }; 54 55 // Car space (world space centered on the rear axel) edges of the car getFrontLocation()56 float getFrontLocation() const { return mWheelBase + mFrontExtent; }; getRearLocation()57 float getRearLocation() const { return -mRearExtent; }; getRightLocation()58 float getRightLocation() const { return mCarWidth*0.5f; }; getLeftLocation()59 float getLeftLocation() const { return -mCarWidth*0.5f; }; 60 61 // Where are the edges of the top down display in car space? getDisplayTopLocation()62 float getDisplayTopLocation() const { 63 // From the rear axel (origin) to the front bumper, and then beyond by the front range 64 return mWheelBase + mFrontExtent + mDisplays[mActiveDisplayId].frontRangeInCarSpace; 65 }; getDisplayBottomLocation()66 float getDisplayBottomLocation() const { 67 // From the rear axel (origin) to the back bumper, and then beyond by the back range 68 return -mRearExtent - mDisplays[mActiveDisplayId].rearRangeInCarSpace; 69 }; getDisplayRightLocation(float aspectRatio)70 float getDisplayRightLocation(float aspectRatio) const { 71 // Given the display aspect ratio (width over height), how far can we see to the right? 72 return (getDisplayTopLocation() - getDisplayBottomLocation()) * 0.5f * aspectRatio; 73 }; getDisplayLeftLocation(float aspectRatio)74 float getDisplayLeftLocation(float aspectRatio) const { 75 // Given the display aspect ratio (width over height), how far can we see to the left? 76 return -getDisplayRightLocation(aspectRatio); 77 }; 78 79 // At which texel (vertically in the image) are the front and rear bumpers of the car? carGraphicFrontPixel()80 float carGraphicFrontPixel() const { return mCarGraphicFrontPixel; }; carGraphicRearPixel()81 float carGraphicRearPixel() const { return mCarGraphicRearPixel; }; 82 getCameras()83 const std::vector<CameraInfo>& getCameras() const { return mCameras; }; 84 setActiveDisplayId(int displayId)85 int setActiveDisplayId(int displayId) { 86 if (displayId == -1) { 87 // -1 is reserved for the default display, which is the first 88 // display in config.json's display list 89 printf("Uses a display with id %d", mDisplays[0].port); 90 mActiveDisplayId = mDisplays[0].port; 91 return mActiveDisplayId; 92 } else if (displayId < 0) { 93 printf("Display %d is invalid.", displayId); 94 return -ENOENT; 95 } else { 96 for (auto display : mDisplays) { 97 if (display.port == displayId) { 98 mActiveDisplayId = displayId; 99 return mActiveDisplayId; 100 } 101 } 102 103 printf("Display %d does not exist.", displayId); 104 return -ENOENT; 105 } 106 } getDisplays()107 const std::vector<DisplayInfo>& getDisplays() const { return mDisplays; }; getActiveDisplay()108 const DisplayInfo& getActiveDisplay() const { return mDisplays[mActiveDisplayId]; }; useExternalMemory(bool flag)109 void useExternalMemory(bool flag) { mUseExternalMemory = flag; } getUseExternalMemory()110 bool getUseExternalMemory() const { return mUseExternalMemory; } setExternalMemoryFormat(android_pixel_format_t format)111 void setExternalMemoryFormat(android_pixel_format_t format) { 112 mExternalMemoryFormat = format; 113 } getExternalMemoryFormat()114 android_pixel_format_t getExternalMemoryFormat() const { 115 return mExternalMemoryFormat; 116 } setMockGearSignal(int32_t signal)117 void setMockGearSignal(int32_t signal) { mMockGearSignal = signal; } getMockGearSignal()118 int32_t getMockGearSignal() const { return mMockGearSignal; } 119 120 private: 121 // Camera information 122 std::vector<CameraInfo> mCameras; 123 124 // Display information 125 std::vector<DisplayInfo> mDisplays; 126 int mActiveDisplayId; 127 128 // Memory management 129 bool mUseExternalMemory; 130 131 // Format of external memory 132 android_pixel_format_t mExternalMemoryFormat; 133 134 // Gear signal to simulate in test mode 135 int32_t mMockGearSignal; 136 137 // Car body information (assumes front wheel steering and origin at center of rear axel) 138 // Note that units aren't specified and don't matter as long as all length units are consistent 139 // within the JSON file from which we parse. That is, if everything is in meters, that's fine. 140 // Everything in mm? That's fine too. 141 float mCarWidth; 142 float mWheelBase; 143 float mFrontExtent; 144 float mRearExtent; 145 146 // Top view car image information 147 float mCarGraphicFrontPixel; // How many pixels from the top of the image does the car start 148 float mCarGraphicRearPixel; // How many pixels from the top of the image does the car end 149 }; 150 151 #endif // CONFIG_MANAGER_H 152