File video_decoder.hpp

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#pragma once

#ifndef __ANDROID__

#    include "gst/gst.h"
#    include "illixr/error_util.hpp"

#    include 
#    include 
#    include 

#    ifdef ADA
#        define IMG_WIDTH  1
#        define IMG_HEIGHT 1
#    elif defined(VIO)
// #define ZED

#        ifdef ZED
#            define IMG_WIDTH  672
#            define IMG_HEIGHT 376
#        else
#            define IMG_WIDTH  752
#            define IMG_HEIGHT 480
#        endif
#    endif

namespace ILLIXR {

using DecodeCallback = std::function<void(cv::Mat&&, cv::Mat&&)>;

class video_decoder {
public:
    explicit video_decoder(DecodeCallback callback)
        : callback_(std::move(callback)) { }

    inline void init() {
        create_pipelines();
#    ifdef ADA
        msb_owned_.create(480, 640, CV_8UC1);
        lsb_owned_.create(480, 640, CV_8UC1);
#    endif
    }

    virtual void  enqueue(std::string& img0, std::string& img1) = 0;
    GstFlowReturn cb_appsink(GstElement* sink);

protected:
    void create_pipelines();

    DecodeCallback callback_;
    // gstreamer objects
    GstElement* pipeline_img0_{};
    GstElement* pipeline_img1_{};
    GstElement* appsrc_img0_{};
    GstElement* appsrc_img1_{};
    GstElement* appsink_img0_{};
    GstElement* appsink_img1_{};

    std::condition_variable pipeline_sync_;
    std::mutex              pipeline_sync_mutex_;
    GstMapInfo              img0_map_{};
    GstMapInfo              img1_map_{};
    bool                    img0_ready_ = false;
    bool                    img1_ready_ = false;

private:
    static GstFlowReturn cb_new_sample(GstElement* appsink, gpointer* user_data) {
        return reinterpret_cast<video_decoder*>(user_data)->cb_appsink(appsink);
    }

#    ifdef ADA
    cv::Mat msb_owned_;
    cv::Mat lsb_owned_;
#    endif
};

} // namespace ILLIXR

#endif