parse_compressed_format.h

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#pragma once

// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague

#include <string>
#include <utility>

#include <sensor_msgs/Image.h>

#include <cras_cpp_common/c_api.h>
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/optional.hpp>

namespace image_transport_codecs
{

enum class CompressedTransportCompressionFormat
{
  JPEG,  
  PNG,  
};

struct CompressedTransportFormat
{
  CompressedTransportCompressionFormat format;  
  std::string formatString;  
  std::string rawEncoding;  
  std::string compressedEncoding;  
  int numChannels;  
  int bitDepth;  
  bool isColor;  

  bool operator==(const CompressedTransportFormat& other) const;
};

cras::expected<CompressedTransportFormat, std::string> parseCompressedTransportFormat(const std::string& format);

std::string makeCompressedTransportFormat(const CompressedTransportFormat& format);

CompressedTransportFormat extractCompressedTransportFormat(
  const std::string& imageEncoding, const CompressedTransportCompressionFormat& compressionFormat);

CompressedTransportFormat extractCompressedTransportFormat(
  const sensor_msgs::Image& image, const CompressedTransportCompressionFormat& compressionFormat);

cras::expected<CompressedTransportFormat, std::string> extractCompressedTransportFormat(
  const std::string& imageEncoding, const std::string& compressionFormat);

cras::expected<CompressedTransportFormat, std::string> extractCompressedTransportFormat(
  const sensor_msgs::Image& image, const std::string& compressionFormat);

enum class CompressedDepthTransportCompressionFormat
{
  PNG,  
  RVL,  
};

struct CompressedDepthTransportFormat
{
  CompressedDepthTransportCompressionFormat format;  
  std::string formatString;  
  std::string rawEncoding;   
  int bitDepth;  

  bool operator==(const CompressedDepthTransportFormat& other) const;
};

cras::expected<CompressedDepthTransportFormat, std::string> parseCompressedDepthTransportFormat(
  const std::string& format);

std::string makeCompressedDepthTransportFormat(const CompressedDepthTransportFormat& format);

CompressedDepthTransportFormat extractCompressedDepthTransportFormat(
  const std::string& imageEncoding, const CompressedDepthTransportCompressionFormat& compressionFormat);

CompressedDepthTransportFormat extractCompressedDepthTransportFormat(
  const sensor_msgs::Image& image, const CompressedDepthTransportCompressionFormat& compressionFormat);

cras::expected<CompressedDepthTransportFormat, std::string> extractCompressedDepthTransportFormat(
  const std::string& imageEncoding, const std::string& compressionFormat);

cras::expected<CompressedDepthTransportFormat, std::string> extractCompressedDepthTransportFormat(
  const sensor_msgs::Image& image, const std::string& compressionFormat);

cras::expected<
  std::pair<cras::optional<CompressedTransportFormat>, cras::optional<CompressedDepthTransportFormat>>, std::string>
guessAnyCompressedImageTransportFormat(const sensor_msgs::CompressedImage& image);

}


extern "C" bool parseCompressedTransportFormat(
  const char* format,
  cras::allocator_t compressionFormatAllocator,
  cras::allocator_t rawEncodingAllocator,
  cras::allocator_t compressedEncodingAllocator,
  int& numChannels,
  int& bitDepth,
  bool& isColor,
  cras::allocator_t errorStringAllocator
);

extern "C" bool makeCompressedTransportFormat(
  const char* compressionFormat,
  const char* rawEncoding,
  const char* compressedEncoding,
  int numChannels,
  int bitDepth,
  bool isColor,
  cras::allocator_t formatAllocator,
  cras::allocator_t errorStringAllocator
);

extern "C" bool extractCompressedTransportFormat(
  const char* imageEncoding,
  const char* compressionFormat,
  cras::allocator_t compressedEncodingAllocator,
  int& numChannels,
  int& bitDepth,
  bool& isColor,
  cras::allocator_t errorStringAllocator
);

extern "C" bool parseCompressedDepthTransportFormat(
  const char* format,
  cras::allocator_t compressionFormatAllocator,
  cras::allocator_t rawEncodingAllocator,
  int& bitDepth,
  cras::allocator_t errorStringAllocator
);

extern "C" bool makeCompressedDepthTransportFormat(
  const char* compressionFormat,
  const char* rawEncoding,
  int bitDepth,
  cras::allocator_t formatAllocator,
  cras::allocator_t errorStringAllocator
);

extern "C" bool extractCompressedDepthTransportFormat(
  const char* imageEncoding,
  const char* compressionFormat,
  int& bitDepth,
  cras::allocator_t errorStringAllocator
);

extern "C" bool guessAnyCompressedImageTransportFormat(
  const char* format,
  const uint8_t imageHeader[64],
  bool& isCompressedDepth,
  cras::allocator_t compressionFormatAllocator,
  cras::allocator_t rawEncodingAllocator,
  cras::allocator_t compressedEncodingAllocator,
  int& numChannels,
  int& bitDepth,
  bool& isColor,
  cras::allocator_t errorStringAllocator
);