/*
 * (c) 2019 Copyright, Real-Time Innovations, Inc.  All rights reserved.
 *
 * RTI grants Licensee a license to use, modify, compile, and create derivative
 * works of the Software.  Licensee has the right to distribute object form
 * only for use with RTI products.  The Software is provided "as is", with no
 * warranty of any type, including any warranty for fitness for any purpose.
 * RTI is under no obligation to maintain or support the Software.  RTI shall
 * not be liable for any incidental or consequential damages arising out of the
 * use or inability to use the software.
 */

/*
 * Definition of CameraImage for three different use cases:
 *
 * - flat_zero_copy_types::CameraImage: zero copy + flat-data
 * - flat_types::CameraImage: flat-data
 * - plain_types::CameraImage: regular binding
 *
 * CameraImage_publisher.cxx and CameraImage_subscriber.cxx allow selecting
 * which use case to run.
 */

// Types common to all CameraImage definitions
module common {
    const int32 IMAGE_SIZE = 8294400 * 3;

    enum Format {
        RGB,
        HSV,
        YUV
    };
};

// Types common to flat_zero_copy_types::CameraImage and flat_types::CameraImage
module common_flat {
    @final
    @language_binding(FLAT_DATA)
    struct Resolution {
        int32 height;
        int32 width;
    };
};


// CameraImage using flat-data
module flat_types {
    @final
    @language_binding(FLAT_DATA)
    struct CameraImage {
        int64 timestamp;
        common::Format format;
        common_flat::Resolution resolution;
        octet data[common::IMAGE_SIZE];
    };
};

// CameraImage using flat-data and zero copy
module flat_zero_copy_types {
    @final
    @transfer_mode(SHMEM_REF)
    @language_binding(FLAT_DATA)
    struct CameraImage {
        int64 timestamp;
        common::Format format;
        common_flat::Resolution resolution;
        octet data[common::IMAGE_SIZE];
    };
};


module zero_copy_types {
    @final
    struct Resolution {
        int32 height;
        int32 width;
    };

    @final
    @transfer_mode(SHMEM_REF)
    // Use XCDR2 format so that plain DataWriters can communicate with
    // flat-data DataReaders, which only support XCDR2
    @allowed_data_representation(XCDR2)
    struct CameraImage {
        int64 timestamp;
        common::Format format;
        Resolution resolution;
        octet data[common::IMAGE_SIZE];
    };
};


// CameraImage without flat-data or zero-copy
module plain_types {
    @final
    struct Resolution {
        int32 height;
        int32 width;
    };

    @final
    // Use XCDR2 format so that plain DataWriters can communicate with
    // flat-data DataReaders, which only support XCDR2
    @allowed_data_representation(XCDR2)
    struct CameraImage {
        int64 timestamp;
        common::Format format;
        Resolution resolution;
        octet data[common::IMAGE_SIZE];
    };
};