Merge branch 'ign-common3' into ports/3_to_4

Signed-off-by: Michael Carroll <[email protected]>

BUILD.bazel

@@ -43,7 +43,7 @@ ign_export_header(
 
 public_headers_no_gen = glob([
     "include/ignition/common/*.hh",
-    "include/ignition/common/detail/*.hh",
+    "include/gz/common/detail/*.hh"
 ])
 
 private_headers = [

CMakeLists.txt

@@ -14,7 +14,9 @@ set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project()
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/common
+)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -238,6 +238,11 @@
 
 ## Gazebo Common 3.x
 
+## Gazebo Common 3.15.0 (2022-10-06)
+
+1. ign -> gz Migrate Ignition Headers
+    * [Pull request #418](https://github.com/gazebosim/gz-common/pull/418)
+
 ## Gazebo Common 3.14.2 (2022-08-16)
 
 1. Fix deprecation warning from new `ffmpeg`
@@ -412,7 +417,7 @@
 
 ## Ignition Common 3.8.0 (2020-12-08)
 
-1. Call ignition::common::load() from Video constructor
+1. Call gz::common::load() from Video constructor
     * [Pull Request 111](https://github.com/ignitionrobotics/ign-common/pull/111)
 
 1. Cleanup
@@ -569,7 +574,7 @@
 
 ## Ignition Common 3.2.0 (2019-08-07)
 
-1. Allow ignLogInit to use an absolute path. Added a timeToIso that converts a given time to an ISO string. Some console timestamps were using `IGN_SYSTEM_TIME_NS()` and others `ignition::common::systemTimeISO()`. Switched all to use `ignition::common::systemTimeISO()`.
+1. Allow ignLogInit to use an absolute path. Added a timeToIso that converts a given time to an ISO string. Some console timestamps were using `IGN_SYSTEM_TIME_NS()` and others `gz::common::systemTimeISO()`. Switched all to use `gz::common::systemTimeISO()`.
     * [BitBucket pull request 203](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-common/pull-requests/203)
 
 1. Port ColladaLoader fix: use default value of 1 for stride parameter when unset.

av/include/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(gz)
+install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})

av/include/gz/common/AudioDecoder.hh

@@ -0,0 +1,76 @@
+/*
+* Copyright (C) 2016 Open Source Robotics Foundation
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*
+*/
+#ifndef GZ_COMMON_AUDIO_DECODER_HH_
+#define GZ_COMMON_AUDIO_DECODER_HH_
+
+#include <stdint.h>
+#include <string>
+#include <memory>
+
+#include <gz/common/av/Export.hh>
+#include <gz/common/SuppressWarning.hh>
+
+namespace ignition
+{
+  namespace common
+  {
+    /// \brief Forward declaration of private data class
+    class AudioDecoderPrivate;
+
+    /// \class AudioDecoder AudioDecoder.hh ignition/common/common.hh
+    /// \brief An audio decoder based on FFMPEG.
+    class IGNITION_COMMON_AV_VISIBLE AudioDecoder
+    {
+      /// \brief Constructor.
+      public: AudioDecoder();
+
+      /// \brief Destructor.
+      public: virtual ~AudioDecoder();
+
+      /// \brief Set the file to decode.
+      /// \param[in] _filename Path to an audio file.
+      /// \return True if the file was successfull opened.
+      public: bool SetFile(const std::string &_filename);
+
+      /// \brief Get the audio filename that was set.
+      /// \return The name of the set audio file.
+      /// \sa AudioDecoder::SetFile
+      public: std::string File() const;
+
+      /// \brief Decode the loaded audio file.
+      /// \sa AudioDecoder::SetFile
+      /// \param[out] _outBuffer Buffer that holds the decoded audio data.
+      /// \param[out] _outBufferSize Size of the _outBuffer.
+      /// \return True if decoding was succesful.
+      public: bool Decode(uint8_t **_outBuffer, unsigned int *_outBufferSize);
+
+      /// \brief Get the sample rate from the latest decoded file.
+      /// \return Integer sample rate, such as 44100.
+      /// If no file is decoded, -1 is returned.
+      public: int SampleRate();
+
+      /// \brief Free audio object, close files, streams.
+      private: void Cleanup();
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Private data pointer
+      private: std::unique_ptr<AudioDecoderPrivate> data;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+  }
+}
+#endif

av/include/ignition/common/HWEncoder.hh → av/include/gz/common/HWEncoder.hh

@@ -20,11 +20,11 @@
 #include <string>
 #include <optional>
 
-#include <ignition/common/FlagSet.hh>
-#include <ignition/common/av/Export.hh>
-#include <ignition/common/SuppressWarning.hh>
-#include <ignition/common/HWVideo.hh>
-#include <ignition/common/ffmpeg_inc.hh>
+#include <gz/common/FlagSet.hh>
+#include <gz/common/av/Export.hh>
+#include <gz/common/SuppressWarning.hh>
+#include <gz/common/HWVideo.hh>
+#include <gz/common/ffmpeg_inc.hh>
 
 /// This is an internal-use only class encapsulating HW video encoding. All
 /// symbols defined here are hidden from the public API.

av/include/gz/common/HWVideo.hh

@@ -0,0 +1,56 @@
+/*
+ * Copyright 2020 Martin Pecka
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+*/
+#ifndef IGNITION_COMMON_HWVIDEO_HH
+#define IGNITION_COMMON_HWVIDEO_HH
+
+#include <gz/common/EnumIface.hh>
+
+namespace ignition::common
+{
+  enum class IGNITION_COMMON_AV_VISIBLE HWEncoderType
+  {
+    NONE,
+    NVENC,  // Linux device is /dev/nvidia*
+    // Windows is the same (even though such file doesn't exist)
+    VAAPI,  // Linux device /dev/dri/renderD* or display number (e.g. :0)
+    VDPAU,  // Not supported (probably only for decoding?)
+    QSV,  // Win device is 0-based GPU index,
+    // Linux uses /dev/dri/renderD* or display number (e.g. :0)
+    VIDEOTOOLBOX,  // Not yet suported
+    AMF,  // Not yet suported
+    OMX,  // Not yet suported
+    V4L2M2M,  // Not yet suported
+    DXVA2,  // Not yet suported
+    _  // For FlagSet to work.
+  };
+
+  IGN_ENUM(HWEncoderTypeParser, HWEncoderType,
+    HWEncoderType::NONE, HWEncoderType::_,
+    "NONE",
+    "NVENC",
+    "VAAPI",
+    "VDPAU",
+    "QSV",
+    "VIDEOTOOLBOX",
+    "AMF",
+    "OMX",
+    "V4L2M2M",
+    "DXVA2",
+    "INVALID"
+  )
+}
+
+#endif

av/include/gz/common/Video.hh

@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2016 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_COMMON_VIDEO_HH_
+#define GZ_COMMON_VIDEO_HH_
+
+#include <string>
+#include <memory>
+
+#include <gz/common/av/Export.hh>
+#include <gz/common/SuppressWarning.hh>
+
+struct AVFormatContext;
+struct AVCodecContext;
+struct AVFrame;
+struct AVPicture;
+struct SwsContext;
+
+namespace ignition
+{
+  namespace common
+  {
+    // Forward declare private data class
+    class VideoPrivate;
+
+    /// \brief Handle video encoding and decoding using libavcodec
+    class IGNITION_COMMON_AV_VISIBLE Video
+    {
+      /// \brief Constructor
+      public: Video();
+
+      /// \brief Destructor
+      public: virtual ~Video();
+
+      /// \brief Load a video file
+      /// \param[in] _filename Full path of the video file
+      /// \return false if  a video stream can't be found
+      public: bool Load(const std::string &_filename);
+
+      /// \brief Get the width of the video in pixels
+      /// \return the width
+      public: int Width() const;
+
+      /// \brief Get the height of the video in pixels
+      /// \return the height
+      public: int Height() const;
+
+      /// \brief Convenience type alias for duration
+      /// where 1000000 is the same as AV_TIME_BASE fractional seconds
+      public:
+        using Length = std::chrono::duration<int64_t, std::ratio<1, 1000000>>;
+
+      /// \brief Get the duration of the video
+      /// \return the duration
+      public: Length Duration() const;
+
+      /// \brief Get the next frame of the video.
+      /// \param[out] _buffer Allocated buffer in which the frame is stored
+      ///                     (size has to be width * height * 3 bytes).
+      /// \return false on error or end of file
+      public: bool NextFrame(unsigned char **_buffer);
+
+      /// \brief free up open Video object, close files, streams
+      private: void Cleanup();
+
+      IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
+      /// \brief Private data pointer
+      private: std::unique_ptr<VideoPrivate> dataPtr;
+      IGN_COMMON_WARN_RESUME__DLL_INTERFACE_MISSING
+    };
+  }
+}
+#endif