ImageMessage.hh

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#ifndef LibMultiSense_ImageMessage
#define LibMultiSense_ImageMessage
 
#include <typeinfo>
#include <cmath>
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class WIRE_HEADER_ATTRIBS_ ImageHeader {
public:
 
static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMAGE;
static CRL_CONSTEXPR VersionType VERSION = 3;
 
#ifdef SENSORPOD_FIRMWARE
    IdType      id;
    VersionType version;
#endif // SENSORPOD_FIRMWARE
 
    uint32_t source;
    uint32_t bitsPerPixel;
    int64_t  frameId;
    uint16_t width;
    uint16_t height;
    uint32_t exposure;
    float gain;
    uint32_t sourceExtended;
 
    ImageHeader()
        :
#ifdef SENSORPOD_FIRMWARE
        id(ID),
        version(VERSION),
#endif // SENSORPOD_FIRMWARE
        source(0),
        bitsPerPixel(0),
        frameId(0),
        width(0),
        height(0),
        exposure(0),
        gain(0.0),
        sourceExtended(0)
         {};
};
 
#ifndef SENSORPOD_FIRMWARE
 
class Image : public ImageHeader {
public:
 
    void *dataP;
 
    //
    // Constructors
 
    Image(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    Image() : dataP(NULL) {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        message & source;
        message & bitsPerPixel;
        message & frameId;
        message & width;
        message & height;
 
        const uint32_t imageSize = static_cast<uint32_t> (std::ceil(((double) bitsPerPixel / 8.0) * width * height));
 
        if (typeid(Archive) == typeid(utility::BufferStreamWriter)) {
 
            message.write(dataP, imageSize);
 
        } else {
 
            dataP = message.peek();
            message.seek(message.tell() + imageSize);
        }
 
        if (version >= 2)
        {
            message & exposure;
            message & gain;
        }
        else
        {
            exposure = 0;
            gain = Default_Gain;
        }
 
        if (version >= 3)
        {
          message & sourceExtended;
        }
        else
        {
          sourceExtended = 0;
        }
    }
};
 
#endif // !SENSORPOD_FIRMWARE
 
}}}} // namespaces
 
#endif