ImageMetaMessage.hh

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#ifndef LibMultiSense_ImageMetaMessage
#define LibMultiSense_ImageMetaMessage
 
#include <typeinfo>
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class WIRE_HEADER_ATTRIBS_ ImageMetaHeader {
public:
 
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMAGE_META;
    static CRL_CONSTEXPR VersionType VERSION = 2;
 
    static CRL_CONSTEXPR uint32_t HISTOGRAM_CHANNELS = 4; // g0, r, b, g1
    static CRL_CONSTEXPR uint32_t HISTOGRAM_BINS     = 256;
    static CRL_CONSTEXPR uint32_t HISTOGRAM_LENGTH   = (HISTOGRAM_CHANNELS * HISTOGRAM_BINS *
                                                sizeof(uint32_t));
 
#ifdef SENSORPOD_FIRMWARE
    IdType      id;
    VersionType version;
#endif // SENSORPOD_FIRMWARE
 
    int64_t            frameId;
    float              framesPerSecond;
    float              gain;
    uint32_t           exposureTime;
    uint32_t           timeSeconds;
    uint32_t           timeMicroSeconds;
    int32_t            angle; // microradians
    uint64_t           ptpNanoSeconds;
 
    ImageMetaHeader()
        :
#ifdef SENSORPOD_FIRMWARE
        id(ID),
        version(VERSION),
#endif // SENSORPOD_FIRMWARE
        frameId(0),
        framesPerSecond(0),
        gain(0.0),
        exposureTime(0),
        timeSeconds(0),
        timeMicroSeconds(0),
        angle(0),
        ptpNanoSeconds(0) {};
};
 
#ifndef SENSORPOD_FIRMWARE
 
class ImageMeta : public ImageMetaHeader {
public:
 
    uint32_t histogramP[HISTOGRAM_BINS * HISTOGRAM_CHANNELS];
 
    //
    // Constructors
 
    ImageMeta(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    ImageMeta() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & frameId;
        message & framesPerSecond;
        message & gain;
        message & exposureTime;
        message & timeSeconds;
        message & timeMicroSeconds;
        message & angle;
 
        if (typeid(Archive) == typeid(utility::BufferStreamWriter))
            message.write(histogramP, HISTOGRAM_LENGTH);
        else
            message.read(histogramP, HISTOGRAM_LENGTH);
 
        if (version >= 2)
        {
            message &ptpNanoSeconds;
        }
    }
};
 
#endif // !SENSORPOD_FIRMWARE
 
}}}} // namespaces
 
#endif