SysDeviceModesMessage.hh

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#ifndef LibMultiSense_SysDeviceModesMessage
#define LibMultiSense_SysDeviceModesMessage
 
#include "utility/Portability.hh"
 
namespace crl {
namespace multisense {
namespace details {
namespace wire {
 
class DeviceMode {
public:
    uint32_t width;
    uint32_t height;
    uint32_t supportedDataSources;
    uint32_t disparities;
    uint32_t extendedDataSources;
 
    DeviceMode(uint32_t w=0,
               uint32_t h=0,
               uint64_t s=0,
               uint32_t d=0) :
        width(w),
        height(h),
        disparities(d)
        {
            supportedDataSources = (uint32_t) (s & 0xFFFFFFFFull);
            extendedDataSources =  (uint32_t) ((s & 0xFFFFFFFF00000000ull) >> 32);
        };
 
};
 
class SysDeviceModes {
public:
    static CRL_CONSTEXPR IdType      ID      = ID_DATA_SYS_DEVICE_MODES;
    static CRL_CONSTEXPR VersionType VERSION = 3;
 
    //
    // Available formats
 
    std::vector<DeviceMode> modes;
 
    //
    // Constructors
 
    SysDeviceModes(utility::BufferStreamReader& r,
                   VersionType                  v) {serialize(r,v);};
    SysDeviceModes() {};
 
    //
    // Serialization routine
 
    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        uint32_t length = static_cast<uint32_t> (modes.size());
        message & length;
        modes.resize(length);
 
        //
        // Serialize by hand here to maintain backwards compatibility with
        // pre-v2.3 firmware.
 
        for(uint32_t i=0; i<length; i++) {
 
            DeviceMode& m = modes[i];
 
            message & m.width;
            message & m.height;
            message & m.supportedDataSources;
            message & m.disparities; // was 'flags' in pre v2.3
        }
 
        for(uint32_t i=0; i<length; i++) {
            DeviceMode& m = modes[i];
            if (version >= 3)
            {
                message & m.extendedDataSources;
            }
            else
            {
                m.extendedDataSources = 0;
            }
        }
    }
};
 
}}}} // namespaces
 
#endif