DvsCameraManager.hpp

#pragma once
#include <vector>
#include <string>
#include <memory>
#include <map>
#include <stdexcept>
#include "DvsenseDriver/camera/DvsCamera.hpp"
#include "DvsenseDriver/camera/FusionCamera.hpp"
#include "DvsenseBase/Utils/FuncUtils.hpp"
 
#ifdef _WIN32
#ifdef DVSENSE_EXPORTS
    #define DVSENSE_API __declspec(dllexport)
    #else
    #define DVSENSE_API __declspec(dllimport)
    #endif
#else
#define DVSENSE_API
#endif // _WIN32
 
namespace dvsense
{
 
    typedef DVSENSE_API std::shared_ptr<DvsCamera> CameraDevice;
    typedef DVSENSE_API std::shared_ptr<FusionCamera> FusionCameraDevice;
 
    class DVSENSE_API DvsCameraManager
    {
    public:
        DvsCameraManager();
 
        int updateCameras();
 
        std::vector<CameraDescription> getCameraDescs();
 
        CameraDevice openCamera(Serial serial);
 
        FusionCameraDevice openFusionCamera(Serial serial);
 
        static bool ethCameraForceIP(CameraDescription cameraDesc,
                                     uint32_t new_ip,
                                     uint32_t new_netmask,
                                     uint32_t new_gateway);
 
    private:
        std::map<Serial, CameraDevice> cameraDevices_;
        std::map<Serial, FusionCameraDevice> fusion_camera_devices_;
 
        void removeUnpluggedCameras();
 
        size_t findCameras();
 
        size_t findCameras(CAMERA_TYPE cameraType);
 
        template <class cameraClass>
        size_t findCameras();
 
        template <class cameraClass>
        size_t findFusionCameras();
 
        size_t findEthCameras();
    };
 
} // namespace dvsense