DvsCamera.hpp

#ifndef DVSCAMERA_HPP
#define DVSCAMERA_HPP
 
#include <list>
#include <string>
#include <memory>
#include <iostream>
#include <mutex>
#include <atomic>
#include "DvsenseHal/camera/DvsCameraUtils.hpp"
#include "DvsenseHal/EventStream/RawEventStreamFormat.hpp"
#include "DvsenseBase/EventBase/EventTypes.hpp"
 
#ifdef _WIN32
#define DVSENSE_API __declspec(dllexport)
#else
#define DVSENSE_API
#endif // _WIN32
namespace dvsense
{
 
    class DvsCameraManager;
 
    #ifdef _WIN32
    enum DVSENSE_API BatchConditionType
    #else
    enum BatchConditionType
    #endif // _WIN32
    {
        NO_CONDITION = 0,
        N_EVENTS,
        N_US
    };
 
    #ifdef _WIN32
    enum DVSENSE_API CameraStatus
    #else
    enum CameraStatus
    #endif // _WIN32
    {
        STOPPED = 0,
        STARTED = 1
    };
 
    class DVSENSE_API DvsCamera
    {
    private:
        friend DvsCameraManager;
 
    public:
        DvsCamera(CameraDescription cameraDesc);
 
        virtual const bool isConnected() = 0;
 
        const CameraDescription getDvsDesc()
        {
            return cameraDesc_;
        }
 
        virtual uint32_t addEventsStreamHandleCallback(EventsStreamHandleCallback cb);
 
        virtual bool removeEventsStreamHandleCallback(uint32_t callback_id);
 
        virtual bool getNextBatch(Event2DVector& event_batch);
 
        virtual void setBatchEventsNum(uint64_t n);
 
        virtual void setBatchEventsTime(uint64_t n);
 
        virtual int start() = 0;
 
        virtual int stop() = 0;
 
        virtual int startRecording(std::string file_path) = 0;
 
        virtual int stopRecording() = 0;
 
        virtual uint16_t getWidth() = 0;
 
        virtual uint16_t getHeight() = 0;
 
    protected:
        virtual RawEventStreamFormat getRawEventStreamFormat() = 0;
 
        CameraDescription cameraDesc_;
 
        virtual int init() = 0;
 
        // callbacks map
        std::unordered_map<uint32_t, EventsStreamHandleCallback> callbacks_map_;
        uint32_t callback_id_ = 0;
        std::mutex callbacks_mutex_;
 
        //get batch events
        std::atomic<BatchConditionType> get_batch_conditon_ = BatchConditionType::NO_CONDITION;
        uint64_t accumulate_events_num_ = 128 * 1024;//By default, 128K events are collected each time
        uint64_t accumulate_events_time_ = 10 * 1000; //us. The default value is 10ms each time
 
    };
 
} // namespace dvsense            
 
#endif // DVSCAMERA_HPP