ImageMetaMessage.h

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#ifndef LibMultiSense_ImageMetaMessage
#define LibMultiSense_ImageMetaMessage

#include <typeinfo>

#include "details/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