ImageMessage.hh

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#ifndef LibMultiSense_ImageMessage
#define LibMultiSense_ImageMessage

#include <typeinfo>
#include <cmath>

#include "MultiSense/details/utility/Portability.hh"

namespace crl {
namespace multisense {
namespace details {
namespace wire {

class WIRE_HEADER_ATTRIBS_ ImageHeader {
public:

static CRL_CONSTEXPR IdType      ID      = ID_DATA_IMAGE;
static CRL_CONSTEXPR VersionType VERSION = 2;

#ifdef SENSORPOD_FIRMWARE
    IdType      id;
    VersionType version;
#endif // SENSORPOD_FIRMWARE

    uint32_t source;
    uint32_t bitsPerPixel;
    int64_t  frameId;
    uint16_t width;
    uint16_t height;
    uint32_t exposure;
    float gain;

    ImageHeader()
        :
#ifdef SENSORDPOD_FIRMWARE
        id(ID),
        version(VERSION),
#endif // SENSORPOD_FIRMWARE
        source(0),
        bitsPerPixel(0),
        frameId(0),
        width(0),
        height(0),
        exposure(0),
        gain(0.0)
         {};
};

#ifndef SENSORPOD_FIRMWARE

class Image : public ImageHeader {
public:

    void *dataP;

    //
    // Constructors

    Image(utility::BufferStreamReader&r, VersionType v) {serialize(r,v);};
    Image() : dataP(NULL) {};

    //
    // Serialization routine

    template<class Archive>
        void serialize(Archive&          message,
                       const VersionType version)
    {
        (void) version;
        message & source;
        message & bitsPerPixel;
        message & frameId;
        message & width;
        message & height;

        const uint32_t imageSize = static_cast<uint32_t> (std::ceil(((double) bitsPerPixel / 8.0) * width * height));

        if (typeid(Archive) == typeid(utility::BufferStreamWriter)) {

            message.write(dataP, imageSize);

        } else {

            dataP = message.peek();
            message.seek(message.tell() + imageSize);
        }

        if (version >= 2)
        {
            message & exposure;
            message & gain;
        }
        else
        {
            exposure = 0;
            gain = Default_Gain;
        }
    }
};

#endif // !SENSORPOD_FIRMWARE

}}}} // namespaces

#endif