CallbackHandler.cpp

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#include "depthai/device/CallbackHandler.hpp"
 
// project
#include "depthai/xlink/XLinkStream.hpp"
#include "pipeline/datatype/StreamMessageParser.hpp"
 
namespace dai {
 
void CallbackHandler::setCallback(std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> cb) {
    callback = std::move(cb);
}
 
CallbackHandler::CallbackHandler(std::shared_ptr<XLinkConnection> conn,
                                 const std::string& streamName,
                                 std::function<std::shared_ptr<RawBuffer>(std::shared_ptr<RawBuffer>)> cb)
    : connection(std::move(conn)), callback(std::move(cb)) {
    // creates a thread which reads from queue and writes to xlink
    t = std::thread([this, streamName]() {
        try {
            // open stream with 1B write size (no writing will happen here)
            XLinkStream stream(connection, streamName, device::XLINK_USB_BUFFER_MAX_SIZE);
 
            while(running) {
                // Blocking -- parse packet
                auto packet = stream.readMove();
                const auto data = StreamMessageParser::parseMessage(&packet);
 
                // CALLBACK
                auto toSend = callback(std::move(data));
 
                auto serialized = StreamMessageParser::serializeMessage(toSend);
 
                // Write packet back
                stream.write(serialized);
            }
 
        } catch(const std::exception&) {
            // TODO(themarpe) - throw an exception
            assert(0 && "TODO");
        }
    });
}
 
CallbackHandler::~CallbackHandler() {
    // detach from thread, because currently no way to unblock underlying XLinkReadData
    running = false;
    t.detach();
}
 
}  // namespace dai