capture_settings_controller.h

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#pragma once

#include "auto_generated_include_wrapper.h"

#include <Zivid/Settings.h>
#include <Zivid/Settings2D.h>

#include <ros/node_handle.h>

namespace Zivid
{
class Camera;
}

namespace zivid_camera
{
template <typename ConfigType, typename ZividSettings>
class ConfigDRServer;

template <typename ZividSettingsType, typename SettingsConfigType, typename SettingsAcquisitionConfigType>
class CaptureSettingsController
{
  static_assert(std::is_same_v<ZividSettingsType, Zivid::Settings> ||
                std::is_same_v<ZividSettingsType, Zivid::Settings2D>);
  static_assert(std::is_same_v<SettingsConfigType, SettingsConfig> ||
                std::is_same_v<SettingsConfigType, Settings2DConfig>);
  static_assert(std::is_same_v<SettingsAcquisitionConfigType, SettingsAcquisitionConfig> ||
                std::is_same_v<SettingsAcquisitionConfigType, Settings2DAcquisitionConfig>);

public:
  CaptureSettingsController(ros::NodeHandle& nh, Zivid::Camera& camera, const std::string& config_node_name,
                            std::size_t num_acquisition_servers);
  ~CaptureSettingsController();
  ZividSettingsType zividSettings() const;
  void setZividSettings(const ZividSettingsType& settings);
  std::size_t numAcquisitionConfigServers() const;

private:
  using SettingsConfigTypeDRServer = ConfigDRServer<SettingsConfigType, ZividSettingsType>;
  using SettingsAcquisitionConfigTypeDRServer =
      ConfigDRServer<SettingsAcquisitionConfigType, typename ZividSettingsType::Acquisition>;
  std::string config_node_name_;
  std::unique_ptr<SettingsConfigTypeDRServer> general_config_dr_server_;
  std::vector<std::unique_ptr<SettingsAcquisitionConfigTypeDRServer>> acquisition_config_dr_servers_;
};

extern template class CaptureSettingsController<Zivid::Settings, zivid_camera::SettingsConfig,
                                                zivid_camera::SettingsAcquisitionConfig>;
extern template class CaptureSettingsController<Zivid::Settings2D, zivid_camera::Settings2DConfig,
                                                zivid_camera::Settings2DAcquisitionConfig>;

}  // namespace zivid_camera