movie.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
#include <cras_cpp_common/expected.hpp>
#include <cras_cpp_common/log_utils.h>
#include <movie_publisher/movie_info.h>
#include <movie_publisher/movie_metadata_processor.h>
#include <movie_publisher/movie_open_config.h>
#include <movie_publisher/movie_playback_state.h>
#include <movie_publisher/types.h>
#include <ros/duration.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/Image.h>
 
namespace movie_publisher
{
 
struct MoviePrivate;
 
class Movie : public cras::HasLogger
{
public:
  Movie(const cras::LogHelperPtr& log, const MovieOpenConfig& config);
 
  virtual ~Movie();
 
  MovieInfo::ConstPtr info() const;
 
  const MovieOpenConfig& config() const;
 
  virtual MetadataExtractor::Ptr staticMetadata() const;
 
  MoviePlaybackState::ConstPtr playbackState() const;
 
  cras::expected<void, std::string> setSubClip(
    const cras::optional<StreamTime>& start, const cras::optional<StreamTime>& end,
    const cras::optional<StreamDuration>& duration);
 
protected:
  virtual cras::expected<void, std::string> setSubClip(
    const cras::optional<StreamTime>& start, const cras::optional<StreamTime>& end,
    const cras::optional<StreamDuration>& duration, bool allowReopen);
 
public:
  virtual void setTimestampOffset(const ros::Duration& offset);
 
  virtual cras::expected<std::pair<MoviePlaybackState, sensor_msgs::ImageConstPtr>, std::string> nextFrame();
 
  cras::expected<void, std::string> seek(const StreamTime& time);
 
protected:
  virtual cras::expected<void, std::string> seek(const StreamTime& time, bool allowReopen);
 
public:
  virtual cras::expected<void, std::string> seekInSubclip(const StreamTime& time);
 
protected:
  virtual cras::expected<void, std::string> open();
 
  virtual void close();
 
  MovieInfo::Ptr _info();
 
  MovieOpenConfig& _config();
 
  MoviePlaybackState::Ptr _playbackState();
 
private:
  std::unique_ptr<MoviePrivate> data;  
};
 
using MoviePtr = std::shared_ptr<Movie>;
using MovieConstPtr = std::shared_ptr<const Movie>;
}