FrameGrabber.h

Go to the documentation of this file.

//
// Copyright (c) 2023 SICK AG, Waldkirch
//
// SPDX-License-Identifier: Unlicense
 
#pragma once
 
#include "FrameGrabberBase.h"
#include "VisionaryDataStream.h"
#include <mutex>
#include <thread>
 
namespace visionary {
template <class DataType>
class FrameGrabber
{
public:
  FrameGrabber(const std::string& hostname, std::uint16_t port, std::uint32_t timeoutMs)
    : frameGrabberBase(hostname, port, timeoutMs)
  {
    frameGrabberBase.start(std::make_shared<DataType>(), std::make_shared<DataType>());
  }
  ~FrameGrabber()
  {
  }
 
  bool getNextFrame(std::shared_ptr<DataType>& pDataHandler, std::uint32_t timeoutMs = 1000)
  {
    if (pDataHandler == nullptr)
      pDataHandler = std::make_shared<DataType>();
    auto       pTypedDataHandler = std::move(std::dynamic_pointer_cast<VisionaryData>(pDataHandler));
    const auto retVal            = frameGrabberBase.getNextFrame(pTypedDataHandler, timeoutMs);
    pDataHandler                 = std::move(std::dynamic_pointer_cast<DataType>(pTypedDataHandler));
    return retVal;
  }
 
  bool getCurrentFrame(std::shared_ptr<DataType>& pDataHandler)
  {
    if (pDataHandler == nullptr)
      pDataHandler = std::make_shared<DataType>();
    auto       pTypedDataHandler = std::move(std::dynamic_pointer_cast<VisionaryData>(pDataHandler));
    const auto retVal            = frameGrabberBase.getCurrentFrame(pTypedDataHandler);
    pDataHandler                 = std::move(std::dynamic_pointer_cast<DataType>(pTypedDataHandler));
    return retVal;
  }
 
private:
  FrameGrabberBase frameGrabberBase;
};
} // namespace visionary