collector.hpp

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#pragma once
 
#include "irsol/camera/interface.hpp"
#include "irsol/server/image_collector/frame.hpp"
#include "irsol/server/image_collector/params.hpp"
#include "irsol/types.hpp"
#include "irsol/utils.hpp"
 
#include <atomic>
#include <condition_variable>
#include <deque>
#include <map>
#include <memory>
#include <thread>
#include <unordered_map>
#include <vector>
 
namespace irsol {
namespace server {
namespace frame_collector {
 
class FrameCollector
{
public:
  using frame_queue_t = ClientCollectionParams::frame_queue_t;
 
  static std::shared_ptr<frame_queue_t> makeQueuePtr();
 
  constexpr static irsol::types::duration_t SLACK = std::chrono::milliseconds(50);
 
  FrameCollector(irsol::camera::Interface& camera);
 
  ~FrameCollector();
 
  void start();
 
  void stop();
 
  bool isBusy() const;
 
  void registerClient(
    irsol::types::client_id_t      clientId,
    double                         fps,
    std::shared_ptr<frame_queue_t> queue,
    int64_t                        frameCount = -1);
 
  void deregisterClient(irsol::types::client_id_t clientId);
 
private:
  void run();
 
  void deregisterClientNonThreadSafe(irsol::types::client_id_t clientId);
 
  std::pair<std::vector<irsol::types::client_id_t>, std::vector<irsol::types::timepoint_t>>
  collectReadyClients(irsol::types::timepoint_t now, irsol::types::duration_t slack) const;
 
  void cleanUpSchedule(const std::vector<irsol::types::timepoint_t> schedules);
 
  std::optional<std::pair<FrameMetadata, std::vector<irsol::types::byte_t>>> grabImageData() const;
 
  bool schedule(const irsol::types::client_id_t& clientId, irsol::types::timepoint_t nextFrameDue);
 
  irsol::camera::Interface& m_cam;  
 
  std::mutex m_clientsMutex;  
  std::unordered_map<irsol::types::client_id_t, ClientCollectionParams>
    m_clients;  
  std::map<irsol::types::timepoint_t, std::vector<irsol::types::client_id_t>>
    m_scheduleMap;  
 
  std::condition_variable m_scheduleCondition;  
  std::thread             m_distributorThread;  
 
  std::atomic<bool> m_stop{
    false};  
};
 
}  // namespace frame_collector
}  // namespace server
}  // namespace irsol