discovery.hpp

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#pragma once
 
#include "irsol/camera/interface.hpp"
 
#include <map>
#include <vector>
 
namespace irsol {
namespace camera {
namespace internal {
 
enum FeaturePermissionValue
{
  UNSET         = 0,          
  NOT_AVAILABLE = (1u << 0),  
  AVAILABLE     = (1u << 1),  
  READABLE      = (1u << 2),  
  WRITABLE      = (1u << 3)   
};
 
struct FeaturePermissions
{
  FeaturePermissionValue value;  
 
  FeaturePermissions(bool isAvailable, bool isReadable, bool isWritable)
    : value(FeaturePermissionValue(
        (isAvailable ? FeaturePermissionValue::AVAILABLE : FeaturePermissionValue::NOT_AVAILABLE) |
        (isReadable ? FeaturePermissionValue::READABLE : FeaturePermissionValue::UNSET) |
        (isWritable ? FeaturePermissionValue::WRITABLE : FeaturePermissionValue::UNSET)))
  {}
 
  inline bool isAvailable() const
  {
    return value & FeaturePermissionValue::AVAILABLE;
  }
 
  inline bool isReadable() const
  {
    return value & FeaturePermissionValue::READABLE;
  }
 
  inline bool isWritable() const
  {
    return value & FeaturePermissionValue::WRITABLE;
  }
 
  inline bool operator<(const FeaturePermissions& other) const
  {
    return value < other.value;
  }
};
 
std::map<FeaturePermissions, std::vector<NeoAPI::Feature*>> extractCameraFeatures(NeoAPI::Cam& cam);
 
}  // namespace internal
 
std::string discoverCameraFeatures(Interface& cam);
 
}  // namespace camera
}  // namespace irsol