interface.hpp

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#pragma once
 
#include "irsol/assert.hpp"
#include "irsol/types.hpp"
#include "irsol/utils.hpp"
 
#include <chrono>
#include <mutex>
#include <neoapi/neoapi.hpp>
#include <optional>
#include <string>
#include <type_traits>
#include <unordered_map>
#include <variant>
 
namespace irsol {
 
namespace camera {
 
class Interface
{
public:
  using image_t = NeoAPI::Image;
 
  using camera_param_t = std::variant<bool, int, int64_t, double, std::string, const char*>;
 
  static constexpr irsol::types::duration_t DEFAULT_EXPOSURE_TIME = std::chrono::milliseconds(2);
 
  Interface(NeoAPI::Cam cam = irsol::utils::loadDefaultCamera());
 
  Interface(Interface&& other);
 
  Interface& operator=(Interface&& other);
 
  static Interface FullResolution();
 
  static Interface HalfResolution();
 
  std::string cameraInfoAsString() const;
 
  std::string cameraStatusAsString() const;
 
  NeoAPI::Cam& getNeoCam();
 
  bool isConnected() const
  {
    return m_cam.IsConnected();
  }
 
  void resetSensorArea();
 
  irsol::types::duration_t getExposure() const;
 
  irsol::types::duration_t setExposure(irsol::types::duration_t exposure);
 
  template<
    typename T,
    std::enable_if_t<
      std::is_integral_v<T> || std::is_floating_point_v<T> || std::is_same_v<std::string, T>,
      int> = 0>
  T getParam(const std::string& param) const;
 
  std::string getParam(const std::string& param) const;
 
  template<
    typename T,
    std::enable_if_t<
      std::is_integral_v<std::decay_t<T>> || std::is_floating_point_v<std::decay_t<T>> ||
        std::is_same_v<std::decay_t<T>, std::string>,
      int> = 0>
  T setParam(const std::string& param, T value);
 
  template<typename T, std::enable_if_t<std::is_same_v<std::decay_t<T>, const char*>, int> = 0>
  std::string setParam(const std::string& param, T value);
 
  void setMultiParam(const std::unordered_map<std::string, camera_param_t>& params);
 
  void trigger(const std::string& param);
 
  image_t captureImage(std::optional<irsol::types::duration_t> timeout = std::nullopt);
 
private:
  mutable std::mutex m_camMutex;
 
  NeoAPI::Cam m_cam;
 
  irsol::types::duration_t m_CachedExposureTime;
 
  template<
    typename T,
    std::enable_if_t<
      std::is_integral_v<std::decay_t<T>> || std::is_floating_point_v<std::decay_t<T>> ||
        std::is_same_v<std::decay_t<T>, std::string> ||
        std::is_same_v<std::decay_t<T>, const char*>,
      int> = 0>
  void setParamNonThreadSafe(const std::string& param, T value);
};
 
}  // namespace camera
}  // namespace irsol
 
#include "irsol/camera/interface.tpp"