dab_tracker_azure_tools.h

/** \file dab_tracker_azure_tools.h
*/

#include <iostream>
#include <map>
#include <k4a/k4a.hpp>
#include <k4arecord/types.h>
#include <k4arecord/playback.hpp>
#include "dab_value.h"
#include "dab_exception.h"
#include "dab_singleton.h"

#pragma once

#define AzureFOURCC(cc) ((cc)[0] | (cc)[1] << 8 | (cc)[2] << 16 | (cc)[3] << 24)

namespace dab
{
	namespace tracker
	{
		class AzureCamera;

		struct AzureMovieHeader
		{
			uint32_t biSize;
			uint32_t biWidth;
			uint32_t biHeight;
			uint16_t biPlanes;
			uint16_t biBitCount;
			uint32_t biCompression;
			uint32_t biSizeImage;
			uint32_t biXPelsPerMeter;
			uint32_t biYPelsPerMeter;
			uint32_t biClrUsed;
			uint32_t biClrImportant;
		};

		class AzureTools : public dab::Singleton<AzureTools>
		{
			friend class AzureCamera;

		public:
			AzureTools();
			~AzureTools();

		protected:
			void init();
			void initCameras();
			void initCamera(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);
			void initControls(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);

			void setControlValue(const std::string& pControlName, const AbstractValue& pValue, std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);

			void capture(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);
			void updateColorFrame(std::shared_ptr<AzureCamera> pCamera, const k4a::image& pNativeColorFrame) throw (dab::Exception);
			void updateDepthFrame(std::shared_ptr<AzureCamera> pCamera, const k4a::image& pNativeDepthFrame) throw (dab::Exception);
			void updatePointCloud(std::shared_ptr<AzureCamera> pCamera, const k4a::image& pNativePointCloudFrame) throw (dab::Exception);

			void startMovieRecording(std::shared_ptr<AzureCamera> pCamera, const std::string& pFileName) throw (dab::Exception);
			void stopMovieRecording(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);

			bool checkCameraAvailable(const std::string& pSerialNr);
			bool checkCameraOpen(const std::string& pSerialNr);
			void openCamera(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);
			void configureCamera(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);
			void openMovie(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);
			void createCameraFrames(std::shared_ptr<AzureCamera> pCamera) throw (dab::Exception);
			void createMovieHeader( const std::array<uint32_t, 2>& pFrameSize, AzureMovieHeader *pHeader);

			std::map<std::string, std::shared_ptr<AzureCamera> > mCameras;
			std::vector<std::string> mAvailabeDevices;
		};
	}
}