frame.h

/*
 * Copyright 2022-present ifm electronic, gmbh
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef IFM3D_FG_FRAME_H
#define IFM3D_FG_FRAME_H
 
#include <chrono>
#include <cstdint>
#include <ifm3d/device/device.h>
#include <ifm3d/fg/buffer.h>
#include <ifm3d/fg/buffer_id.h>
#include <ifm3d/fg/module_frame_grabber.h>
#include <memory>
#include <vector>
 
namespace ifm3d
{
  using TimePointT = std::chrono::time_point<std::chrono::system_clock,
                                             std::chrono::nanoseconds>;
 
  using BufferList = std::vector<Buffer>;
  using BufferDataListMap = std::map<ifm3d::buffer_id, BufferList>;
 
  class IFM3D_EXPORT Frame
  {
  public:
    using Ptr = std::shared_ptr<Frame>;
 
    Frame(const BufferDataListMap& images,
          const std::vector<TimePointT>& timestamps,
          uint64_t frame_count);
    ~Frame();
 
    Frame(const Frame& t);
    Frame& operator=(const Frame& t);
 
    Frame(Frame&& t) noexcept;
    Frame& operator=(Frame&& t) noexcept;
 
    std::vector<TimePointT> TimeStamps();
 
    bool HasBuffer(buffer_id id);
 
    Buffer& GetBuffer(buffer_id key,
                      std::optional<size_t> index = std::nullopt);
 
    size_t GetBufferCount(buffer_id id);
 
    uint32_t FrameCount();
 
    std::vector<buffer_id> GetBuffers();
 
    // NOLINTBEGIN(readability-identifier-naming)
    decltype(std::declval<std::map<buffer_id, BufferList>>().begin())
    begin() noexcept;
    [[nodiscard]] decltype(std::declval<
                             const std::map<buffer_id, BufferList>>()
                             .begin())
    begin() const noexcept;
    decltype(std::declval<std::map<buffer_id, BufferList>>().end())
    end() noexcept;
    [[nodiscard]] decltype(std::declval<
                             const std::map<buffer_id, BufferList>>()
                             .end())
    end() const noexcept;
    // NOLINTEND(readability-identifier-naming)
 
  private:
    class Impl;
    std::unique_ptr<Impl> _impl;
  }; // end: class Organizer
 
} // end: namespace ifm3d
 
#endif // IFM3D_FG_FRAME_H