rtsp_client.h

/*
 * Copyright 2026-present ifm electronic, gmbh
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef IFM3D_RTSP_RTSP_CLIENT_H
#define IFM3D_RTSP_RTSP_CLIENT_H
 
#include <cstdint>
#include <functional>
#include <future>
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <ifm3d/common/err.h>
#include <ifm3d/device/device.h>
#include <ifm3d/device/o3r.h>
#include <ifm3d/fg/buffer.h>
#include <ifm3d/rtsp/frame_metadata.h>
#include <ifm3d/rtsp/module_rtsp.h>
#include <ifm3d/rtsp/nal_unit.h>
 
namespace ifm3d
{
  class IFM3D_EXPORT RtspClient
  {
  public:
    using Ptr = std::shared_ptr<RtspClient>;
 
    enum class Transport : std::uint8_t
    {
      INTERLEAVED = 0,
      UDP = 1,
    };
 
    enum class State : std::uint8_t
    {
      IDLE = 0,
      CONNECTING = 1,
      READY = 2,
      PLAYING = 3,
      STOPPED = 4,
      FAILED = 5,
    };
 
    enum class OutputFormat : std::uint8_t
    {
      RGB = 0,
      YUV420 = 1,
    };
 
    struct Config
    {
      std::optional<std::string> url;
 
      std::uint16_t port = 8554;
 
      std::string stream_path = "port1";
 
      Transport transport = Transport::INTERLEAVED;
 
      std::optional<std::string> decoder;
 
      OutputFormat output_format = OutputFormat::RGB;
    };
 
    using NewFrameCallback = std::function<void(ifm3d::Buffer)>;
    using NalUnitCallback = std::function<void(const ifm3d::NalUnit&)>;
    using ErrorCallback = std::function<void(const ifm3d::Error&)>;
    using StateChangeCallback = std::function<void(State)>;
 
    explicit RtspClient(ifm3d::Device::Ptr device);
 
    RtspClient(ifm3d::Device::Ptr device, Config config);
 
    RtspClient(ifm3d::Device::Ptr device, const ifm3d::PortInfo& port);
 
    RtspClient(ifm3d::Device::Ptr device,
               const ifm3d::PortInfo& port,
               Config config);
 
    virtual ~RtspClient();
 
    // copy-disabled, move-enabled (like FrameGrabber's PImpl)
    RtspClient(const RtspClient&) = delete;
    RtspClient& operator=(const RtspClient&) = delete;
    RtspClient(RtspClient&&) noexcept;
    RtspClient& operator=(RtspClient&&) noexcept;
 
    std::shared_future<void> Start();
 
    std::shared_future<void> Stop();
 
    [[nodiscard]] bool IsRunning() const;
 
    [[nodiscard]] State GetState() const;
 
    void OnNewFrame(NewFrameCallback callback = nullptr);
 
    void OnNalUnit(NalUnitCallback callback = nullptr);
 
    void OnError(ErrorCallback callback = nullptr);
 
    void OnStateChange(StateChangeCallback callback = nullptr);
 
  private:
    class Impl;
    std::unique_ptr<Impl> _impl;
  }; // end: class RtspClient
 
} // namespace ifm3d
 
#endif // IFM3D_RTSP_RTSP_CLIENT_H