camera_snapshot_component.h

Go to the documentation of this file.

// Copyright (c) Space-ng, inc. All rights reserved.
#pragma once
 
#include "sol3/camera_module/camera_msg_spec.h"
#include "sol3/core/message_input.h"
#include "sol3/core/message_output.h"
 
#include <cstdint>
#include <memory>
 
namespace sol3::camera_module {
 
class CameraSnapshotComponent {
 public:
  CameraSnapshotComponent(
      core::IBufferExchange& exchange, uint32_t component_id);
 
  void poll();
 
 private:
  void takeSnapshot(
      core::MessageView<CameraModuleSpec::RawFrame> const& raw_frame_view);
  void publishTelemetry();
  void ensureSnapshotOutputCapacity(
      core::MessageView<CameraModuleSpec::RawFrame> const& raw_frame_view);
 
  uint32_t component_id_ = 0;
  core::IBufferExchange* exchange_ = nullptr;
  core::MessageInput<CameraModuleSpec::CameraSnapshotControl> snapshot_control_;
  core::MessageInput<CameraModuleSpec::RawFrame> raw_input_;
  std::unique_ptr<core::MessageOutput<CameraModuleSpec::RawFrameSnapshot>>
      snapshot_output_;
  core::MessageOutput<CameraModuleSpec::CameraSnapshotTelemetry>
      telemetry_output_;
};
 
}  // namespace sol3::camera_module