mudpiCreator.hpp

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// This class was copied from the MELT CS repository.
 
#ifndef FGF_COM_MUDPI_CREATOR_HPP_H_
#define FGF_COM_MUDPI_CREATOR_HPP_H_
 
#define BOOST_BIND_NO_PLACEHOLDERS
 
#include <cstdint>
#include <vector>
 
#include <mudpiif/MudpiPacket.hpp>
#include <hrtcpif/HrtcpCommonPacket.hpp>
#include <hrtcpif/HrtcpLeaderPacket.hpp>
#include <hrtcpif/HrtcpTrailerPacket.hpp>
#include <hrtcpif/HrtcpPayloadPacket.hpp>
 
namespace ifw::fgf::common {

    class MudpiCreator {
      public:
 
        MudpiCreator(uint32_t mudpi_topic_id,
                    uint16_t mudpi_component_id,
                    uint32_t starting_mudpi_sample_id,
                    hrtcpif::SimSource hrtcp_sim_source,
                    hrtcpif::Endianness hrtcp_endianness);

        MudpiCreator(MudpiCreator&) = delete;
        MudpiCreator(MudpiCreator&&) = delete;
        MudpiCreator& operator=(MudpiCreator&) = delete;
 
        std::vector<mudpiif::mudpiPacketJumbo>&
          getMudpiPackets(std::vector<unsigned char>& raw_image_data,
                          int bytes_per_pixel,
                          double timestamp);
        void increaseSampleId();
 
      private:
        uint32_t getSampleId() { return m_mudpi_sample_identity; }
 
        std::vector<mudpiif::mudpiPacketJumbo> m_mudpi_packets;
 
        uint32_t m_mudpi_sample_identity;
        uint32_t m_mudpi_topic_identity;
        uint16_t m_mudpi_component_identity;
        hrtcpif::SimSource m_hrtcp_sim_source;
        hrtcpif::Endianness m_hrtcp_endianness;
 
        mudpiif::mudpiPacketJumbo 
          assembleMudpiLeadingPacket(std::vector<unsigned char>& raw_image_data, int bytes_per_pixel);
        mudpiif::mudpiPacketJumbo
          assembleMudpiTrailingPacket(std::vector<unsigned char>& raw_image_data);
        void assembleMudpiPayloadPackets(std::vector<mudpiif::mudpiPacketJumbo>& mudpi_packets,
                                         std::vector<unsigned char>& raw_image_data,
                                         int bytes_per_pixel,
                                         double timestamp);
 
    };
 
}
 
#endif /* FGF_COM_MUDPI_CREATOR_HPP_H_ */