OB2Playback.hpp

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#pragma once
 
#include "OB2Types.hpp"
#include <string>
 
extern "C" {
#include "h/ob2playback.h"
}
 
#include "hpp/OB2Camera.hpp"
#include "hpp/OB2IMU.hpp"
 
namespace ob2 {
 
class playback {
public:
    playback(const std::string file_path) {
        ob2_status_t status;
        m_playback_handle = ob2_playback_create(file_path.c_str(), &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    playback(playback &&pb) : m_playback_handle(pb.m_playback_handle) {
        VALIDATE_NOT_NULL(m_playback_handle);
        pb.m_playback_handle = nullptr;
    }
 
    virtual ~playback() noexcept {
        ob2_status_t status;
        if(m_playback_handle != nullptr) {
            ob2_playback_close(m_playback_handle, &status);
        }
    }
 
    virtual ob2_device_info_t get_device_info() {
        ob2_status_t status;
        auto         device_info = ob2_playback_get_device_info(m_playback_handle, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
        return device_info;
    }
 
    virtual ob2_cameras_calibration_t get_cameras_calibration() {
        ob2_status_t status;
        auto         calibration = ob2_playback_get_cameras_calibration(m_playback_handle, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
        return calibration;
    }
 
    virtual void start(capture_cb capture_cb, imu_sample_cb imu_sample_cb, playback_state_cb playback_state_cb) {
        ob2_status_t status;
        m_capture_cb        = capture_cb;
        m_imu_sample_cb     = imu_sample_cb;
        m_playback_state_cb = playback_state_cb;
        ob2_playback_start(m_playback_handle, &playback::capture_callback, &playback::imu_sample_callback, &playback::playback_state_callback, this, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    virtual void stop() {
        ob2_status_t status;
        ob2_playback_stop(m_playback_handle, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
protected:
    static void capture_callback(ob2_capture_t capture_handle, void *user_data) {
        auto pb = (playback *)user_data;
        if(pb->m_capture_cb != nullptr) {
            pb->m_capture_cb(std::make_shared<capture>(std::move(capture_handle)));
        }
    }
 
    static void imu_sample_callback(ob2_imu_sample_t imu_sample_handle, void *user_data) {
        auto pb = (playback *)user_data;
        if(pb->m_imu_sample_cb != nullptr) {
            pb->m_imu_sample_cb(std::make_shared<imu_sample>(std::move(imu_sample_handle)));
        }
    }
 
    static void playback_state_callback(ob2_playback_state_t state, void *user_data) {
        auto pb = (playback *)user_data;
        if(pb->m_playback_state_cb != nullptr) {
            pb->m_playback_state_cb(state);
        }
    }
 
protected:
    capture_cb        m_capture_cb;
    imu_sample_cb     m_imu_sample_cb;
    playback_state_cb m_playback_state_cb;
 
    ob2_playback_t m_playback_handle;
};
}  // namespace ob2