OB2Record.hpp

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#pragma once
 
#include "OB2Types.hpp"
#include "OB2Device.hpp"
#include <string>
 
extern "C" {
#include "h/ob2record.h"
}
 
namespace ob2 {
 
class record {
public:
    record(const std::string file_path) {
        ob2_status_t status;
        m_record_handle = ob2_record_create(file_path.c_str(), &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    record(record &&rc) : m_record_handle(rc.m_record_handle) {
        VALIDATE_NOT_NULL(m_record_handle);
        rc.m_record_handle = nullptr;
    }
 
    virtual ~record() noexcept {
        ob2_status_t status;
        if(m_record_handle != nullptr) {
            ob2_record_close(m_record_handle, &status);
        }
    }
 
    virtual void flush(int32_t timeout_msec) {
        ob2_status_t status;
        ob2_record_flush(m_record_handle, timeout_msec, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    virtual void write_device_info(const ob2_device_info_t &device_info) {
        ob2_status_t status;
        ob2_record_write_device_info(m_record_handle, &device_info, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    virtual void write_cameras_calibration(const ob2_cameras_calibration_t &calibration) {
        ob2_status_t status;
        ob2_record_write_cameras_calibration(m_record_handle, &calibration, &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    virtual void write_capture(const std::shared_ptr<capture> capture) {
        ob2_status_t status;
        ob2_record_write_capture(m_record_handle, capture->get_handle(), &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
    virtual void write_imu_sample(const std::shared_ptr<imu_sample> imu_sample) {
        ob2_status_t status;
        ob2_record_write_imu_sample(m_record_handle, imu_sample->get_handle(), &status);
        CHECK_OB2_STATUS_ERROR_THROW(status);
    }
 
protected:
    ob2_record_t m_record_handle;
};
}  // namespace ob2