Add types & test

include/mynteye/types.h

@@ -0,0 +1,157 @@
+#ifndef MYNTEYE_TYPES_H_  // NOLINT
+#define MYNTEYE_TYPES_H_
+#pragma once
+
+#include <cstdint>
+
+#include <iostream>
+#include <type_traits>
+
+#include "mynteye/mynteye.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+/**
+ * @ingroup enumerations
+ * @brief Streams define different type of data.
+ */
+enum class Stream : std::uint8_t {
+  /** Left stream */
+  LEFT,
+  /** Right stream */
+  RIGHT,
+  /** Left stream, rectified */
+  LEFT_RECTIFIED,
+  /** Right stream, rectified */
+  RIGHT_RECTIFIED,
+  /** Disparity stream */
+  DISPARITY,
+  /** Disparity stream, normalized */
+  DISPARITY_NORMALIZED,
+  /** Depth stream */
+  DEPTH,
+  /** Point cloud stream */
+  POINTS,
+  /** Last guard */
+  LAST
+};
+
+/**
+ * @ingroup enumerations
+ * @brief Capabilities define the full set of functionality that the device
+ * might provide.
+ */
+enum class Capabilities : std::uint8_t {
+  /** Provices stereo stream */
+  STEREO,
+  /** Provices color stream */
+  COLOR,
+  /** Provices depth stream */
+  DEPTH,
+  /** Provices point cloud stream */
+  POINTS,
+  /** Provices fisheye stream */
+  FISHEYE,
+  /** Provices IMU (accelerometer, gyroscope) data */
+  IMU,
+  /** Last guard */
+  LAST
+};
+
+/**
+ * @ingroup enumerations
+ * @brief Camera info fields are read-only strings that can be queried from the
+ * device.
+ */
+enum class Info : std::uint8_t {
+  /** Device name */
+  DEVICE_NAME,
+  /** Serial number */
+  SERIAL_NUMBER,
+  /** Firmware version */
+  FIRMWARE_VERSION,
+  /** Hardware version */
+  HARDWARE_VERSION,
+  /** Spec version */
+  SPEC_VERSION,
+  /** Lens type */
+  LENS_TYPE,
+  /** IMU type */
+  IMU_TYPE,
+  /** Nominal baseline */
+  NOMINAL_BASELINE,
+  /** Last guard */
+  LAST,
+};
+
+/**
+ * @ingroup enumerations
+ * Camera control options define general configuration controls.
+ */
+enum class Option : std::uint8_t {
+  /** Image gain, setting it if manual-exposure */
+  GAIN,
+  /** Image brightness, setting it if manual-exposure */
+  BRIGHTNESS,
+  /** Image contrast */
+  CONTRAST,
+  /** Image frame rate */
+  FRAME_RATE,
+  /** IMU frequency */
+  IMU_FREQUENCY,
+  /**
+   * Exposure mode
+   *
+   *   0: enable auto-exposure
+   *   1: disable auto-exposure (manual-exposure)
+   */
+  EXPOSURE_MODE,
+  /** Max gain, setting it if auto-exposure */
+  MAX_GAIN,
+  /** Max exposure time, setting it if auto-exposure */
+  MAX_EXPOSURE_TIME,
+  /** Desired brightness */
+  DESIRED_BRIGHTNESS,
+  /** IR control */
+  IR_CONTROL,
+  /**
+   * HDR mode
+   *
+   *   0: 10-bit
+   *   1: 12-bit
+   */
+  HDR_MODE,
+  /** Zero drift calibration */
+  ZERO_DRIFT_CALIBRATION,
+  /** Erase chip */
+  ERASE_CHIP,
+  /** Last guard */
+  LAST,
+};
+
+#define MYNTEYE_ENUM_HELPERS(TYPE)                                       \
+  const char *to_string(const TYPE &value);                              \
+  inline bool is_valid(const TYPE &value) {                              \
+    using utype = std::underlying_type<TYPE>::type;                      \
+    utype val = static_cast<utype>(value);                               \
+    utype max = static_cast<utype>(TYPE::LAST);                          \
+    return /*val >= 0 &&*/ val < max;                                    \
+  }                                                                      \
+  inline std::ostream &operator<<(std::ostream &os, const TYPE &value) { \
+    using utype = std::underlying_type<TYPE>::type;                      \
+    if (is_valid(value))                                                 \
+      return os << to_string(value);                                     \
+    else                                                                 \
+      return os << static_cast<utype>(value);                            \
+  }
+
+MYNTEYE_ENUM_HELPERS(Stream)
+MYNTEYE_ENUM_HELPERS(Capabilities)
+MYNTEYE_ENUM_HELPERS(Info)
+MYNTEYE_ENUM_HELPERS(Option)
+
+#undef MYNTEYE_ENUM_HELPERS
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_TYPES_H_ NOLINT