Public headers of device layer and some utils

include/mynteye/callbacks.h

@@ -0,0 +1,93 @@
+#ifndef MYNTEYE_CALLBACKS_H_  // NOLINT
+#define MYNTEYE_CALLBACKS_H_
+#pragma once
+
+#include <cstdint>
+
+#include <algorithm>
+#include <functional>
+#include <memory>
+#include <vector>
+
+#include "mynteye/mynteye.h"
+#include "mynteye/types.h"
+
+MYNTEYE_BEGIN_NAMESPACE
+
+namespace device {
+
+class Frame {
+ public:
+  using data_t = std::vector<std::uint8_t>;
+
+  Frame(const StreamRequest &request, const void *data)
+      : Frame(request.width, request.height, request.format, data) {}
+
+  Frame(
+      std::uint16_t width, std::uint16_t height, Format format,
+      const void *data)
+      : width_(width), height_(height), format_(format) {
+    std::size_t bytes_n = (width * height) * bytes_per_pixel(format);
+    if (data) {
+      const std::uint8_t *bytes = static_cast<const std::uint8_t *>(data);
+      data_ = data_t(bytes, bytes + bytes_n);
+    } else {
+      data_.assign(bytes_n, 0);
+    }
+  }
+
+  std::uint16_t width() const {
+    return width_;
+  }
+
+  std::uint16_t height() const {
+    return height_;
+  }
+
+  Format format() const {
+    return format_;
+  }
+
+  std::uint8_t *data() {
+    return data_.data();
+  }
+
+  const std::uint8_t *data() const {
+    return data_.data();
+  }
+
+  std::size_t size() const {
+    return data_.size();
+  }
+
+  Frame clone() const {
+    Frame frame(width_, height_, format_, nullptr);
+    std::copy(data_.begin(), data_.end(), frame.data_.begin());
+    return frame;
+  }
+
+ private:
+  std::uint16_t width_;
+  std::uint16_t height_;
+  Format format_;
+
+  data_t data_;
+};
+
+struct MYNTEYE_API StreamData {
+  std::shared_ptr<ImgData> img;
+  std::shared_ptr<Frame> frame;
+};
+
+struct MYNTEYE_API MotionData {
+  std::shared_ptr<ImuData> imu;
+};
+
+using StreamCallback = std::function<void(const StreamData &data)>;
+using MotionCallback = std::function<void(const MotionData &data)>;
+
+}  // namespace device
+
+MYNTEYE_END_NAMESPACE
+
+#endif  // MYNTEYE_CALLBACKS_H_ NOLINT