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#ifndef ARSERVERHANDLERCAMERACOLLECTION_H
#define ARSERVERHANDLERCAMERACOLLECTION_H
#include <Aria.h>
#include <ArExport.h>
#include <ArFunctor.h>
#include <ArCameraCollection.h>
#include "ArServerBase.h"
#include "ArServerClient.h"
/// Provides information to a client about different cameras and how to send requests to their different ArServerHandlerCamera and video image server objects.
/**
* ArServerHandlerCameraCollection defines the network packet handlers to
* transmit information regarding the cameras and their video streams that are installed on the robot.
*
* This class handles the following requests:
* <ul>
* <li>getCameraList: Replies with a packet containing a 2-byte integer
* indicating the number of cameras. Then, for each camera:
* <ol>
* <li>camera name (string)</li>
* <li>camera type (string)</li>
* <li>camera name for user display (string)</li>
* <li>camera type for user display (string)</li>
* <li>list of requests that can be sent for this camera, beginning with the 2-byte number of commands, then, for
* each command:
* <ol>
* <li>the generic descriptive name (string)</li>
* <li>the specific command request name (string)</li>
* <li>an appropriate frequency for making this request (4-byte integer)</li>
* </ol>
* </li>
* <li>list of parameters, beginning with the 2-byte number of parameters, then,
* for each parameter, the parameter definition/value (see ArClientArg for format).
* </li>
* </ol>
* </li>
*
* <li>setCameraParams: Set some camera parameters. Begins with camera name
* string, then for each parameter, the parameter name and value (see
* ArClientArg for the format). An empty parameter name string terminates
* the list. In reply, this handler sends a packet confirming the changes
* (see cameraParamUpdated below).</li>
* </ul>
*
* When a camera is added or a parameter changes, the server broadcasts the
* following packets to each client:
* <ul>
* <li>cameraListUpdate: no arguments, use getCameraList to get the new list.</li>
*
* <li>cameraParamUpdated: starts with camera name, then a list of parameter
* name and value (see ArClientArg for format). An empty parameter name
* string terminates the list.</li>
* </ul>
* Note that the cameraParamUpdated is currently only sent in response to a
* setCameraParams request. That is, it does not monitor the actual parameter
* values in the ArCameraCollection.
* <p>
* In order to manipulate a particular camera using the request names and other
* information provided by ArServerHandlerCameraCollection, see ArServerHandlerCamera and
* ArVideoServer.
*/
class ArServerHandlerCameraCollection
{
protected:
/// Name of the network packet to get the camera list.
static const char *GET_COLLECTION_PACKET_NAME;
/// Name of the network packet to set a particular camera parameter.
static const char *SET_PARAMS_PACKET_NAME;
/// Name of the network packet broadcast when the collection is modified.
static const char *COLLECTION_UPDATED_PACKET_NAME;
/// Name of the network packet broadcast when a parameter value is modified.
static const char *PARAMS_UPDATED_PACKET_NAME;
/// Command group for these packets.
static const char *COMMAND_GROUP;
public:
/// Constructor.
/**
* @param server the ArServerBase * used to send/receive requests
* @param cameraCollection the ArCameraCollection * to be transmitted
**/
AREXPORT ArServerHandlerCameraCollection(ArServerBase *server,
ArCameraCollection *cameraCollection);
/// Destructor.
AREXPORT virtual ~ArServerHandlerCameraCollection();
// --------------------------------------------------------------------------
// Network Packet Handlers
// --------------------------------------------------------------------------
/// Handles the request to get the camera list / collection.
/**
* @param client the ArServerClient * that is making the request
* @param packet the ArNetPacket * that contains the request
**/
AREXPORT void getCameraList(ArServerClient *client, ArNetPacket *packet);
/// Handles the request to edit a camera's parameters.
/**
* @param client the ArServerClient * that is making the request
* @param packet the ArNetPacket * that contains the request
**/
AREXPORT void setParams(ArServerClient *client, ArNetPacket *packet);
// --------------------------------------------------------------------------
// ArCameraCollection Modified Callback
// --------------------------------------------------------------------------
/// Callback executed when the associated camera collection is modified.
AREXPORT void handleCameraCollectionModified();
private:
/// Disabled copy ctor
ArServerHandlerCameraCollection(const ArServerHandlerCameraCollection &);
/// Disabled assignment operator
ArServerHandlerCameraCollection &operator=(const ArServerHandlerCameraCollection &);
protected:
/// The server used to send/receive requests
ArServerBase *myServer;
/// The associated camera collection
ArCameraCollection *myCameraCollection;
/// Server callback for the get camera list request
ArFunctor2<ArServerClient *, ArNetPacket *> *myGetCameraListCB;
/// Server callback for the set parameter request
ArFunctor2<ArServerClient *, ArNetPacket *> *mySetParamCB;
/// Notification callback when the camera collection has been modified
ArFunctor *myCollectionModifiedCB;
}; // end class ArServerHandlerCameraCollection
#endif // ARSERVERHANDLERCAMERACOLLECTION_H
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