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#include <RobotRaconteur.h>
#include "robotraconteur_generated.h"
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <stdio.h>
#include <boost/enable_shared_from_this.hpp>
#pragma once
// Class to implement the "Webcam" object abstract class
// and also use "enable_shared_from_this" for shared_ptr support
class Webcam_impl : public ::experimental::simplewebcam3::Webcam_default_impl,
public boost::enable_shared_from_this<Webcam_impl>,
public virtual RobotRaconteur::IRRServiceObject
{
public:
Webcam_impl(int cam, std::string name);
void shutdown();
~Webcam_impl();
void RRServiceObjectInit(RR_WEAK_PTR<RobotRaconteur::ServerContext> ctx, const std::string& service_path) override;
virtual std::string get_name() override;
virtual ::experimental::simplewebcam3::WebcamImagePtr capture_frame() override;
virtual void start_streaming() override;
virtual void stop_streaming() override;
virtual ::experimental::simplewebcam3::WebcamImage_sizePtr capture_frame_to_buffer() override;
virtual RobotRaconteur::ArrayMemoryPtr<uint8_t> get_buffer() override;
virtual RobotRaconteur::MultiDimArrayMemoryPtr<uint8_t> get_multidimbuffer() override;
private:
RobotRaconteur::RRArrayPtr<uint8_t> m_buffer;
RobotRaconteur::RRMultiDimArrayPtr<uint8_t> m_multidimbuffer;
RR_SHARED_PTR<cv::VideoCapture> capture;
bool camopen;
std::string m_Name;
RobotRaconteur::TimerPtr streaming_timer;
void send_frame_stream();
boost::mutex this_lock;
};
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