object_detection_client.hpp

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#pragma once
 
#include <auterion_sdk/object_detection/image_detections_2d.hpp>
#include <functional>
#include <memory>
#include <string>
 
namespace auterion {
 
class SDK;
 
using Detections2DCallback = std::function<void(const ImageDetections2D& image_detections)>;
 
class Detections2DSubscription {
   public:
    Detections2DSubscription(const std::shared_ptr<class Detections2DSubscriptionImpl>& impl);
 
    void onUpdate(Detections2DCallback callback);
 
    void subscribe(Detections2DCallback callback = nullptr);
 
    ImageDetections2D last() const;
 
    bool isLastValid() const;
 
   private:
    std::shared_ptr<class Detections2DSubscriptionImpl> _impl;
};
 
class ObjectDetectionClient {
   public:
    ObjectDetectionClient(
        SDK& sdk, const std::string& detections_topic = "object_detection/detections_2d",
        const std::string& enabled_topic = "object_detection/detections_2d_enabled");
 
    virtual ~ObjectDetectionClient();
 
    // Make non-copyable and non-movable
    ObjectDetectionClient(const ObjectDetectionClient&) = delete;
    ObjectDetectionClient& operator=(const ObjectDetectionClient&) = delete;
    ObjectDetectionClient(ObjectDetectionClient&&) = delete;
    ObjectDetectionClient& operator=(ObjectDetectionClient&&) = delete;
 
    Detections2DSubscription& detections2D() const;
 
    ObjectDetectionClient& subscribeDetections2D(Detections2DCallback callback = nullptr) {
        detections2D().subscribe(callback);
        return *this;
    }
 
    void enableObjectDetection();
 
    void disableObjectDetection();
 
   private:
    class Impl;
    std::shared_ptr<Impl> _impl;
};
 
}  // namespace auterion