sutra_rtc_cacao.h

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// -----------------------------------------------------------------------------
//  This file is part of COMPASS <https://anr-compass.github.io/compass/>
//
//  Copyright (C) 2011-2023 COMPASS Team <https://github.com/ANR-COMPASS>
//  All rights reserved.
 
// -----------------------------------------------------------------------------
 
 
 
#ifndef SUTRA_RTC_CACAO_H_
#define SUTRA_RTC_CACAO_H_
 
#include <Cacao.h>
 
#include <sutra_rtc.h>
#include <sutra_target.h>
#include <sutra_wfs.h>
 
template <typename Tin, typename Tcomp, typename Tout>
class SutraRtcCacao : public SutraRtc<Tin, Tcomp, Tout> {
 private:
  std::shared_ptr<ipc::Cacao<Tin>> interface_raw_frame_;
  std::shared_ptr<ipc::Cacao<float>> interface_cal_frame_;
  std::shared_ptr<ipc::Cacao<Tcomp>> interface_loop_frame_;
  std::shared_ptr<ipc::Cacao<Tout>> interface_commands_;
 
  std::string interface_raw_frame_name_;
  std::string interface_cal_frame_name_;
  std::string interface_loop_frame_name_;
  std::string interface_commands_name_;
 
  long framecounter_;
 
  int nslp_;
  int ncmd_;
  int nvalid_;
 
  bool is_initialised_;
 
 public:
  SutraRtcCacao(std::string interface_cal_frame_name, std::string interface_loop_frame_name);
  ~SutraRtcCacao();
 
  void publish();
 
 private:
  void allocate_buffers();
};
 
#endif /* SUTRA_RTC_CACAO_H_ */