client_shm.h

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#ifndef RGBD_CLIENT_SHM_H_
#define RGBD_CLIENT_SHM_H_
 
#include <boost/interprocess/shared_memory_object.hpp>
#include <boost/interprocess/mapped_region.hpp>
 
#include "rgbd/image_header.h"
#include "rgbd/types.h"
 
namespace rgbd
{
 
class ClientSHM
{
 
public:
 
    ClientSHM();
 
    ~ClientSHM();
 
    bool initialize(const std::string& server_name, float timeout = 5.0);
 
    bool deinitialize();
 
    bool initialized() { return (buffer_header_ != nullptr); }
 
    bool nextImage(Image& image);
 
    ImagePtr nextImage();
 
private:
 
    boost::interprocess::shared_memory_object shm_;
 
    boost::interprocess::mapped_region mem_buffer_header_;
    boost::interprocess::mapped_region mem_image_;
 
    BufferHeader* buffer_header_;
    unsigned char* image_data_;
 
    uint64_t rgb_data_size_;
    uint64_t depth_data_size_;
 
    uint64_t sequence_nr_;
 
};
 
} // end namespace rgbd
 
#endif // RGBD_CLIENT_SHM_H_