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include/ClientPublisher.hpp

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+#ifndef  __SENDER_RUNNER_HDR__
+#define __SENDER_RUNNER_HDR__
+
+#include <sl/Camera.hpp>
+#include <sl/Fusion.hpp>
+
+#include <thread>
+#include <condition_variable>
+
+// Hard-coded camera stream configuration from inside_network.json
+struct CameraStreamConfig {
+    int serial_number;
+    std::string ip_address;
+    int port;
+};
+
+// Predefined camera stream configurations
+const std::vector<CameraStreamConfig> CAMERA_STREAM_CONFIGS = {
+    {44289123, "192.168.128.2", 30000},
+    {44435674, "192.168.128.2", 30002},
+    {41831756, "192.168.128.2", 30004},
+    {46195029, "192.168.128.2", 30006}
+};
+
+struct Trigger{
+
+    void notifyZED(){
+
+        cv.notify_all();
+
+        if(running){
+            bool wait_for_zed = true;
+            const int nb_zed = states.size();
+            while(wait_for_zed){
+                int count_r = 0;
+                for(auto &it:states)
+                    count_r += it.second;
+                wait_for_zed = count_r != nb_zed;
+                sl::sleep_ms(1);
+            }
+            for(auto &it:states)
+                it.second = false;
+        }
+    }
+
+    std::condition_variable cv;
+    bool running = true;
+    std::map<int, bool> states;
+};
+
+class ClientPublisher{
+
+public:
+    ClientPublisher();
+    ~ClientPublisher();
+
+    // Open camera from stream (IP:port) instead of local input
+    bool open(const std::string& ip, int port, Trigger* ref, int sdk_gpu_id);
+    void start();
+    void stop();
+    void setStartSVOPosition(unsigned pos);
+
+    int getSerialNumber() const { return serial; }
+
+private:
+    sl::Camera zed;
+    void work();
+    std::thread runner;
+    int serial;
+    std::mutex mtx;
+    Trigger *p_trigger;
+};
+
+#endif // ! __SENDER_RUNNER_HDR__