AudioRecorder_nws_yarp.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_AUDIORECORDER_NWS_YARP_H
#define YARP_DEV_AUDIORECORDER_NWS_YARP_H
 
#include <cstdio>
 
 
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/AudioGrabberInterfaces.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Log.h>
 
#include <list>
 
#include "AudioRecorderServerImpl.h"
#include "AudioRecorder_nws_yarp_ParamsParser.h"
 
class AudioRecorder_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PortReader,
        public AudioRecorder_nws_yarp_ParamsParser
{
private:
    class AudioRecorderStatusThread;
    class AudioRecorderDataThread;
 
    yarp::dev::PolyDriver          m_driver;
    yarp::dev::IAudioGrabberSound* m_mic = nullptr; //The microphone device
    yarp::os::Property             m_config;
    yarp::os::Port                 m_rpcPort;
    yarp::os::Port                 m_streamingPort;
    yarp::os::Port                 m_statusPort;
    yarp::os::Stamp                m_stamp;
    std::unique_ptr<AudioRecorderStatusThread> m_statusThread;
    std::unique_ptr<AudioRecorderDataThread> m_dataThread;
    const bool                     m_debug_enabled = false;
    std::list <yarp::sig::Sound>   m_listofsnds;
 
private:
    double                         m_debug_last_time=0;
 
private:
    //thrift
    IAudioGrabberRPCd              m_RPC;
 
public:
    AudioRecorder_nws_yarp();
    AudioRecorder_nws_yarp(const AudioRecorder_nws_yarp&) = delete;
    AudioRecorder_nws_yarp(AudioRecorder_nws_yarp&&) = delete;
    AudioRecorder_nws_yarp& operator=(const AudioRecorder_nws_yarp&) = delete;
    AudioRecorder_nws_yarp& operator=(AudioRecorder_nws_yarp&&) = delete;
 
    ~AudioRecorder_nws_yarp() override;
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    bool attach(yarp::dev::PolyDriver* driver) override;
    bool detach() override;
 
    bool read(yarp::os::ConnectionReader& connection) override;
    friend class AudioRecorderStatusThread;
    friend class AudioRecorderDataThread;
};
 
//----------------------------------------------------------------
class AudioRecorder_nws_yarp::AudioRecorderStatusThread : public yarp::os::PeriodicThread
{
public:
    AudioRecorder_nws_yarp* m_ARW = nullptr;
 
public:
    AudioRecorderStatusThread(AudioRecorder_nws_yarp* mi) : PeriodicThread(0.010), m_ARW(mi) {}
 
    bool threadInit() override { return true; }
    void threadRelease() override { return; }
    void run() override;
};
 
//----------------------------------------------------------------
class AudioRecorder_nws_yarp::AudioRecorderDataThread : public yarp::os::PeriodicThread
{
public:
    AudioRecorder_nws_yarp* m_ARW = nullptr;
 
public:
    AudioRecorderDataThread(AudioRecorder_nws_yarp* mi) : PeriodicThread(0.010), m_ARW(mi) {}
 
    bool threadInit() override { return true; }
    void threadRelease() override { return; }
    void run() override;
 
    bool sendSound(yarp::sig::Sound& s);
};
 
#endif // YARP_DEV_AUDIORECORDER_NWS_YARP_H