YARP
Yet Another Robot Platform
FrameGrabberOf_Forwarder-inl.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_FRAMEGRABBER_PROTOCOL_FRAMEGRABBEROF_FORWARDER_INL_H
7#define YARP_FRAMEGRABBER_PROTOCOL_FRAMEGRABBEROF_FORWARDER_INL_H
8
9#include <yarp/os/LogComponent.h>
10#include <yarp/os/LogStream.h>
11
12namespace {
13YARP_LOG_COMPONENT(FRAMEGRABBEROF_FORWARDER, "yarp.proto.framegrabber.FrameGrabberOf_Forwarder")
14}
15
16namespace yarp::proto::framegrabber {
17
18template <typename ImageType,
19 yarp::conf::vocab32_t IfVocab,
20 yarp::conf::vocab32_t ImgVocab>
21FrameGrabberOf_Forwarder<ImageType, IfVocab, ImgVocab>::FrameGrabberOf_Forwarder(yarp::os::Port& port) :
22 m_port(port)
23{
24};
25
26template <typename ImageType,
27 yarp::conf::vocab32_t IfVocab,
28 yarp::conf::vocab32_t ImgVocab>
29int FrameGrabberOf_Forwarder<ImageType, IfVocab, ImgVocab>::height() const
30{
31 yarp::os::Bottle cmd;
32 yarp::os::Bottle response;
33 cmd.addVocab32(IfVocab);
34 cmd.addVocab32(VOCAB_GET);
35 cmd.addVocab32(VOCAB_HEIGHT);
36
37 if (m_port.getOutputCount() == 0) {
38 yCWarningThrottle(FRAMEGRABBEROF_FORWARDER, 5.0, "Remote port is not connected");
39 return false;
40 }
41
42 if (!m_port.write(cmd, response)) {
43 yCWarning(FRAMEGRABBEROF_FORWARDER, "Could not execute RPC command");
44 return 0;
45 }
46
47 // reply should be [fgi|fgir] [h] [is] <height>
48 if (!response.get(0).isVocab32() || (response.get(0).asVocab32() != IfVocab) ||
49 !response.get(1).isVocab32() || (response.get(1).asVocab32() != VOCAB_HEIGHT) ||
50 !response.get(2).isVocab32() || (response.get(2).asVocab32() != VOCAB_IS) ||
51 !response.get(3).isInt32()) {
52 yCWarning(FRAMEGRABBEROF_FORWARDER, "Invalid reply received");
53 return 0;
54 }
55
56 return response.get(3).asInt32();
57}
58
59template <typename ImageType,
60 yarp::conf::vocab32_t IfVocab,
61 yarp::conf::vocab32_t ImgVocab>
62int FrameGrabberOf_Forwarder<ImageType, IfVocab, ImgVocab>::width() const
63{
64 yarp::os::Bottle cmd;
65 yarp::os::Bottle response;
66 cmd.addVocab32(IfVocab);
67 cmd.addVocab32(VOCAB_GET);
68 cmd.addVocab32(VOCAB_WIDTH);
69
70 if (m_port.getOutputCount() == 0) {
71 yCWarningThrottle(FRAMEGRABBEROF_FORWARDER, 5.0, "Remote port is not connected");
72 return false;
73 }
74
75 if (!m_port.write(cmd, response)) {
76 yCWarning(FRAMEGRABBEROF_FORWARDER, "Could not execute RPC command");
77 return 0;
78 }
79
80 // reply should be [fgi|fgir] [w] [is] <width>
81 if (!response.get(0).isVocab32() || (response.get(0).asVocab32() != IfVocab) ||
82 !response.get(1).isVocab32() || (response.get(1).asVocab32() != VOCAB_WIDTH) ||
83 !response.get(2).isVocab32() || (response.get(2).asVocab32() != VOCAB_IS) ||
84 !response.get(3).isInt32()) {
85 yCWarning(FRAMEGRABBEROF_FORWARDER, "Invalid reply received");
86 return 0;
87 }
88
89 return response.get(3).asInt32();
90}
91
92template <typename ImageType,
93 yarp::conf::vocab32_t IfVocab,
94 yarp::conf::vocab32_t ImgVocab>
95bool FrameGrabberOf_Forwarder<ImageType, IfVocab, ImgVocab>::getImage(ImageType& image)
96{
97 image.zero();
98
99 yarp::os::Bottle cmd;
100 yarp::os::Bottle response;
101 cmd.addVocab32(IfVocab);
102 cmd.addVocab32(VOCAB_GET);
103 cmd.addVocab32(ImgVocab);
104
105 if (m_port.getOutputCount() == 0) {
106 yCWarningThrottle(FRAMEGRABBEROF_FORWARDER, 5.0, "Remote port is not connected");
107 return false;
108 }
109
110 if (!m_port.write(cmd, response)) {
111 yCWarning(FRAMEGRABBEROF_FORWARDER, "Could not execute RPC command");
112 return false;
113 }
114
115 // reply should be [fgi|fgir] [imgr|?] [is] (<image>)
116 if (!response.get(0).isVocab32() || (response.get(0).asVocab32() != IfVocab) ||
117 !response.get(1).isVocab32() || (response.get(1).asVocab32() != ImgVocab) ||
118 !response.get(2).isVocab32() || (response.get(2).asVocab32() != VOCAB_IS) ||
119 !response.get(3).isList()) {
120 yCWarning(FRAMEGRABBEROF_FORWARDER, "Invalid reply received");
121 return false;
122 }
123
124 auto& serializedImage = response.get(3);
125 // FIXME Is there a way to avoid this extra copy?
126 if (!yarp::os::Portable::copyPortable(serializedImage, image)) {
127 yCWarning(FRAMEGRABBEROF_FORWARDER, "Image is not serialized properly");
128 return false;
129 }
130
131 return true;
132}
133
134
135template <typename ImageType,
136 yarp::conf::vocab32_t IfVocab,
137 yarp::conf::vocab32_t ImgVocab>
138bool FrameGrabberOf_Forwarder<ImageType, IfVocab, ImgVocab>::getImageCrop(cropType_id_t cropType,
139 yarp::sig::VectorOf<std::pair<int, int>> vertices,
140 ImageType& image)
141{
142 image.zero();
143
144 yarp::os::Bottle cmd;
145 yarp::os::Bottle response;
146 cmd.addVocab32(VOCAB_FRAMEGRABBER_IMAGE);
147 cmd.addVocab32(VOCAB_GET);
148 cmd.addVocab32(VOCAB_CROP);
149 cmd.addInt32(cropType);
150 yarp::os::Bottle & list = cmd.addList();
151 for (size_t i=0; i<vertices.size(); i++)
152 {
153 list.addInt32(vertices[i].first);
154 list.addInt32(vertices[i].second);
155 }
156
157 if (m_port.getOutputCount() == 0) {
158 yCWarningThrottle(FRAMEGRABBEROF_FORWARDER, 5.0, "Remote port is not connected");
159 return false;
160 }
161
162 if (!m_port.write(cmd, response)) {
163 yCWarning(FRAMEGRABBEROF_FORWARDER, "Could not execute RPC command");
164 return false;
165 }
166
167 // reply should be [fgi|fgir] [crop] [is] (<image>)
168 if (!response.get(0).isVocab32() || (response.get(0).asVocab32() != IfVocab) ||
169 !response.get(1).isVocab32() || (response.get(1).asVocab32() != VOCAB_CROP) ||
170 !response.get(2).isVocab32() || (response.get(2).asVocab32() != VOCAB_IS) ||
171 !response.get(3).isList()) {
172 yCWarning(FRAMEGRABBEROF_FORWARDER, "Cropped image is not serialized properly");
173 return false;
174 }
175
176 auto& serializedImage = response.get(3);
177 // FIXME Is there a way to avoid this extra copy?
178 if (!yarp::os::Portable::copyPortable(serializedImage, image)) {
179 yCWarning(FRAMEGRABBEROF_FORWARDER, "...");
180 return false;
181 }
182
183 return true;
184}
185
186
187} // namespace yarp::proto::framegrabber
188
189#endif // YARP_FRAMEGRABBER_PROTOCOL_FRAMEGRABBEROF_FORWARDER_INL_H
VOCAB_FRAMEGRABBER_IMAGE
constexpr yarp::conf::vocab32_t VOCAB_FRAMEGRABBER_IMAGE
Definition: CameraVocabs.h:16
VOCAB_CROP
constexpr yarp::conf::vocab32_t VOCAB_CROP
Definition: CameraVocabs.h:38
VOCAB_IS
constexpr yarp::conf::vocab32_t VOCAB_IS
Definition: GenericVocabs.h:14
VOCAB_WIDTH
constexpr yarp::conf::vocab32_t VOCAB_WIDTH
Definition: GenericVocabs.h:41
VOCAB_GET
constexpr yarp::conf::vocab32_t VOCAB_GET
Definition: GenericVocabs.h:13
VOCAB_HEIGHT
constexpr yarp::conf::vocab32_t VOCAB_HEIGHT
Definition: GenericVocabs.h:42
cropType_id_t
cropType_id_t
Definition: IFrameGrabberImage.h:14
ImageType
yarp::sig::ImageOf< yarp::sig::PixelRgb > ImageType
Definition: ImageType.h:24
yarp::os::Bottle
A simple collection of objects that can be described and transmitted in a portable way.
Definition: Bottle.h:64
yarp::os::Bottle::addVocab32
void addVocab32(yarp::conf::vocab32_t x)
Places a vocabulary item in the bottle, at the end of the list.
Definition: Bottle.cpp:164
yarp::os::Bottle::addList
Bottle & addList()
Places an empty nested list in the bottle, at the end of the list.
Definition: Bottle.cpp:182
yarp::os::Bottle::get
Value & get(size_type index) const
Reads a Value v from a certain part of the list.
Definition: Bottle.cpp:246
yarp::os::Bottle::addInt32
void addInt32(std::int32_t x)
Places a 32-bit integer in the bottle, at the end of the list.
Definition: Bottle.cpp:140
yarp::os::Port
A mini-server for network communication.
Definition: Port.h:46
yarp::os::Portable::copyPortable
static bool copyPortable(const PortWriter &writer, PortReader &reader)
Copy one portable to another, via writing and reading.
Definition: Portable.cpp:16
yarp::os::Value::asVocab32
virtual yarp::conf::vocab32_t asVocab32() const
Get vocabulary identifier as an integer.
Definition: Value.cpp:228
yarp::os::Value::asInt32
virtual std::int32_t asInt32() const
Get 32-bit integer value.
Definition: Value.cpp:204
yarp::os::Value::isList
virtual bool isList() const
Checks if value is a list.
Definition: Value.cpp:162
yarp::os::Value::isInt32
virtual bool isInt32() const
Checks if value is a 32-bit integer.
Definition: Value.cpp:132
yarp::os::Value::isVocab32
virtual bool isVocab32() const
Checks if value is a vocabulary identifier.
Definition: Value.cpp:174
yarp::proto::framegrabber::FrameGrabberOf_Forwarder::FrameGrabberOf_Forwarder
FrameGrabberOf_Forwarder(yarp::os::Port &port)
Definition: FrameGrabberOf_Forwarder-inl.h:21
yarp::proto::framegrabber::FrameGrabberOf_Forwarder::height
int height() const override
Return the height of each frame.
Definition: FrameGrabberOf_Forwarder-inl.h:29
yarp::proto::framegrabber::FrameGrabberOf_Forwarder::width
int width() const override
Return the width of each frame.
Definition: FrameGrabberOf_Forwarder-inl.h:62
yarp::proto::framegrabber::FrameGrabberOf_Forwarder::getImage
bool getImage(ImageType &image) override
Get an image from the frame grabber.
Definition: FrameGrabberOf_Forwarder-inl.h:95
yarp::proto::framegrabber::FrameGrabberOf_Forwarder::getImageCrop
bool getImageCrop(cropType_id_t cropType, yarp::sig::VectorOf< std::pair< int, int > > vertices, ImageType &image) override
Get a crop of the image from the frame grabber.
Definition: FrameGrabberOf_Forwarder-inl.h:138
yarp::sig::Image::zero
void zero()
Set all pixels to 0.
Definition: Image.cpp:446
yarp::sig::VectorOf
Provides:
Definition: Vector.h:117
LogComponent.h
yCWarning
#define yCWarning(component,...)
Definition: LogComponent.h:192
YARP_LOG_COMPONENT
#define YARP_LOG_COMPONENT(name,...)
Definition: LogComponent.h:76
yCWarningThrottle
#define yCWarningThrottle(component, period,...)
Definition: LogComponent.h:195
yarp::conf::vocab32_t
std::int32_t vocab32_t
Definition: numeric.h:78