FrameGrabber_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_FRAMEGRABBER_NWS_YARP_H
#define YARP_FRAMEGRABBER_NWS_YARP_H
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameGrabberControls.h>
#include <yarp/dev/IFrameGrabberControlsDC1394.h>
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IRgbVisualParams.h>
#include <yarp/dev/WrapperSingle.h>
 
#include "FrameGrabber_nws_yarp_ParamsParser.h"
 
#include "FrameGrabberMsgsImpl.h"
 
class FrameGrabber_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread,
        public yarp::os::PortReader,
        public FrameGrabber_nws_yarp_ParamsParser
{
private:
    // Ports
    yarp::os::RpcServer rpcPort;
    yarp::os::BufferedPort<yarp::sig::FlexImage> pImg;
 
    // Interfaces handled
    std::mutex m_mutex;
    yarp::dev::IRgbVisualParams* m_iRgbVisualParams {nullptr};
    yarp::dev::IFrameGrabberImage* m_iFrameGrabberImage {nullptr};
    yarp::dev::IFrameGrabberImageRaw* m_iFrameGrabberImageRaw {nullptr};
    yarp::dev::IFrameGrabberControls* m_iFrameGrabberControls {nullptr};
    yarp::dev::IFrameGrabberControlsDC1394* m_iFrameGrabberControlsDC1394 {nullptr};
    yarp::dev::IPreciselyTimed* m_iPreciselyTimed {nullptr};
 
    std::unique_ptr<FrameGrabberMsgsImpl> m_RPC_FrameGrabber;
 
    // Images
    yarp::sig::ImageOf<yarp::sig::PixelRgb>* img {nullptr};
    yarp::sig::ImageOf<yarp::sig::PixelMono>* img_Raw {nullptr};
 
    // Internal state
    yarp::os::Stamp m_stamp;
 
    enum Capabilities
    {
        COLOR,
        RAW,
    };
    Capabilities m_cap {COLOR};
 
public:
    FrameGrabber_nws_yarp();
    FrameGrabber_nws_yarp(const FrameGrabber_nws_yarp&) = delete;
    FrameGrabber_nws_yarp(FrameGrabber_nws_yarp&&) = delete;
    FrameGrabber_nws_yarp& operator=(const FrameGrabber_nws_yarp&) = delete;
    FrameGrabber_nws_yarp& operator=(FrameGrabber_nws_yarp&&) = delete;
    ~FrameGrabber_nws_yarp() override;
 
    // DeviceDriver
    bool close() override;
    bool open(yarp::os::Searchable& config) override;
 
    // IWrapper interface
    bool attach(yarp::dev::PolyDriver* poly) override;
    bool detach() override;
 
    //RateThread
    bool threadInit() override;
    void run() override;
 
    // PortReader
    virtual bool read(yarp::os::ConnectionReader& connection) override;
};
 
#endif // YARP_FRAMEGRABBER_NWS_YARP_H