FrameTransformGet_nwc_yarp.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_FRAMETRANSFORMGET_NWC_YARP_H
#define YARP_DEV_FRAMETRANSFORMGET_NWC_YARP_H
 
#include <yarp/os/PeriodicThread.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameTransformStorage.h>
 
 
#include <FrameTransformStorageGetRPC.h>
 
class FrameTransformGet_nwc_yarp:
    public yarp::dev::DeviceDriver,
    public yarp::dev::IFrameTransformStorageGet
{
    class DataReader : public yarp::os::BufferedPort<return_getAllTransforms>
    {
        std::mutex m_mutex;
        return_getAllTransforms m_Transforms;
 
        public:
        DataReader() = default;
 
        using               yarp::os::BufferedPort<return_getAllTransforms>::onRead;
        void        onRead(return_getAllTransforms& v) override;
        bool                getData(return_getAllTransforms& data);
    };
 
public:
    FrameTransformGet_nwc_yarp() = default;
    FrameTransformGet_nwc_yarp(const FrameTransformGet_nwc_yarp&) = delete;
    FrameTransformGet_nwc_yarp(FrameTransformGet_nwc_yarp&&) = delete;
    FrameTransformGet_nwc_yarp& operator=(const FrameTransformGet_nwc_yarp&) = delete;
    FrameTransformGet_nwc_yarp& operator=(FrameTransformGet_nwc_yarp&&) = delete;
    ~FrameTransformGet_nwc_yarp() override = default;
 
    // yarp::dev::DeviceDriver
    bool  open(yarp::os::Searchable &params) override;
    bool  close() override;
 
    // yarp::dev::IFrameTransformStorageGet
    yarp::dev::ReturnValue getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
 
private:
    int            m_verbose{4};
    std::string    m_deviceName{"frameTransformGet_nwc_yarp"};
    std::string    m_defaultConfigPrefix{"/frameTransformClient"};
    std::string    m_defaultServerPrefix{"/frameTransformServer/frameTransformGet_nws_yarp"};
 
    //streaming port
    bool           m_streaming_port_enabled = false;
    std::string    m_streaming_input_port_name;
    std::string    m_streaming_output_port_name;
    DataReader*    m_dataReader =nullptr;
 
    // for the RPC with the NWS
    yarp::os::Port                      m_thrift_rpcPort;
    std::string                         m_thrift_rpcPort_Name;
    std::string                         m_thrift_server_rpcPort_Name;
    mutable FrameTransformStorageGetRPC m_frameTransformStorageGetRPC;
 
};
 
 
#endif // YARP_DEV_FRAMETRANSFORMGET_NWC_YARP_H