FrameTransformGet_nws_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_NWS_YARP_H
#define YARP_DEV_FRAMETRANSFORMGET_NWS_YARP_H
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/IFrameTransformStorage.h>
 
#include <yarp/os/PeriodicThread.h>
#include <FrameTransformStorageGetRPC.h>
 
// TODO FIXME STE need to check subdevice option
class FrameTransformGet_nws_yarp :
        public yarp::dev::DeviceDriver,
        public FrameTransformStorageGetRPC,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread
{
 
public:
    FrameTransformGet_nws_yarp();
    FrameTransformGet_nws_yarp(const FrameTransformGet_nws_yarp&) = delete;
    FrameTransformGet_nws_yarp(FrameTransformGet_nws_yarp&&) = delete;
    FrameTransformGet_nws_yarp& operator=(const FrameTransformGet_nws_yarp&) = delete;
    FrameTransformGet_nws_yarp& operator=(FrameTransformGet_nws_yarp&&) = delete;
    ~FrameTransformGet_nws_yarp();
 
    // yarp::os::PeriodicThread
    void run() override;
 
    // yarp::dev::DeviceDriver
    bool  open(yarp::os::Searchable &params) override;
    bool  close() override;
 
    // yarp::dev::IWrapper
    bool  attach(yarp::dev::PolyDriver* deviceToAttach) override;
    bool  detach() override;
 
    // FrameTransformStorageGetRPC
    return_getAllTransforms getTransformsRPC() override;
 
private:
    // double m_period{const_default_thread_period};
    bool            m_streaming_port_enabled = true;
    int             m_verbose{4};
    yarp::os::Port  m_streaming_port;
    std::string     m_streaming_port_name;
    std::string     m_defaultConfigPrefix{"/frameTransformServer"};
    std::string     m_deviceName{"frameTransformGet_nws_yarp"};
    std::mutex      m_mutex;
 
    // for requesting the transforms to FrameTransformStorageGetMultiplexer
    yarp::dev::IFrameTransformStorageGet* m_iFrameTransformStorageGet = nullptr;
 
    // for the RPC with the NWC
    yarp::os::Port  m_thrift_rpcPort;
    std::string     m_thrift_rpcPort_Name;
};
 
#endif   // YARP_DEV_FRAMETRANSFORMGET_NWS_YARP_H