FrameTransformServer.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_FRAMETRANSFORMSERVER_H
#define YARP_DEV_FRAMETRANSFORMSERVER_H
 
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Network.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/Time.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/IFrameTransform.h>
#include <yarp/dev/IFrameTransformClientControl.h>
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/dev/PolyDriver.h>
 
#include <yarp/math/FrameTransform.h>
#include <yarp/os/PeriodicThread.h>
#include <mutex>
#include <yarp/robotinterface/Param.h>
#include <yarp/robotinterface/XMLReader.h>
 
#include <mutex>
#include "FrameTransformServer_ParamsParser.h"
 
#define DEFAULT_THREAD_PERIOD 20 //ms
const int MAX_PORTS = 5;
 
class FrameTransformServer :
        public yarp::dev::DeviceDriver,
        public yarp::os::PortReader,
        public yarp::os::PeriodicThread,
        public FrameTransformServer_ParamsParser
{
protected:
 
    yarp::os::Port      m_rpc_InterfaceToUser;
    std::string         m_local_name;
    std::mutex          m_rpc_mutex;
 
    //new stuff
    yarp::robotinterface::Robot m_robot;
 
public:
    FrameTransformServer();
    ~FrameTransformServer();
 
public:
    // DeviceDriver methods
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
    //PeriodicThread
    bool     threadInit() override;
    void     threadRelease() override;
    void     run() override;
};
 
#endif // YARP_DEV_FRAMETRANSFORMSERVER_H