FrameTransformSetMultiplexer.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/dev/WrapperMultiple.h>
#include <yarp/dev/PolyDriver.h>
 
#ifndef YARP_DEV_FRAMETRANSFORMSETMULTIPLEXER_H
#define YARP_DEV_FRAMETRANSFORMSETMULTIPLEXER_H
 
class FrameTransformSetMultiplexer:
    public yarp::dev::DeviceDriver,
    public yarp::dev::IFrameTransformStorageSet,
    public yarp::dev::WrapperMultiple
{
public:
    FrameTransformSetMultiplexer() = default;
    FrameTransformSetMultiplexer(const FrameTransformSetMultiplexer&) = delete;
    FrameTransformSetMultiplexer(FrameTransformSetMultiplexer&&) = delete;
    FrameTransformSetMultiplexer& operator=(const FrameTransformSetMultiplexer&) = delete;
    FrameTransformSetMultiplexer& operator=(FrameTransformSetMultiplexer&&) = delete;
 
    // yarp::dev::DeviceDriver
    bool open (yarp::os::Searchable &config) override;
    bool close () override;
 
    // yarp::dev::IMultipleWrapper
    bool attachAll(const yarp::dev::PolyDriverList& devices2attach) override;
    bool detachAll() override;
 
    // yarp::dev::IFrameTransformStorageSet
    yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) override;
    yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
    yarp::dev::ReturnValue deleteTransform(std::string t1, std::string t2) override;
    yarp::dev::ReturnValue clearAll() override;
 
    void startThreads();
    void stopThreads();
 
private:
    int    m_verbose{4};
    std::vector<yarp::dev::IFrameTransformStorageSet*> m_iFrameTransformStorageSetList;
    std::vector<yarp::dev::IFrameTransformStorageUtils*> m_iFrameTransformStorageUtilsList;
    std::vector<std::vector<yarp::math::FrameTransform>> m_transformVector;
    std::vector<std::mutex> m_mutexSettingFromAttachedDevices;
};
 
 
#endif // YARP_DEV_FRAMETRANSFORMSETMULTIPLEXER_H