FrameTransformSet_nws_yarp.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "FrameTransformSet_nws_yarp.h"
 
#include <yarp/os/Log.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
 
using namespace yarp::dev;
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::math;
 
namespace {
YARP_LOG_COMPONENT(FRAMETRANSFORMSETNWSYARP, "yarp.device.frameTransformSet_nws_yarp")
}
 
//------------------------------------------------------------------------------------------------------------------------------
 
bool FrameTransformSet_nws_yarp::open(yarp::os::Searchable& config)
{
    if (!yarp::os::NetworkBase::checkNetwork()) {
        yCError(FRAMETRANSFORMSETNWSYARP,"Error! YARP Network is not initialized");
        return false;
    }
 
    std::string prefix;
    //checking default config param
    bool default_config = true;
    if(config.check("default-config")) {
        default_config = config.find("default-config").asString() == "true";
    }
    // configuration
    if (config.check("nws_thrift_port_prefix")){
        prefix = config.find("nws_thrift_port_prefix").asString() + (default_config ? m_defaultConfigPrefix : "");
        if(prefix[0] != '/') {prefix = "/"+prefix;}
        m_thriftPortName = prefix + "/" + m_deviceName + "/thrift";
    }
    else {
        prefix =  default_config ? m_defaultConfigPrefix : "";
        m_thriftPortName = prefix + "/" + m_deviceName + "/thrift";
        yCWarning(FRAMETRANSFORMSETNWSYARP) << "no nws_thrift_port_prefix param found. The resulting port name will be: " << m_thriftPortName;
    }
 
    if(!m_thriftPort.open(m_thriftPortName))
    {
        yCError(FRAMETRANSFORMSETNWSYARP,"Could not open \"%s\" port",m_thriftPortName.c_str());
        return false;
    }
    if(!this->yarp().attachAsServer(m_thriftPort))
    {
        yCError(FRAMETRANSFORMSETNWSYARP,"Error! Cannot attach the port as a server");
        return false;
    }
 
    return true;
}
 
FrameTransformSet_nws_yarp::~FrameTransformSet_nws_yarp()
{
    close();
}
 
bool FrameTransformSet_nws_yarp::close()
{
    if(m_thriftPort.isOpen())
    {
        m_thriftPort.close();
    }
    return true;
}
 
bool FrameTransformSet_nws_yarp::detach()
{
    std::lock_guard <std::mutex> lg(m_pd_mutex);
    m_iSetIf = nullptr;
    return true;
}
 
ReturnValue FrameTransformSet_nws_yarp::setTransformRPC(const yarp::math::FrameTransform& transform)
{
    std::lock_guard <std::mutex> lg(m_pd_mutex);
 
    auto ret = m_iSetIf->setTransform(transform);
    if(!ret)
    {
        yCError(FRAMETRANSFORMSETNWSYARP, "Unable to set transform");
        return ret;
    }
 
    return ret;
}
 
ReturnValue FrameTransformSet_nws_yarp::setTransformsRPC(const std::vector<yarp::math::FrameTransform>& transforms)
{
    std::lock_guard <std::mutex> lg(m_pd_mutex);
 
    auto ret = m_iSetIf->setTransforms(transforms);
    if(!ret)
    {
        yCError(FRAMETRANSFORMSETNWSYARP, "Unable to set transformations");
        return ret;
    }
 
    return ret;
}
 
ReturnValue FrameTransformSet_nws_yarp::deleteTransformRPC(const std::string& src, const std::string& dst)
{
    std::lock_guard <std::mutex> lg(m_pd_mutex);
 
    auto ret = m_iSetIf->deleteTransform(src, dst);
    if (!ret)
    {
        yCError(FRAMETRANSFORMSETNWSYARP, "Unable to delete transforms");
        return ret;
    }
 
    return ret;
}
 
ReturnValue FrameTransformSet_nws_yarp::clearAllRPC()
{
    std::lock_guard <std::mutex> lg(m_pd_mutex);
 
    auto ret = m_iSetIf->clearAll();
    if (!ret)
    {
        yCError(FRAMETRANSFORMSETNWSYARP, "Unable to clear all transforms");
        return ret;
    }
 
    return ret;
}
 
 
bool FrameTransformSet_nws_yarp::attach(yarp::dev::PolyDriver* device2attach)
{
    std::lock_guard <std::mutex> lg(m_pd_mutex);
    m_pDriver = device2attach;
 
    if(!m_pDriver->isValid() ||
      (!m_pDriver->view(m_iSetIf)   || m_iSetIf == nullptr) ||
      (!m_pDriver->view(m_iUtilsIf) || m_iUtilsIf == nullptr))
    {
        yCError(FRAMETRANSFORMSETNWSYARP, "Attach failed");
        return false;
    }
    return true;
}