FrameTransformSet_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_FRAMETRANSFORMSETNWSYARP_H
#define YARP_DEV_FRAMETRANSFORMSETNWSYARP_H
 
 
#include <yarp/os/Network.h>
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include "FrameTransformStorageSetRPC.h"
#include <mutex>
#include <map>
 
class FrameTransformSet_nws_yarp :
    public yarp::dev::DeviceDriver,
    public FrameTransformStorageSetRPC,
    public yarp::dev::WrapperSingle
{
 
public:
    FrameTransformSet_nws_yarp()=default;
    ~FrameTransformSet_nws_yarp();
 
    //DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //wrapper and interfaces
    bool attach(yarp::dev::PolyDriver* device2attach) override;
    bool detach() override;
 
    //FrameTransformStorageSetRPC functions
    yarp::dev::ReturnValue setTransformsRPC(const std::vector<yarp::math::FrameTransform>& transforms) override;
    yarp::dev::ReturnValue setTransformRPC(const yarp::math::FrameTransform& transform) override;
    yarp::dev::ReturnValue deleteTransformRPC(const std::string& src, const std::string& dst) override;
    yarp::dev::ReturnValue clearAllRPC()override;
 
private:
    mutable std::mutex                      m_pd_mutex;
    mutable std::mutex                      m_trf_mutex;
    std::string                             m_defaultConfigPrefix{"/frameTransformServer"};
    std::string                             m_deviceName{"frameTransformSet_nws_yarp"};
    yarp::dev::PolyDriver*                  m_pDriver{nullptr};
    std::string                             m_thriftPortName;
    yarp::os::Port                          m_thriftPort;
    yarp::dev::IFrameTransformStorageSet*   m_iSetIf   {nullptr};
    yarp::dev::IFrameTransformStorageUtils* m_iUtilsIf {nullptr};
};
 
#endif // YARP_DEV_FRAMETRANSFORMSETNWSYARP_H