FrameTransformStorage.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_FRAMETRANSFORMSTORAGE_H
#define YARP_DEV_FRAMETRANSFORMSTORAGE_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/PeriodicThread.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/dev/FrameTransformContainer.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/ReturnValue.h>
#include <mutex>
#include <map>
#include <mutex>
 
#include "FrameTransformStorage_ParamsParser.h"
 
class FrameTransformStorage :
    public yarp::dev::DeviceDriver,
    public yarp::dev::IFrameTransformStorageSet,
    public yarp::dev::IFrameTransformStorageGet,
    public yarp::dev::IFrameTransformStorageUtils,
    public yarp::os::PeriodicThread,
    public yarp::dev::WrapperSingle,
    public FrameTransformStorage_ParamsParser
{
protected:
    yarp::dev::FrameTransformContainer m_tf_container;
 
public:
    FrameTransformStorage(double tperiod=0.010) : PeriodicThread (tperiod) {}
    ~FrameTransformStorage() { close(); }
 
    //DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //IFrameTransformStorageSet interface
    yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
    yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) override;
 
    //IFrameTransformStorageGet interface
    yarp::dev::ReturnValue getTransforms(std::vector<yarp::math::FrameTransform>& transforms) const override;
 
    //IFrameTransformStorageUtils interface
    yarp::dev::ReturnValue deleteTransform(std::string t1, std::string t2) override;
    yarp::dev::ReturnValue size(size_t& size) const override;
    yarp::dev::ReturnValue clearAll() override;
    yarp::dev::ReturnValue getInternalContainer(yarp::dev::FrameTransformContainer*&  container) override;
    yarp::dev::ReturnValue startStorageThread() override;
    yarp::dev::ReturnValue stopStorageThread() override;
 
    //wrapper and interfaces
    bool attach(yarp::dev::PolyDriver* driver) override;
    bool detach() override;
private:
    mutable std::mutex  m_pd_mutex;
    yarp::dev::PolyDriver* pDriver = nullptr;
    IFrameTransformStorageGet* iGetIf = nullptr;
 
    //periodicThread
    void     run() override;
};
 
#endif // YARP_DEV_FRAMETRANSFORMSTORAGE_H