FrameWriter_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_FRAMEWRITER_NWS_YARP_H
#define YARP_FRAMEWRITER_NWS_YARP_H
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameWriterImage.h>
#include <yarp/dev/WrapperSingle.h>
 
#include "FrameWriter_nws_yarp_ParamsParser.h"
 
class Image_InputPortProcessor : public yarp::os::BufferedPort<yarp::sig::FlexImage>
{
    std::vector<yarp::sig::FlexImage> lastData;
    std::mutex m_mutex;
 
public:
    Image_InputPortProcessor() = default;
 
    using yarp::os::BufferedPort<yarp::sig::FlexImage>::onRead;
    void onRead(yarp::sig::FlexImage& v) override
    {
        std::lock_guard<std::mutex> mylock(m_mutex);
        lastData.push_back(v);
    };
 
    inline void getLast(std::vector<yarp::sig::FlexImage>& img)
    {
        std::lock_guard<std::mutex> mylock(m_mutex);
        img = lastData;
        lastData.clear();
    }
};
 
class FrameWriter_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread,
        public FrameWriter_nws_yarp_ParamsParser
{
private:
    // Ports
    yarp::os::RpcServer rpcPort;
    Image_InputPortProcessor                     m_portProc;
 
    // Interfaces handled
    yarp::dev::IFrameWriterImage* iFrameWriterImage {nullptr};
 
public:
    FrameWriter_nws_yarp();
    FrameWriter_nws_yarp(const FrameWriter_nws_yarp&) = delete;
    FrameWriter_nws_yarp(FrameWriter_nws_yarp&&) = delete;
    FrameWriter_nws_yarp& operator=(const FrameWriter_nws_yarp&) = delete;
    FrameWriter_nws_yarp& operator=(FrameWriter_nws_yarp&&) = delete;
    ~FrameWriter_nws_yarp() override;
 
    // DeviceDriver
    bool close() override;
    bool open(yarp::os::Searchable& config) override;
 
    // IWrapper interface
    bool attach(yarp::dev::PolyDriver* poly) override;
    bool detach() override;
 
    //RateThread
    bool threadInit() override;
    void run() override;
};
 
#endif // YARP_FRAMEWRITER_NWS_YARP_H