Map2D_nws_yarp.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#include "Map2D_nws_yarp.h"
 
#include <yarp/os/Log.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
 
#include <yarp/dev/GenericVocabs.h>
#include <yarp/dev/IMap2D.h>
#include <yarp/dev/INavigation2D.h>
 
#include <yarp/math/Math.h>
 
#include <cstdlib>
#include <fstream>
#include <limits>
#include <mutex>
#include <sstream>
 
using namespace yarp::sig;
using namespace yarp::dev;
using namespace yarp::dev::Nav2D;
using namespace yarp::os;
 
namespace {
YARP_LOG_COMPONENT(MAP2D_NWS_YARP, "yarp.device.map2D_nws_yarp")
}
 
Map2D_nws_yarp::Map2D_nws_yarp()
{
}
 
Map2D_nws_yarp::~Map2D_nws_yarp() = default;
 
bool Map2D_nws_yarp::read(yarp::os::ConnectionReader& connection)
{
    if (!connection.isValid()) { return false;}
    if (!m_RPC) { return false;}
 
    std::lock_guard<std::mutex> lock (m_mutex);
 
    bool b = m_RPC->read(connection);
    if (b)
    {
        return true;
    }
    yCDebug(MAP2D_NWS_YARP) << "read() Command failed";
    return false;
}
 
bool Map2D_nws_yarp::open(yarp::os::Searchable &config)
{
    if (!parseParams(config)) { return false; }
 
    //open rpc port
    if (!m_rpcPort.open(m_name))
    {
        yCError(MAP2D_NWS_YARP, "Failed to open port %s", m_name.c_str());
        return false;
    }
    m_rpcPort.setReader(*this);
 
    yCInfo(MAP2D_NWS_YARP) << "Waiting for device to attach";
 
    return true;
}
 
bool Map2D_nws_yarp::close()
{
    yCTrace(MAP2D_NWS_YARP, "Close");
 
    m_rpcPort.interrupt();
    m_rpcPort.close();
 
    detach();
 
    return true;
}
 
bool Map2D_nws_yarp::detach()
{
    std::lock_guard lock (m_mutex);
 
    m_iMap2D = nullptr;
 
    if (m_RPC)
    {
        delete m_RPC;
        m_RPC = nullptr;
    }
 
    return true;
}
 
bool Map2D_nws_yarp::attach(PolyDriver* driver)
{
    std::lock_guard lock(m_mutex);
 
    if (driver->isValid())
    {
        driver->view(m_iMap2D);
        m_RPC = new IMap2DRPCd(m_iMap2D);
    }
 
    if (nullptr == m_iMap2D)
    {
        yCError(MAP2D_NWS_YARP, "Subdevice passed to attach method is invalid");
        return false;
    }
 
    yCInfo(MAP2D_NWS_YARP, "Attach done");
    return true;
}