StreamReceiver.cpp

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "StreamReceiver.h"
 
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
 
 
namespace {
YARP_LOG_COMPONENT(FRAMEGRABBER_NWC_YARP, "yarp.devices.frameGrabber_nwc_yarp")
} // namespace
 
using namespace yarp::dev;
using namespace yarp::sig;
 
int StreamReceiver::lastHeight() const
{
    return m_lastHeight;
}
 
int StreamReceiver::lastWidth() const
{
    return m_lastWidth;
}
 
yarp::os::Stamp StreamReceiver::lastStamp() const
{
    return m_lastStamp;
}
 
template <typename ImageType>
bool StreamReceiver::lastImage(ImageType& image)
{
    std::lock_guard<std::mutex> lock(m_mutex);
 
    bool ret {false};
    if (!port.isOpen()) {
        image.zero();
        ret = false;
    } else if (reader.check()) {
        ret = image.copy(*(reader.read(true)));
        reader.getEnvelope(m_lastStamp);
        m_lastHeight = image.height();
        m_lastWidth = image.width();
    } else {
        ret = image.copy(*(reader.lastRead()));
    }
 
    return ret;
}
 
bool StreamReceiver::open(const std::string& local,
               const std::string& remote,
               const std::string& carrier)
{
    std::lock_guard<std::mutex> lock(m_mutex);
 
    if (!port.open(local)) {
        yCError(FRAMEGRABBER_NWC_YARP) << "Failed to open " << local << "port.";
    }
 
    if (!remote.empty()) {
        yCInfo(FRAMEGRABBER_NWC_YARP) << "Connecting" << port.getName() << "to" << remote;
        if (!yarp::os::NetworkBase::connect(remote, port.getName(), carrier)) {
            yCError(FRAMEGRABBER_NWC_YARP) << "Failed to connect" << local << "to" << remote;
            return false;
        }
    } else {
        yCInfo(FRAMEGRABBER_NWC_YARP) << "No remote specified. Waiting for connection";
    }
 
    reader.attach(port);
 
    return true;
}
 
bool StreamReceiver::close()
{
    std::lock_guard<std::mutex> lock(m_mutex);
 
    m_lastStamp = {0, 0.0};
    m_lastHeight = 0;
    m_lastWidth = 0;
 
    if (!port.isOpen()) {
        return true;
    }
    port.interrupt();
    port.close();
 
    return true;
}
 
// BEGIN Template instances
template bool StreamReceiver::lastImage<ImageOf<PixelRgb>>(ImageOf<PixelRgb>& image);
template bool StreamReceiver::lastImage<ImageOf<PixelMono>>(ImageOf<PixelMono>& image);
template bool StreamReceiver::lastImage<ImageOf<PixelFloat>>(ImageOf<PixelFloat>& image);
template bool StreamReceiver::lastImage<FlexImage>(FlexImage& image);
// END Template instances