UltraPythonDriver.h

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/*
 * Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 */
 
#pragma once
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/FrameGrabberInterfaces.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/Stamp.h>
 
#include "UltraPythonCameraHelper.h"
 
YARP_DECLARE_LOG_COMPONENT(ULTRAPYTHON)
 
class UltraPythonDriver :   public yarp::dev::DeviceDriver, 
                            public yarp::dev::IPreciselyTimed, 
                            public yarp::dev::IFrameGrabberControls, 
                            public yarp::dev::IFrameGrabberImage
                            //public yarp::dev::IRgbVisualParams 
{
    UltraPythonDriver(const UltraPythonDriver &) = delete;
    void operator=(const UltraPythonDriver &) = delete;
 
   public:
    UltraPythonDriver();
    ~UltraPythonDriver() override;
 
    // Implements DeviceDriver
    bool open(yarp::os::Searchable &config) override;
    bool close() override;
 
    // Implements IFrameGrabberImage basic interface.
    int height() const override;
    int width() const override;
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> &image) override;
 
    // Implements the IPreciselyTimed interface.
    yarp::os::Stamp getLastInputStamp() override;
 
    // Implementation of IFrameGrabberControls interface
    bool getCameraDescription(CameraDescriptor *camera) override;
    bool hasFeature(int feature, bool *hasFeature) override;
    bool setFeature(int feature, double value) override;
    bool getFeature(int feature, double *value) override;
    bool setFeature(int feature, double value1, double value2) override;
    bool getFeature(int feature, double *value1, double *value2) override;
    bool hasOnOff(int feature, bool *HasOnOff) override;
    bool setActive(int feature, bool onoff) override;
    bool getActive(int feature, bool *isActive) override;
    bool hasAuto(int feature, bool *hasAuto) override;
    bool hasManual(int feature, bool *hasManual) override;
    bool hasOnePush(int feature, bool *hasOnePush) override;
    bool setMode(int feature, FeatureMode mode) override;
    bool getMode(int feature, FeatureMode *mode) override;
    bool setOnePush(int feature) override;
 
   private:
    yarp::os::Semaphore mutex;
    bool configured_{false};
 
    bool fromConfig(yarp::os::Searchable &config);
 
    UltraPythonCameraHelper pythonCameraHelper_;
    void pythonPreprocess(const void *pythonbuffer, size_t size);
 
    int remapControlYARPtoXilinx(int feature) const;
};