worker.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef WORKER_H
#define WORKER_H
 
#include <QObject>
 
#include <yarp/sig/Image.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/Stamp.h>
#include <yarp/sig/ImageFile.h>
#include "include/utils.h"
#include <yarp/os/Event.h>
#include <yarp/os/Time.h>
#include <QMainWindow>
#include <yarp/dataplayer/YarpDataplayer.h>
 
#include <chrono>
 
#ifdef HAS_OPENCV
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <yarp/cv/Cv.h>
#endif
 
class QUtilities;
//class MainWindow;
 
/**********************************************************/
class QEngine : public QObject, public yarp::yarpDataplayer::DataplayerEngine
{
 
public:
    QUtilities *qutils;
    QMainWindow* gui;
 
    QEngine(QUtilities *qutilities, int subDirCnt, QMainWindow *gui, QObject *parent = NULL);
    ~QEngine();
 
    class QMasterThread : public yarp::yarpDataplayer::DataplayerEngine::dataplayer_thread
    {
        QEngine *qEngine;
        public:
        void setEngine(QEngine &qEngine)
                    { this->qEngine = &qEngine; }
        void        run() override;
    } *thread;
 
    void stepFromCmd();
    void runNormally();
 
};
 
#endif