RgbdSensor_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_RGBDSENSOR_NWS_YARP_H
#define YARP_DEV_RGBDSENSOR_NWS_YARP_H
 
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
 
#include <yarp/os/Port.h>
#include <yarp/os/Time.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Network.h>
#include <yarp/os/Property.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/BufferedPort.h>
 
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/WrapperSingle.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IRGBDSensor.h>
 
#include <yarp/proto/framegrabber/FrameGrabberControls_Responder.h>
#include <yarp/proto/framegrabber/RgbVisualParams_Responder.h>
#include <yarp/proto/framegrabber/DepthVisualParams_Responder.h>
 
namespace RGBDImpl {
 
#define DEFAULT_THREAD_PERIOD   0.03 // s
 
// Following three definitions would fit better in a header file
// shared between client and server ... where to place it?
constexpr yarp::conf::vocab32_t VOCAB_PROTOCOL_VERSION = yarp::os::createVocab32('p', 'r', 'o', 't');
#define RGBD_WRAPPER_PROTOCOL_VERSION_MAJOR 1
#define RGBD_WRAPPER_PROTOCOL_VERSION_MINOR 0
 
 
 
class RGBDSensorParser :
        public yarp::dev::DeviceResponder
{
private:
    yarp::dev::IRGBDSensor *iRGBDSensor;
    yarp::proto::framegrabber::RgbVisualParams_Responder rgbParser;
    yarp::proto::framegrabber::DepthVisualParams_Responder depthParser;
    yarp::proto::framegrabber::FrameGrabberControls_Responder fgCtrlParsers;
 
public:
    RGBDSensorParser();
    ~RGBDSensorParser() override = default;
    bool configure(yarp::dev::IRGBDSensor *interface);
    bool configure(yarp::dev::IRgbVisualParams *rgbInterface, yarp::dev::IDepthVisualParams *depthInterface);
    bool configure(yarp::dev::IFrameGrabberControls *_fgCtrl);
    bool respond(const yarp::os::Bottle& cmd, yarp::os::Bottle& response) override;
};
 
} // RGBDImpl
 
class RgbdSensor_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread
{
private:
    typedef yarp::sig::ImageOf<yarp::sig::PixelFloat>    DepthImage;
    typedef yarp::os::BufferedPort<DepthImage>           DepthPortType;
    typedef yarp::os::BufferedPort<yarp::sig::FlexImage> ImagePortType;
    typedef unsigned int                                 UInt;
 
    enum SensorType{COLOR_SENSOR, DEPTH_SENSOR};
 
    template <class T>
    struct param
    {
        param(T& inVar, std::string inName)
        {
            var          = &inVar;
            parname      = inName;
        }
        T*              var;
        std::string     parname;
    };
 
    std::string colorFrame_StreamingPort_Name;
    std::string depthFrame_StreamingPort_Name;
    ImagePortType         colorFrame_StreamingPort;
    DepthPortType         depthFrame_StreamingPort;
 
    // One RPC port should be enough for the wrapper in all cases
    yarp::os::Port        rpcPort;
    std::string           rpcPort_Name;
    std::string           nodeName;
    yarp::sig::FlexImage  colorImage;
    DepthImage            depthImage;
 
    // It should be possible to attach this  guy to more than one port, try to see what
    // will happen when receiving 2 calls at the same time (receive one calls while serving
    // another one, it will result in concurrent thread most probably) and buffering issues.
//     sensor::depth::RGBDSensor_RPCMgsParser  RPC_parser;
 
    //Helper class for RPCs
    RGBDImpl::RGBDSensorParser     rgbdParser;
 
    // Image data specs
    // int hDim, vDim;
    double                         period;
    std::string                    sensorId;
    yarp::dev::IRGBDSensor*        sensor_p;
    yarp::dev::IFrameGrabberControls* fgCtrl;
    yarp::dev::IRGBDSensor::RGBDSensor_status sensorStatus;
    int                            verbose;
    bool                           initialize_YARP(yarp::os::Searchable& config);
 
    // Open the wrapper only, the attach method needs to be called before using it
    // Typical usage: yarprobotinterface
    bool                           openDeferredAttach(yarp::os::Searchable& prop);
 
    // If a subdevice parameter is given, the wrapper will open it and attach to immediately.
    // Typical usage: simulator or command line
    bool                           isSubdeviceOwned;
    yarp::dev::PolyDriver*         subDeviceOwned;
    bool                           openAndAttachSubDevice(yarp::os::Searchable& prop);
 
    // Synch
    yarp::os::Stamp                colorStamp;
    yarp::os::Stamp                depthStamp;
    yarp::os::Property             m_conf;
 
    bool writeData();
    bool setCamInfo(const std::string&                     frame_id,
                    const UInt&                            seq,
                    const SensorType&                      sensorType);
 
public:
    RgbdSensor_nws_yarp();
    RgbdSensor_nws_yarp(const RgbdSensor_nws_yarp&) = delete;
    RgbdSensor_nws_yarp(RgbdSensor_nws_yarp&&) = delete;
    RgbdSensor_nws_yarp& operator=(const RgbdSensor_nws_yarp&) = delete;
    RgbdSensor_nws_yarp& operator=(RgbdSensor_nws_yarp&&) = delete;
    ~RgbdSensor_nws_yarp() override;
 
    bool        open(yarp::os::Searchable &params) override;
    bool        fromConfig(yarp::os::Searchable &params);
    bool        close() override;
 
    void        setId(const std::string &id);
    std::string getId();
 
    bool        attach(yarp::dev::PolyDriver *poly) override;
    bool        detach() override;
 
    bool        threadInit() override;
    void        threadRelease() override;
    void        run() override;
};
 
#endif   // YARP_DEV_RGBDSENSOR_NWS_YARP_H