FrameGrabber_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_FRAMEGRABBER_NWS_YARP_H
#define YARP_FRAMEGRABBER_NWS_YARP_H
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IFrameGrabberControls.h>
#include <yarp/dev/IFrameGrabberControlsDC1394.h>
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IRgbVisualParams.h>
#include <yarp/dev/WrapperSingle.h>
 
#include <yarp/proto/framegrabber/FrameGrabberControlsDC1394_Responder.h>
#include <yarp/proto/framegrabber/FrameGrabberControls_Responder.h>
#include <yarp/proto/framegrabber/FrameGrabberOf_Responder.h>
#include <yarp/proto/framegrabber/RgbVisualParams_Responder.h>
 
 
class FrameGrabber_nws_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public yarp::os::PeriodicThread,
        public yarp::dev::DeviceResponder
{
private:
    // Ports
    yarp::os::RpcServer rpcPort;
    yarp::os::BufferedPort<yarp::sig::FlexImage> pImg;
 
    // Subdevice
    yarp::dev::PolyDriver* subdevice {nullptr};
    bool isSubdeviceOwned {false};
 
    // Interfaces handled
    yarp::dev::IRgbVisualParams* iRgbVisualParams {nullptr};
    yarp::dev::IFrameGrabberImage* iFrameGrabberImage {nullptr};
    yarp::dev::IFrameGrabberImageRaw* iFrameGrabberImageRaw {nullptr};
    yarp::dev::IFrameGrabberControls* iFrameGrabberControls {nullptr};
    yarp::dev::IFrameGrabberControlsDC1394* iFrameGrabberControlsDC1394 {nullptr};
    yarp::dev::IPreciselyTimed* iPreciselyTimed {nullptr};
 
    // Responders
    yarp::proto::framegrabber::FrameGrabberOf_Responder<yarp::sig::ImageOf<yarp::sig::PixelRgb>> frameGrabberImage_Responder;
    yarp::proto::framegrabber::FrameGrabberOf_Responder<yarp::sig::ImageOf<yarp::sig::PixelMono>, VOCAB_FRAMEGRABBER_IMAGERAW> frameGrabberImageRaw_Responder;
    yarp::proto::framegrabber::RgbVisualParams_Responder rgbVisualParams_Responder;
    yarp::proto::framegrabber::FrameGrabberControls_Responder frameGrabberControls_Responder;
    yarp::proto::framegrabber::FrameGrabberControlsDC1394_Responder frameGrabberControlsDC1394_Responder;
 
    // Images
    yarp::sig::ImageOf<yarp::sig::PixelRgb>* img {nullptr};
    yarp::sig::ImageOf<yarp::sig::PixelMono>* img_Raw {nullptr};
 
    // Internal state
    bool active {false};
    yarp::os::Stamp stamp;
 
    // Options
    static constexpr double DEFAULT_THREAD_PERIOD = 0.03; // seconds
    double period {DEFAULT_THREAD_PERIOD};
    bool noDrop {true}; // FIXME DRDANZ
 
    enum Capabilities
    {
        COLOR,
        RAW,
    };
    Capabilities cap {COLOR};
 
public:
    FrameGrabber_nws_yarp();
    FrameGrabber_nws_yarp(const FrameGrabber_nws_yarp&) = delete;
    FrameGrabber_nws_yarp(FrameGrabber_nws_yarp&&) = delete;
    FrameGrabber_nws_yarp& operator=(const FrameGrabber_nws_yarp&) = delete;
    FrameGrabber_nws_yarp& operator=(FrameGrabber_nws_yarp&&) = delete;
    ~FrameGrabber_nws_yarp() override;
 
    // DeviceDriver
    bool close() override;
    bool open(yarp::os::Searchable& config) override;
 
    // IWrapper interface
    bool attach(yarp::dev::PolyDriver* poly) override;
    bool detach() override;
 
    //RateThread
    bool threadInit() override;
    void run() override;
 
    // DeviceResponder
    bool respond(const yarp::os::Bottle& command, yarp::os::Bottle& reply) override;
};
 
#endif // YARP_FRAMEGRABBER_NWS_YARP_H