MobileBaseVelocityControl_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_YARP
#define YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_YARP
 
#include <yarp/os/Network.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/INavigation2D.h>
#include <yarp/dev/WrapperSingle.h>
#include "MobileBaseVelocityControlRPC.h"
#include <yarp/dev/MobileBaseVelocity.h>
 
#include <mutex>
#include <string>
 
class VelocityInputPortProcessor : public yarp::os::BufferedPort<yarp::dev::MobileBaseVelocity>
{
public:
    double m_timeout = 0.1;
    yarp::dev::Nav2D::INavigation2DVelocityActions* m_iVel = nullptr;
 
public:
    using yarp::os::BufferedPort<yarp::dev::MobileBaseVelocity>::onRead;
    void onRead(yarp::dev::MobileBaseVelocity& v) override;
};
 
class MobileBaseVelocityControl_nws_yarp:
        public yarp::dev::DeviceDriver,
        public yarp::dev::WrapperSingle,
        public MobileBaseVelocityControlRPC
{
protected:
    std::mutex                    m_mutex;
    yarp::os::Port                m_rpc_port_navigation_server;
    VelocityInputPortProcessor    m_StreamingInput;
    std::string                   m_local_name;
 
    yarp::dev::PolyDriver                           m_subdev;
    yarp::dev::Nav2D::INavigation2DVelocityActions* m_iNavVel = nullptr;
 
public:
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
    bool detach() override;
    bool attach(yarp::dev::PolyDriver* driver) override;
 
public:
    //* MobileBaseVelocityControlRPC methods*/
    bool applyVelocityCommandRPC(const double x_vel, const double y_vel, const double theta_vel, const double timeout) override;
    return_getLastVelocityCommand getLastVelocityCommandRPC() override;
};
 
#endif // YARP_DEV_MOBILEBASEVELOCITYCONTROL_NWS_YARP