ServerFrameGrabber.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_DEV_SERVERFRAMEGRABBER_H
#define YARP_DEV_SERVERFRAMEGRABBER_H
 
#include <cstdio>
 
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/AudioGrabberInterfaces.h>
#include <yarp/dev/AudioVisualInterfaces.h>
#include <yarp/dev/ServiceInterfaces.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Time.h>
#include <yarp/os/Network.h>
#include <yarp/os/Vocab.h>
#include <yarp/os/Bottle.h>
 
// #define YARP_INCLUDING_DEPRECATED_HEADER_YARP_OS_RATETHREAD_H_ON_PURPOSE
#define YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
#include <yarp/os/RateThread.h>
#undef YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
// #undef YARP_INCLUDING_DEPRECATED_HEADER_YARP_OS_RATETHREAD_H_ON_PURPOSE
 
#define YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_DATASOURCE_H_ON_PURPOSE
#include <yarp/dev/DataSource.h>
#undef YARP_INCLUDING_DEPRECATED_HEADER_YARP_DEV_DATASOURCE_H_ON_PURPOSE
 
#include <yarp/proto/framegrabber/RgbVisualParams_Responder.h>
#include <yarp/proto/framegrabber/FrameGrabberControls_Responder.h>
 
YARP_WARNING_PUSH
YARP_DISABLE_DEPRECATED_WARNING
 
class ServerFrameGrabber :
        public yarp::dev::DeprecatedDeviceDriver,
        public yarp::dev::DeviceResponder,
        public yarp::dev::IFrameGrabberImage,
        public yarp::dev::IAudioVisualGrabber,
        public yarp::dev::IService,
        public yarp::dev::DataSource<yarp::sig::ImageOf<yarp::sig::PixelRgb>>,
        public yarp::dev::DataSource<yarp::sig::ImageOf<yarp::sig::PixelMono>>,
        public yarp::dev::DataSource<yarp::dev::ImageRgbSound>,
        public yarp::dev::DataSource2<yarp::sig::ImageOf<yarp::sig::PixelRgb>,yarp::sig::Sound>
{
private:
    yarp::proto::framegrabber::RgbVisualParams_Responder rgbParser;
    yarp::dev::IRgbVisualParams* rgbVis_p{nullptr};
    yarp::os::Port p;
    yarp::os::Port *p2{nullptr};
YARP_WARNING_PUSH
YARP_DISABLE_DEPRECATED_WARNING
    yarp::os::RateThreadWrapper thread;
YARP_WARNING_POP
    yarp::dev::PolyDriver poly;
    yarp::dev::IFrameGrabberImage *fgImage{nullptr};
    yarp::dev::IFrameGrabberImageRaw *fgImageRaw{nullptr};
    yarp::dev::IAudioGrabberSound *fgSound{nullptr};
    yarp::dev::IAudioVisualGrabber *fgAv{nullptr};
    yarp::dev::IFrameGrabberControls  *fgCtrl{nullptr};
    yarp::dev::IPreciselyTimed *fgTimed{nullptr};
    bool spoke{false}; // location of this variable tickles bug on Solaris/gcc3.2
    bool canDrop{false};
    bool addStamp{false};
    bool active{false};
    bool singleThreaded{false};
 
    yarp::proto::framegrabber::FrameGrabberControls_Responder ifgCtrl_Responder;
 
public:
    ServerFrameGrabber() = default;
    ServerFrameGrabber(const ServerFrameGrabber&) = delete;
    ServerFrameGrabber(ServerFrameGrabber&&) = delete;
    ServerFrameGrabber& operator=(const ServerFrameGrabber&) = delete;
    ServerFrameGrabber& operator=(ServerFrameGrabber&&) = delete;
    ~ServerFrameGrabber() override = default;
 
    bool close() override;
    bool open(yarp::os::Searchable& config) override;
 
    //bool read(ConnectionReader& connection) override;
 
    virtual bool respond(const yarp::os::Bottle& command,
                         yarp::os::Bottle& reply) override;
 
    bool getDatum(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image) override;
 
    bool getDatum(yarp::sig::ImageOf<yarp::sig::PixelMono>& image) override;
 
    bool getDatum(yarp::dev::ImageRgbSound& imageSound) override;
 
    virtual bool getDatum(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
                          yarp::sig::Sound& sound) override;
 
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image) override;
 
    virtual bool getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image);
 
    virtual bool getAudioVisual(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
                                yarp::sig::Sound& sound) override;
 
    int height() const override;
 
    int width() const override;
 
    bool startService() override;
 
    bool stopService() override;
 
    bool updateService() override;
};
 
YARP_WARNING_POP
 
#endif // YARP_DEV_SERVERFRAMEGRABBER_H