AnalogWrapper.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_ANALOGWRAPPER_ANALOGWRAPPER_H
#define YARP_DEV_ANALOGWRAPPER_ANALOGWRAPPER_H
 
 //#include <list>
#include <vector>
#include <iostream>
#include <string>
#include <sstream>
 
#include <yarp/os/Network.h>
#include <yarp/os/Port.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/Time.h>
#include <yarp/os/Property.h>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Stamp.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/IAnalogSensor.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <yarp/dev/api.h>
 
 
#define DEFAULT_THREAD_PERIOD 20 //ms
 
class AnalogServerHandler;
class AnalogPortEntry;
 
class AnalogWrapper :
        public yarp::os::PeriodicThread,
        public yarp::dev::DeviceDriver,
        public yarp::dev::IMultipleWrapper
{
public:
    AnalogWrapper();
 
    AnalogWrapper(const AnalogWrapper&) = delete;
    AnalogWrapper(AnalogWrapper&&) = delete;
    AnalogWrapper& operator=(const AnalogWrapper&) = delete;
    AnalogWrapper& operator=(AnalogWrapper&&) = delete;
 
    ~AnalogWrapper() override;
 
    bool open(yarp::os::Searchable &params) override;
    bool close() override;
    yarp::os::Bottle getOptions();
 
    bool attachAll(const yarp::dev::PolyDriverList &p) override;
    bool detachAll() override;
 
    void attach(yarp::dev::IAnalogSensor *s);
    void detach();
 
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
 
private:
    std::string streamingPortName;
    std::string rpcPortName;
    yarp::dev::IAnalogSensor *analogSensor_p{nullptr};   // the analog sensor to read from
    std::vector<AnalogPortEntry> analogPorts;   // the list of output ports
    std::vector<AnalogServerHandler*> handlers; // the list of rpc port handlers
    yarp::os::Stamp lastStateStamp;             // the last reading time stamp
    yarp::sig::Vector lastDataRead;             // the last vector of data read from the attached IAnalogSensor
    int _rate{DEFAULT_THREAD_PERIOD};
    std::string sensorId;
 
    bool initialize_YARP(yarp::os::Searchable &config);
    void setHandlers();
    void removeHandlers();
 
    // Function used when there is only one output port
    bool createPort(const char* name, int rate=20);
    // Function used when one or more output ports are specified
    bool createPorts(const std::vector<AnalogPortEntry>& _analogPorts, int rate=20);
};
 
#endif // YARP_DEV_ANALOGWRAPPER_ANALOGWRAPPER_H