AudioRecorder_nwc_yarp.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_AUDIORECORDER_NWC_YARP_H
#define YARP_DEV_AUDIORECORDER_NWC_YARP_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IAudioGrabberSound.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/PolyDriver.h>
 
#include "IAudioGrabberMsgs.h"
#include <mutex>
#include "AudioRecorder_nwc_yarp_ParamsParser.h"
 
class AudioRecorder_InputPortProcessor : public yarp::os::BufferedPort<yarp::sig::Sound>
{
    yarp::sig::Sound lastSound;
    yarp::os::Stamp lastStamp;
    std::mutex mutex;
 
public:
    AudioRecorder_InputPortProcessor();
 
    using yarp::os::BufferedPort<yarp::sig::Sound>::onRead;
    void onRead(yarp::sig::Sound& v) override;
 
    inline bool getLast(yarp::sig::Sound& data, yarp::os::Stamp& stmp);
};
 
class AudioRecorder_nwc_yarp :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IAudioGrabberSound,
        public AudioRecorder_nwc_yarp_ParamsParser
{
protected:
    AudioRecorder_InputPortProcessor  m_inputPort;
    yarp::os::Port      m_rpcPort;
    IAudioGrabberMsgs   m_audiograb_RPC;
    std::mutex          m_mutex;
 
public:
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    /* IAudioGrabberSound */
    virtual yarp::dev::ReturnValue getSound(yarp::sig::Sound& sound, size_t min_number_of_samples, size_t max_number_of_samples, double max_samples_timeout_s) override;
    virtual yarp::dev::ReturnValue startRecording() override;
    virtual yarp::dev::ReturnValue stopRecording() override;
    virtual yarp::dev::ReturnValue isRecording(bool& recording_enabled) override;
    virtual yarp::dev::ReturnValue getRecordingAudioBufferMaxSize(yarp::sig::AudioBufferSize& size) override;
    virtual yarp::dev::ReturnValue getRecordingAudioBufferCurrentSize(yarp::sig::AudioBufferSize& size) override;
    virtual yarp::dev::ReturnValue resetRecordingAudioBuffer() override;
    virtual yarp::dev::ReturnValue setSWGain(double gain) override;
    virtual yarp::dev::ReturnValue setHWGain(double gain) override;
 
};
 
#endif // YARP_DEV_AUDIORECORDER_NWC_YARP_H