FrameTransformSet_nwc_yarp.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_FRAMETRANSFORMSETNWCYARP_H
#define YARP_DEV_FRAMETRANSFORMSETNWCYARP_H
 
 
#include <yarp/os/Network.h>
#include <yarp/dev/IFrameTransformStorage.h>
#include <yarp/sig/Vector.h>
#include <yarp/dev/PolyDriver.h>
#include "FrameTransformStorageSetRPC.h"
#include <mutex>
#include <map>
 
class FrameTransformSet_nwc_yarp :
    public yarp::dev::DeviceDriver,
    public yarp::dev::IFrameTransformStorageSet
{
 
public:
    FrameTransformSet_nwc_yarp()=default;
 
    //DeviceDriver
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //FrameTransformStorageSetRPC functions
    yarp::dev::ReturnValue setTransforms(const std::vector<yarp::math::FrameTransform>& transforms) override;
    yarp::dev::ReturnValue setTransform(const yarp::math::FrameTransform& transform) override;
    yarp::dev::ReturnValue deleteTransform(std::string t1, std::string t2) override;
    yarp::dev::ReturnValue clearAll() override;
 
private:
    mutable std::mutex          m_trf_mutex;
    mutable std::mutex          m_pd_mutex;
    std::string                 m_deviceName{"frameTransformSet_nwc_yarp"};
    std::string                 m_defaultConfigPrefix{"/frameTransformClient"};
    std::string                 m_defaultServerPrefix{"/frameTransformServer/frameTransformSet_nws_yarp"};
    std::string                 m_thriftPortName;
    std::string                 m_thrift_server_rpcPort_Name;
    yarp::os::Port              m_thriftPort;
    FrameTransformStorageSetRPC m_setRPC;
};
 
#endif // YARP_DEV_FRAMETRANSFORMSETNWCYARP_H