StreamingDeviceController.hpp

#ifndef __STREAMING_DEVICE_CONTROLLER_HPP__
#define __STREAMING_DEVICE_CONTROLLER_HPP__
 
#include <vector>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/TypedReaderCallback.h>
 
#include <yarp/dev/PolyDriver.h>
 
#include "StreamingDevice.hpp"
#include "CentroidTransform.hpp"
 
#include "ICartesianControl.h"
 
namespace roboticslab
{
 
class StreamingDeviceController : public yarp::os::RFModule,
                                  public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
public:
    ~StreamingDeviceController() override
    { close(); }
 
    bool configure(yarp::os::ResourceFinder & rf) override;
    bool updateModule() override;
    bool interruptModule() override;
    bool close() override;
    double getPeriod() override;
    void onRead(yarp::os::Bottle & bot) override;
 
private:
    bool update(double timestamp);
 
    StreamingDevice * streamingDevice;
 
    yarp::dev::PolyDriver cartesianControlClientDevice;
    roboticslab::ICartesianControl * iCartesianControl;
 
    yarp::os::BufferedPort<yarp::os::Bottle> proximityPort;
    int thresholdAlertHigh;
    int thresholdAlertLow;
    bool disableSensorsLowLevel;
 
    yarp::os::BufferedPort<yarp::os::Bottle> centroidPort;
    CentroidTransform centroidTransform;
 
    yarp::os::BufferedPort<yarp::os::Bottle> syncPort;
 
    double period;
    double scaling;
    bool isStopped;
};
 
} // namespace roboticslab
 
#endif // __STREAMING_DEVICE_CONTROLLER_HPP__