OpenraveYarpPluginLoader.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __OPENRAVE_YARP_PLUGIN_LOADER_HPP__
#define __OPENRAVE_YARP_PLUGIN_LOADER_HPP__
 
#include <yarp/os/Network.h>
#include <yarp/os/RpcServer.h>
 
#include <yarp/dev/PolyDriver.h>
 
#include <openrave/openrave.h>
#include <openrave/plugin.h>
 
#include "OyplPortReader.hpp"
#include "OyplPeriodicWrite.hpp"
 
namespace roboticslab
{
 
class OpenraveYarpPluginLoader : public OpenRAVE::ModuleBase
{
public:
    OpenraveYarpPluginLoader(OpenRAVE::EnvironmentBasePtr penv);
    ~OpenraveYarpPluginLoader() override;
    virtual void Destroy() override;
 
    bool addYarpPluginsLists(yarp::os::Bottle & info);
    int main(const std::string& cmd) override;
 
    bool Open(std::ostream& sout, std::istream & sinput);
    bool GetPenv(std::ostream & sout, std::istream & sinput);
    bool close(const int i);
 
private:
    yarp::os::Network yarp;
    std::vector<yarp::dev::PolyDriver *> yarpPlugins;
    std::vector<yarp::os::Property> yarpPluginsProperties;
 
    OyplPortReader oyplPortReader;
    yarp::os::RpcServer oyplRpcServer;
 
    OyplPeriodicWrite oyplPeriodicWrite;
};
 
class OpenraveYarpPluginLoaderPlugin : public RavePlugin
{
public:
    OpenRAVE::InterfaceBasePtr CreateInterface(OpenRAVE::InterfaceType type,
                                               const std::string & interfacename,
                                               std::istream & sinput,
                                               OpenRAVE::EnvironmentBasePtr penv) override;
 
    const InterfaceMap & GetInterfaces() const override;
    const std::string & GetPluginName() const override;
};
 
} // namespace roboticslab
 
#endif // __OPENRAVE_YARP_PLUGIN_LOADER_HPP__