OpenraveYarpWorldClientFile.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __OPENRAVE_YARP_WORLD_CLIENT_FILE__
#define __OPENRAVE_YARP_WORLD_CLIENT_FILE__
 
#include <mutex>
#include <vector>
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/RpcClient.h>
 
namespace roboticslab
{
 
class OywCallbackPort : public yarp::os::BufferedPort<yarp::os::Bottle>
{
public:
    OywCallbackPort();
    std::vector<std::string> availableIds;
    std::mutex availableIdsMutex;
    double lastTime;
private:
    void onRead(yarp::os::Bottle& b) override;
};
 
class OpenraveYarpWorldClientFile : public yarp::os::RFModule
{
public:
    OpenraveYarpWorldClientFile();
    bool configure(yarp::os::ResourceFinder &rf) override;
 
private:
    yarp::os::RpcClient rpcClient;
    OywCallbackPort callbackPort;
    std::string openedId;
 
    bool openedInAvailable();
    bool detectedFirst;
 
    double getPeriod() override;
    bool updateModule() override;
    bool close() override;
};
 
} // namespace roboticslab
 
#endif // __OPENRAVE_YARP_WORLD_CLIENT_FILE__