OpenraveYarpWorld.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __OPENRAVE_YARP_WORLD_HPP__
#define __OPENRAVE_YARP_WORLD_HPP__
 
#include <yarp/os/Network.h>
#include <yarp/os/RpcServer.h>
 
#include <openrave/openrave.h>
#include <openrave/plugin.h>
 
#include "OywPortReader.hpp"
#include "OywPeriodicWrite.hpp"
 
namespace roboticslab
{
 
class OpenraveYarpWorld : public OpenRAVE::ModuleBase
{
public:
    OpenraveYarpWorld(OpenRAVE::EnvironmentBasePtr penv);
 
    ~OpenraveYarpWorld() override;
    virtual void Destroy() override;
 
    bool addWorldInfo(yarp::os::Bottle & info);
    int main(const std::string & cmd) override;
 
    bool Open(std::ostream & sout, std::istream & sinput);
 
private:
    yarp::os::Network yarp;
 
    OywPortReader oywPortReader;
    yarp::os::RpcServer oywRpcServer;
 
    OywPeriodicWrite oywPeriodicWrite;
};
 
class OpenraveYarpWorldPlugin : 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_WORLD_HPP__