OywPortReader.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __OYW_PORT_READER_HPP__
#define __OYW_PORT_READER_HPP__
 
#include <yarp/os/Bottle.h>
#include <yarp/os/PortReader.h>
 
#include <openrave/openrave.h>
 
namespace roboticslab
{
 
class OpenraveYarpWorld;
 
class OywPortReader : public yarp::os::PortReader
{
public:
    OywPortReader() : boxCount(0), sboxCount (0), cylCount(0), scylCount(0), sphCount(0), ssphCount(0), meshCount(0), fileCount(0) {}
    void setOpenraveYarpWorldPtr(OpenraveYarpWorld *value) { openraveYarpWorldPtr = value; }
 
private:
    OpenraveYarpWorld* openraveYarpWorldPtr;
 
    // box/sbox/cyl/scyl/sph/ssph
    std::vector<OpenRAVE::KinBodyPtr> objKinBodyPtrs;
    int boxCount, sboxCount, cylCount, scylCount, sphCount, ssphCount, meshCount, fileCount;
 
    int robotDraw;
    double drawRadius, drawR, drawG, drawB;
 
    // Implement the actual responder (callback on RPC).
    bool read(yarp::os::ConnectionReader& in) override;
 
    // Internally used members
    bool checkIfString(yarp::os::Bottle& request, int index, yarp::os::Bottle& response);
    bool tryToSetActiveManipulator(const std::string& robot, const std::string& manipulator, yarp::os::Bottle& response);
};
 
} // namespace roboticslab
 
#endif // __OYW_PORT_READER_HPP__