YarpCropCallback.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __YARP_CROP_CALLBACK_HPP__
#define __YARP_CROP_CALLBACK_HPP__
 
#include <mutex>
#include <utility> // std::pair
#include <vector>
 
#include <yarp/conf/version.h>
 
#include <yarp/os/Bottle.h>
#include <yarp/os/TypedReaderCallback.h>
 
#if YARP_VERSION_COMPARE(<, 4, 0, 0)
#include <yarp/sig/Vector.h>
#endif
 
namespace roboticslab
{
 
class YarpCropCallback : public yarp::os::TypedReaderCallback<yarp::os::Bottle>
{
public:
    using VertexType = std::pair<int, int>;
 
    void onRead(yarp::os::Bottle & bot, const yarp::os::TypedReader<yarp::os::Bottle> & reader) override;
#if YARP_VERSION_COMPARE(>=, 4, 0, 0)
    std::vector<VertexType> getVertices() const;
#else
    yarp::sig::VectorOf<VertexType> getVertices() const;
#endif
 
private:
#if YARP_VERSION_COMPARE(>=, 4, 0, 0)
    std::vector<VertexType> cropVertices;
#else
    yarp::sig::VectorOf<VertexType> cropVertices;
#endif
    mutable std::mutex cropMutex;
    bool isCropping {false};
};
 
} // namespace roboticslab
 
#endif // __YARP_CROP_CALLBACK_HPP__