ImageManager.hpp

// Authors: see AUTHORS.md at project root.
// CopyPolicy: released under the terms of the LGPLv2.1, see LICENSE at project root.
// URL: https://github.com/asrob-uc3m/robotDevastation
 
#ifndef __RD_IMAGE_MANAGER_HPP__
#define __RD_IMAGE_MANAGER_HPP__
 
#include <vector>
#include <map>
#include <string>
 
#include <yarp/sig/Image.h>
 
#include "ImageEventListener.hpp"
 
namespace rd{
 
typedef yarp::sig::ImageOf<yarp::sig::PixelRgb> Image;
 
class ImageEventListener; //-- Required to avoid recurrent loops in dependencies
 
class ImageManager
{
    public:
        //------------------------------ Construction & destruction ---------------------------------------------------//
        static ImageManager *getImageManager();
 
        static ImageManager * getImageManager(const std::string & id);
 
        static bool destroyImageManager();
 
        virtual ~ImageManager();
 
 
        //------------------------------ Manager Startup & Halting ----------------------------------------------------//
        virtual bool start() = 0;
 
        virtual bool stop() = 0;
 
        virtual bool isStopped() const = 0;
 
        virtual bool setEnabled(bool enabled) = 0;
 
        //------------------------------- Read image ------------------------------------------------------------------//
        virtual Image getImage() const = 0;
 
 
        //------------------------------ Configuration & Listeners ----------------------------------------------------//
        bool addImageEventListener( ImageEventListener * listener );
        bool removeImageEventListeners();
 
        virtual bool configure(const std::string & parameter, const std::string & value);
 
 
    protected:
        static bool Register( ImageManager * manager, const std::string & id);
 
        std::vector<ImageEventListener *> listeners;
 
    private:
        static ImageManager * imageManagerInstance;
 
        static std::string currentId;
 
        static std::map< std::string, ImageManager * > imageManagerRegistry;
 
 
};
 
}
 
#endif //-- __RD_IMAGE_MANAGER_HPP__