YarpLocalImageManager.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_YARP_LOCAL_IMAGE_MANAGER_HPP__
#define __RD_YARP_LOCAL_IMAGE_MANAGER_HPP__
 
#include <string>
 
#include <yarp/os/PortReaderBuffer.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Semaphore.h>
#include <yarp/dev/PolyDriver.h>
 
#include "ImageManager.hpp"
 
namespace rd{
 
class YarpLocalImageManager : public ImageManager,
                           public yarp::os::TypedReaderCallback<Image>
{
    public:
        virtual bool start();
        virtual bool stop();
        virtual bool isStopped() const;
        virtual bool setEnabled(bool enabled);
        virtual bool configure(const std::string & parameter, const std::string & value);
        virtual Image getImage() const;
 
        static bool RegisterManager();
 
        virtual ~YarpLocalImageManager();
 
        static const std::string id;
 
    protected:
        void onRead(Image& image);
 
    private:
        YarpLocalImageManager();
 
        YarpLocalImageManager(const YarpLocalImageManager &);
        YarpLocalImageManager & operator=(const YarpLocalImageManager &);
 
        static YarpLocalImageManager * uniqueInstance;
 
        mutable yarp::os::Semaphore semaphore;
 
        Image image;
 
        yarp::os::BufferedPort<Image> imagePort;
 
        std::string local_port_name;
 
        std::string remote_port_name;
 
        bool stopped;
        bool enabled;
 
        yarp::dev::PolyDriver cameraDevice;
 
        int camera_id;
};
 
 
 
}
 
#endif //-- __RD_YARP_LOCAL_IMAGE_MANAGER_HPP__