StreamingMessagesParser.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_CONTROLBOARDWRAPPER_STREAMINGMESSAGESPARSER_H
#define YARP_DEV_CONTROLBOARDWRAPPER_STREAMINGMESSAGESPARSER_H
 
 
// This file contains helper functions for the ControlBoardWrapper
 
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Network.h>
#include <yarp/os/PortablePair.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Time.h>
#include <yarp/os/Vocab.h>
 
#include <yarp/sig/Vector.h>
 
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardInterfacesImpl.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/PolyDriver.h>
 
#include <string>
#include <vector>
 
#ifdef MSVC
#    pragma warning(disable : 4355)
#endif
 
/*
 * To optimize memory allocation, for group of joints we can have one mem reserver for rpc port
 * and on e for streaming. The size could be numOfSubDevices*maxNumOfjointForSubdevice.
 * (we could also use the actual joint number for each subdevice using a for loop). TODO
 */
 
 
/* the control command message type
* head is a Bottle which contains the specification of the message type
* body is a Vector which move the robot accordingly
*/
typedef yarp::os::PortablePair<yarp::os::Bottle, yarp::sig::Vector> CommandMessage;
 
class StreamingMessagesParser : public yarp::os::TypedReaderCallback<CommandMessage>
{
protected:
    yarp::dev::IPositionControl* stream_IPosCtrl {nullptr};
    yarp::dev::IPositionDirect* stream_IPosDirect {nullptr};
    yarp::dev::IVelocityControl* stream_IVel {nullptr};
    yarp::dev::ITorqueControl* stream_ITorque {nullptr};
    yarp::dev::IPWMControl* stream_IPWM {nullptr};
    yarp::dev::ICurrentControl* stream_ICurrent {nullptr};
    int stream_nJoints {0};
 
public:
    StreamingMessagesParser() = default;
 
    void init(yarp::dev::DeviceDriver* x);
 
    using yarp::os::TypedReaderCallback<CommandMessage>::onRead;
    void onRead(CommandMessage& v) override;
 
    bool initialize();
};
 
#endif // YARP_DEV_CONTROLBOARDWRAPPER_STREAMINGMESSAGESPARSER_H