grabberDual: A Network grabber for camera devices. More...

#include <ServerFrameGrabberDual/ServerFrameGrabberDual.h>

Inheritance diagram for ServerGrabber:

Public Member Functions
	ServerGrabber ()

	ServerGrabber (const ServerGrabber &)=delete

	ServerGrabber (ServerGrabber &&)=delete

ServerGrabber &	operator= (const ServerGrabber &)=delete

ServerGrabber &	operator= (ServerGrabber &&)=delete

	~ServerGrabber () override

bool	close () override
	Close the DeviceDriver. More...

bool	open (yarp::os::Searchable &config) override
	Configure with a set of options. More...

bool	respond (const yarp::os::Bottle &command, yarp::os::Bottle &reply, bool left, bool both)

bool	attachAll (const yarp::dev::PolyDriverList &device2attach) override
	Attach to a list of objects. More...

bool	detachAll () override
	Detach the object (you must have first called attach). More...

bool	attach (yarp::dev::PolyDriver *poly) override
	Attach to another object. More...

bool	detach () override
	Detach the object (you must have first called attach). More...

bool	threadInit () override
	Initialization method. More...

void	threadRelease () override
	Release method. More...

void	run () override
	Loop function. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::dev::IWrapper
virtual	~IWrapper ()
	Destructor. More...

Public Member Functions inherited from yarp::dev::IMultipleWrapper
virtual	~IMultipleWrapper ()
	Destructor. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Protected Member Functions
bool	fromConfig (yarp::os::Searchable &config)

bool	initialize_YARP (yarp::os::Searchable &params)

void	stopThread ()

void	setupFlexImage (const yarp::sig::Image &img, yarp::sig::FlexImage &flex_i)

void	shallowCopyImages (const yarp::sig::FlexImage &src, yarp::sig::FlexImage &dest)

void	cleanUp ()

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Detailed Description

grabberDual: A Network grabber for camera devices.

In base of the configuration this device can handle one or two cameras.
In case of two cameras, the RGB or RAW streaming will be produced on two separated ports or on a single port with the two images stitched horizontally.
Moreover it has two rpc ports that have the same name of the streaming ports + "/rpc" suffix.
The inheritance from yarp::dev::IWrapper and yarp::dev::IMultipleWrapper allows to be instantiated also through yarprobotinterface. See their documentation for more details about each interface.

This device is paired with its client called RemoteFrameGrabber to receive the data streams and perform remote operations.

Description of input parameters

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description	Notes
period	-	int	ms	30	No	refresh period(in ms) of the broadcasted values through yarp ports	default 30ms
name	-	string	-	/grabber	No	Prefix name of the ports opened by the ServerGrabber	Required suffix like '/rpc' will be added by the device
capabilities	-	string	-	COLOR	No	two capabilities supported, COLOR and RAW respectively for rgb and raw streaming	-
twoCameras	-	bool	-	-	required only for instantiating this device with the yarprobotinterface	if true ServerGrabber will open and handle two devices, if false only one	=true it makes required left_config and right_config parameters, =false subdevice parameter becomes required
split	-	bool	-	false	No	set 'true' to split the streaming of the input camera/s on two different ports	Useful in case of dual cameras, the image will be split vertically in the 2 output ports 'left' and 'right'
subdevice	-	string	-	-	used for opening and handling a single device, alternative to 'attach' action	name of the subdevice to use as a data source	when used, parameters for the subdevice must be provided as well
left_config	-	string	-	-	used for opening and handling two devices, required if right_config present and/or twoCameras set to true	name of the ini file containing the configuration of one of two subdevices to use as a data source	when used, parameters for the subdevice must be provided in the file specified. This parameter is not admitted if the device is configured for working with one device.
right_config	-	string	-	-	used for opening and handling two devices, required if left_config present and/or twoCameras set to true	name of the ini file containing the configuration of one of two subdevices to use as a data source	when used, parameters for the subdevice must be provided in the file specified. This parameter is not admitted if the device is configured for working with one device.
context	-	string	-	-	No	name of context where the yarp::os::ResourceFinder will search the ini files specified in left_config and right_config	-

Some example of configuration files:

Example of configuration file using .ini format, for handling two cameras.

device grabberDual
capabilities RAW
split false
period 30
twoCameras true
left_config  left_config.ini    #name of the config file containing the parameters for the camera device
right_config right_config.ini   #name of the config file containing the parameters for the camera device

Example of configuration file using .ini format, for handling one camera.

device grabberDual
capabilities COLOR        # not necessary to specify 'COLOR', this is the default value if capabilities is omitted
period 30
subdevice fakeFrameGrabber

Example of configuration file using .xml format, for handling two cameras.

<device name="serverGrabber" type="grabberDual">
 <param name="period"> 30 </param>
 <param name="name">   /grabber  </param>
 <param name="capabilities">  RGB        </param>
 <param name="split"> false       </param>
 <param name="twoCameras"> true </param>
 
 <action phase="startup" level="5" type="attach">
   <paramlist name="networks">
     <elem name="LEFT">  testCamera_left </elem>
     <elem name="RIGHT">  testCamera_right </elem>
   </paramlist>
 </action>
 <action phase="shutdown" level="5" type="detach" />
</device>

Example of configuration file using .xml format, for handling one camera.

<device name="serverGrabber" type="grabberDual">
 <param name="period"> 30 </param>
 <param name="name">   /grabber  </param>
 <param name="capabilities">  RGB        </param>
 <param name="split"> false       </param>
 <param name="twoCameras"> true </param>
 
 <action phase="startup" level="5" type="attach">
   <paramlist name="networks">
     <elem name="subdevice">  usbCamera_left_single </elem>
   </paramlist>
 </action>
 <action phase="shutdown" level="5" type="detach" />
</device>

Definition at line 181 of file ServerFrameGrabberDual.h.

Constructor & Destructor Documentation

◆ ServerGrabber() [1/3]

ServerGrabber::ServerGrabber ( )

Definition at line 191 of file ServerFrameGrabberDual.cpp.

◆ ServerGrabber() [2/3]

ServerGrabber::ServerGrabber ( const ServerGrabber & )

delete

◆ ServerGrabber() [3/3]

ServerGrabber::ServerGrabber ( ServerGrabber && )

delete

◆ ~ServerGrabber()

ServerGrabber::~ServerGrabber ( )

override

Definition at line 196 of file ServerFrameGrabberDual.cpp.

Member Function Documentation

◆ attach()

bool ServerGrabber::attach ( yarp::dev::PolyDriver * poly )

overridevirtual

Attach to another object.

Parameters

poly	the polydriver that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 943 of file ServerFrameGrabberDual.cpp.

◆ attachAll()

bool ServerGrabber::attachAll ( const yarp::dev::PolyDriverList & p )

overridevirtual

Attach to a list of objects.

Parameters

p	the polydriver list that you want to attach to.

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 739 of file ServerFrameGrabberDual.cpp.

◆ cleanUp()

void ServerGrabber::cleanUp ( )

protected

Definition at line 1327 of file ServerFrameGrabberDual.cpp.

◆ close()

bool ServerGrabber::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 202 of file ServerFrameGrabberDual.cpp.

◆ detach()

bool ServerGrabber::detach ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IWrapper.

Definition at line 964 of file ServerFrameGrabberDual.cpp.

◆ detachAll()

bool ServerGrabber::detachAll ( )

overridevirtual

Detach the object (you must have first called attach).

Returns: true/false on success failure.

Implements yarp::dev::IMultipleWrapper.

Definition at line 909 of file ServerFrameGrabberDual.cpp.

◆ fromConfig()

bool ServerGrabber::fromConfig ( yarp::os::Searchable & config )

protected

Definition at line 325 of file ServerFrameGrabberDual.cpp.

◆ initialize_YARP()

bool ServerGrabber::initialize_YARP ( yarp::os::Searchable & params )

protected

Definition at line 426 of file ServerFrameGrabberDual.cpp.

◆ open()

bool ServerGrabber::open ( yarp::os::Searchable & config )

overridevirtual

Configure with a set of options.

Parameters

config The options to use

Returns: true iff the object could be configured.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 260 of file ServerFrameGrabberDual.cpp.

◆ operator=() [1/2]

ServerGrabber& ServerGrabber::operator= ( const ServerGrabber & )

delete

◆ operator=() [2/2]

ServerGrabber& ServerGrabber::operator= ( ServerGrabber && )

delete

◆ respond()

bool ServerGrabber::respond	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply,
		bool	left,
		bool	both = `false`
	)

Definition at line 472 of file ServerFrameGrabberDual.cpp.

◆ run()

void ServerGrabber::run ( )

overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 1133 of file ServerFrameGrabberDual.cpp.

◆ setupFlexImage()

void ServerGrabber::setupFlexImage	(	const yarp::sig::Image &	img,
		yarp::sig::FlexImage &	flex_i
	)

protected

Definition at line 935 of file ServerFrameGrabberDual.cpp.

◆ shallowCopyImages()

void ServerGrabber::shallowCopyImages	(	const yarp::sig::FlexImage &	src,
		yarp::sig::FlexImage &	dest
	)

protected

Definition at line 1321 of file ServerFrameGrabberDual.cpp.

◆ stopThread()

void ServerGrabber::stopThread ( )

protected

Definition at line 918 of file ServerFrameGrabberDual.cpp.

◆ threadInit()

bool ServerGrabber::threadInit ( )

overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 1072 of file ServerFrameGrabberDual.cpp.

◆ threadRelease()

void ServerGrabber::threadRelease ( )

overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 1127 of file ServerFrameGrabberDual.cpp.

The documentation for this class was generated from the following files:

src/devices/ServerFrameGrabberDual/ServerFrameGrabberDual.h
src/devices/ServerFrameGrabberDual/ServerFrameGrabberDual.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ ServerGrabber() [1/3]

◆ ServerGrabber() [2/3]

◆ ServerGrabber() [3/3]

◆ ~ServerGrabber()

Member Function Documentation

◆ attach()

◆ attachAll()

◆ cleanUp()

◆ close()

◆ detach()

◆ detachAll()

◆ fromConfig()

◆ initialize_YARP()

◆ open()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ respond()

◆ run()

◆ setupFlexImage()

◆ shallowCopyImages()

◆ stopThread()

◆ threadInit()

◆ threadRelease()