navigation2DServer.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/INavigation2D.h>
#include <yarp/dev/ILocalization2D.h>
#include <math.h>
 
#ifndef NAV_SERVER_H
#define NAV_SERVER_H
 
#define DEFAULT_THREAD_PERIOD 0.02 //s
 
class navigation2DServer : public yarp::dev::DeviceDriver,
                         public yarp::os::PeriodicThread,
                         public yarp::dev::IMultipleWrapper,
//                         public yarp::dev::INavigation2DTargetActions,
//                         public yarp::dev::INavigation2DControlActions,
                         public yarp::os::PortReader
{
protected:
//    yarp::os::BufferedPort<yarp::os::Bottle>   m_yarpview_target_Port;
    yarp::os::Port                    m_rpcPort;
    std::string                       m_rpcPortName;
    std::string                       m_streamingPortName;
    std::string                       m_yarpviewPortName;
    yarp::dev::Nav2D::NavigationStatusEnum   m_navigation_status;
 
    //drivers and interfaces
    yarp::dev::PolyDriver                   pNav;
    yarp::dev::Nav2D::INavigation2DControlActions* iNav_ctrl;
    yarp::dev::Nav2D::INavigation2DTargetActions*  iNav_target;
 
    double                                  m_period;
    double                                  m_stats_time_last;
 
public:
    navigation2DServer();
 
public:
    virtual bool open(yarp::os::Searchable& prop) override;
    virtual bool close() override;
    virtual bool detachAll() override;
    virtual bool attachAll(const yarp::dev::PolyDriverList &l) override;
    virtual void run() override;
 
    bool initialize_YARP(yarp::os::Searchable &config);
    virtual bool read(yarp::os::ConnectionReader& connection) override;
 
private:
    std::string getStatusAsString(yarp::dev::Nav2D::NavigationStatusEnum status);
    bool parse_respond_string(const yarp::os::Bottle& command, yarp::os::Bottle& reply);
    bool parse_respond_vocab(const yarp::os::Bottle& command, yarp::os::Bottle& reply);
};
 
#endif