framegrabber_protocol/FrameGrabberControls_Forwarder: Implement depre…

…cated methods
robotology · Jun 7, 2021 · 55d31e6 · 55d31e6
1 parent 685d159
commit 55d31e6
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diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/FrameGrabberControls_Forwarder.cpp b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/FrameGrabberControls_Forwarder.cpp
@@ -223,3 +223,154 @@ bool FrameGrabberControls_Forwarder::setOnePush(int feature)
     cmd.addInt32(feature);
     return m_port.write(cmd, response);
 }
+
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
+bool FrameGrabberControls_Forwarder::setCommand(int code, double v)
+{
+    yarp::os::Bottle cmd;
+    yarp::os::Bottle response;
+    cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL);
+    cmd.addVocab(VOCAB_SET);
+    cmd.addVocab(code);
+    cmd.addFloat64(v);
+    return m_port.write(cmd, response);
+}
+
+bool FrameGrabberControls_Forwarder::setCommand(int code, double b, double r)
+{
+    yarp::os::Bottle cmd;
+    yarp::os::Bottle response;
+    cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL);
+    cmd.addVocab(VOCAB_SET);
+    cmd.addVocab(code);
+    cmd.addFloat64(b);
+    cmd.addFloat64(r);
+    return m_port.write(cmd, response);
+}
+
+double FrameGrabberControls_Forwarder::getCommand(int code) const
+{
+    yarp::os::Bottle cmd;
+    yarp::os::Bottle response;
+    cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL);
+    cmd.addVocab(VOCAB_GET);
+    cmd.addVocab(code);
+    m_port.write(cmd,response);
+    // response should be [cmd] [name] value
+    return response.get(2).asFloat64();
+}
+
+bool FrameGrabberControls_Forwarder::getCommand(int code, double &b, double &r) const
+{
+    yarp::os::Bottle cmd;
+    yarp::os::Bottle response;
+    cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL);
+    cmd.addVocab(VOCAB_GET);
+    cmd.addVocab(code);
+    m_port.write(cmd,response);
+    // response should be [cmd] [name] value
+    b=response.get(2).asFloat64();
+    r=response.get(3).asFloat64();
+    return true;
+}
+
+bool FrameGrabberControls_Forwarder::setBrightness(double v)
+{
+    return setCommand(VOCAB_BRIGHTNESS, v);
+}
+
+double FrameGrabberControls_Forwarder::getBrightness()
+{
+    return getCommand(VOCAB_BRIGHTNESS);
+}
+
+bool FrameGrabberControls_Forwarder::setExposure(double v)
+{
+    return setCommand(VOCAB_EXPOSURE, v);
+}
+
+double FrameGrabberControls_Forwarder::getExposure()
+{
+    return getCommand(VOCAB_EXPOSURE);
+}
+
+bool FrameGrabberControls_Forwarder::setSharpness(double v)
+{
+    return setCommand(VOCAB_SHARPNESS, v);
+}
+
+double FrameGrabberControls_Forwarder::getSharpness()
+{
+    return getCommand(VOCAB_SHARPNESS);
+}
+
+bool FrameGrabberControls_Forwarder::setWhiteBalance(double blue, double red)
+{
+    return setCommand(VOCAB_WHITE, blue, red);
+}
+
+bool FrameGrabberControls_Forwarder::getWhiteBalance(double &blue, double &red)
+{
+    return getCommand(VOCAB_WHITE, blue, red);
+}
+
+bool FrameGrabberControls_Forwarder::setHue(double v)
+{
+    return setCommand(VOCAB_HUE,v);
+}
+
+double FrameGrabberControls_Forwarder::getHue()
+{
+    return getCommand(VOCAB_HUE);
+}
+
+bool FrameGrabberControls_Forwarder::setSaturation(double v)
+{
+    return setCommand(VOCAB_SATURATION,v);
+}
+
+double FrameGrabberControls_Forwarder::getSaturation()
+{
+    return getCommand(VOCAB_SATURATION);
+}
+
+bool FrameGrabberControls_Forwarder::setGamma(double v)
+{
+    return setCommand(VOCAB_GAMMA,v);
+}
+
+double FrameGrabberControls_Forwarder::getGamma()
+{
+    return getCommand(VOCAB_GAMMA);
+}
+
+bool FrameGrabberControls_Forwarder::setShutter(double v)
+{
+    return setCommand(VOCAB_SHUTTER,v);
+}
+
+double FrameGrabberControls_Forwarder::getShutter()
+{
+    return getCommand(VOCAB_SHUTTER);
+}
+
+bool FrameGrabberControls_Forwarder::setGain(double v)
+{
+    return setCommand(VOCAB_GAIN,v);
+}
+
+double FrameGrabberControls_Forwarder::getGain()
+{
+    return getCommand(VOCAB_GAIN);
+}
+
+bool FrameGrabberControls_Forwarder::setIris(double v)
+{
+    return setCommand(VOCAB_IRIS,v);
+}
+
+double FrameGrabberControls_Forwarder::getIris()
+{
+    return getCommand(VOCAB_IRIS);
+}
+#endif // YARP_NO_DEPRECATED
diff --git a/src/devices/framegrabber_protocol/yarp/proto/framegrabber/FrameGrabberControls_Forwarder.h b/src/devices/framegrabber_protocol/yarp/proto/framegrabber/FrameGrabberControls_Forwarder.h
@@ -45,6 +45,36 @@ class FrameGrabberControls_Forwarder :
     bool setMode(int feature, FeatureMode mode) override;
     bool getMode(int feature, FeatureMode* mode) override;
     bool setOnePush(int feature) override;
+
+#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
+    bool setBrightness(double v) override;
+    double getBrightness() override;
+    bool setExposure(double v) override;
+    double getExposure() override;
+    bool setSharpness(double v) override;
+    double getSharpness() override;
+    bool setWhiteBalance(double blue, double red) override;
+    bool getWhiteBalance(double &blue, double &red) override;
+    bool setHue(double v) override;
+    double getHue() override;
+    bool setSaturation(double v) override;
+    double getSaturation() override;
+    bool setGamma(double v) override;
+    double getGamma() override;
+    bool setShutter(double v) override;
+    double getShutter() override;
+    bool setGain(double v) override;
+    double getGain() override;
+    bool setIris(double v) override;
+    double getIris() override;
+
+private:
+    bool setCommand(int code, double v);
+    bool setCommand(int code, double b, double r);
+    double getCommand(int code) const;
+    bool getCommand(int code, double &b, double &r) const;
+#endif // YARP_NO_DEPRECATED
+
 };
 
 } // namespace framegrabber