framegrabber_protocol enhancement

src/devices/RemoteFrameGrabber/RemoteFrameGrabber.cpp

@@ -17,6 +17,7 @@ YARP_LOG_COMPONENT(REMOTEFRAMEGRABBER, "yarp.devices.RemoteFrameGrabber")
 
 RemoteFrameGrabber::RemoteFrameGrabber() :
         FrameGrabberControls_Forwarder(port),
+        FrameGrabberControlsDC1394_Forwarder(port),
         RgbVisualParams_Forwarder(port)
 {
 }

src/devices/RemoteFrameGrabber/RemoteFrameGrabber.h

@@ -157,7 +157,6 @@ class RemoteFrameGrabber :
             yarp::os::Network::connect(local,remote);
         }
         reader.attach(port);
-        FrameGrabberControlsDC1394_Forwarder::init(&port);
         return true;
     }
 

src/devices/framegrabber_protocol/CMakeLists.txt

@@ -21,6 +21,10 @@ if(YARP_COMPILE_DEVICE_PLUGINS)
       yarp/proto/framegrabber/FrameGrabberControls_Responder.h
       yarp/proto/framegrabber/FrameGrabberControls_Forwarder.cpp
       yarp/proto/framegrabber/FrameGrabberControls_Forwarder.h
+      yarp/proto/framegrabber/FrameGrabberOf_Forwarder.h
+      yarp/proto/framegrabber/FrameGrabberOf_Forwarder-inl.h
+      yarp/proto/framegrabber/FrameGrabberOf_Responder.h
+      yarp/proto/framegrabber/FrameGrabberOf_Responder-inl.h
       yarp/proto/framegrabber/RgbVisualParams_Responder.cpp
       yarp/proto/framegrabber/RgbVisualParams_Responder.h
       yarp/proto/framegrabber/RgbVisualParams_Forwarder.cpp

src/devices/framegrabber_protocol/yarp/proto/framegrabber/CameraVocabs.h

@@ -99,66 +99,4 @@ constexpr yarp::conf::vocab32_t VOCAB_DRSETCAP = yarp::os::createVocab('D','R','
 constexpr yarp::conf::vocab32_t VOCAB_DRSETBPP = yarp::os::createVocab('D','R','2','N'); // 39
 constexpr yarp::conf::vocab32_t VOCAB_DRGETBPP = yarp::os::createVocab('D','R','2','O'); // 40
 
-
-
-#if 0
-    cameraFeature_id_t featureVOCABEnum(int vocab)
-    {
-        switch (vocab) {
-        case VOCAB_BRIGHTNESS:
-            return YARP_FEATURE_BRIGHTNESS;
-        case VOCAB_EXPOSURE:
-            return YARP_FEATURE_EXPOSURE;
-        case VOCAB_SHARPNESS:
-            return YARP_FEATURE_SHARPNESS;
-        case VOCAB_WHITE:
-            return YARP_FEATURE_WHITE_BALANCE;
-        case VOCAB_HUE:
-            return YARP_FEATURE_HUE;
-        case VOCAB_SATURATION:
-            return YARP_FEATURE_SATURATION;
-        case VOCAB_GAMMA:
-            return YARP_FEATURE_GAMMA;
-        case VOCAB_SHUTTER:
-            return YARP_FEATURE_SHUTTER;
-        case VOCAB_GAIN:
-            return YARP_FEATURE_GAIN;
-        case VOCAB_IRIS:
-            return YARP_FEATURE_IRIS;
-        default:
-            return YARP_FEATURE_INVALID;
-        }
-
-    }
-
-    int featureEnum2Vocab(cameraFeature_id_t _enum)
-    {
-        switch (_enum) {
-        case YARP_FEATURE_BRIGHTNESS:
-            return VOCAB_BRIGHTNESS;
-        case YARP_FEATURE_EXPOSURE:
-            return VOCAB_EXPOSURE;
-        case YARP_FEATURE_SHARPNESS:
-            return VOCAB_SHARPNESS;
-        case YARP_FEATURE_WHITE_BALANCE:
-            return VOCAB_WHITE;
-        case YARP_FEATURE_HUE:
-            return VOCAB_HUE;
-        case YARP_FEATURE_SATURATION:
-            return VOCAB_SATURATION;
-        case YARP_FEATURE_GAMMA:
-            return VOCAB_GAMMA;
-        case YARP_FEATURE_SHUTTER:
-            return VOCAB_SHUTTER;
-        case YARP_FEATURE_GAIN:
-            return VOCAB_GAIN;
-        case YARP_FEATURE_IRIS:
-            return VOCAB_IRIS;
-        default:
-            return -1;
-        }
-
-    }
-#endif
-
 #endif // YARP_FRAMEGRABBER_PROTOCOL_CAMERAVOCABS_H

src/devices/framegrabber_protocol/yarp/proto/framegrabber/FrameGrabberControlsDC1394_Forwarder.cpp

@@ -14,9 +14,9 @@
 
 using yarp::proto::framegrabber::FrameGrabberControlsDC1394_Forwarder;
 
-void FrameGrabberControlsDC1394_Forwarder::init(yarp::os::Port* port)
+FrameGrabberControlsDC1394_Forwarder::FrameGrabberControlsDC1394_Forwarder(yarp::os::Port& port) :
+    m_port(port)
 {
-    m_port = port;
 }
 
 
@@ -28,7 +28,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setCommand(int code, double v)
     cmd.addVocab(VOCAB_SET);
     cmd.addVocab(code);
     cmd.addFloat64(v);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return true;
 }
 
@@ -42,7 +42,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setCommand(int code, double b, double
     cmd.addVocab(code);
     cmd.addFloat64(b);
     cmd.addFloat64(r);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return true;
 }
 
@@ -54,7 +54,7 @@ double FrameGrabberControlsDC1394_Forwarder::getCommand(int code) const
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_GET);
     cmd.addVocab(code);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     // response should be [cmd] [name] value
     return response.get(2).asFloat64();
 }
@@ -67,7 +67,7 @@ bool FrameGrabberControlsDC1394_Forwarder::getCommand(int code, double& b, doubl
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_GET);
     cmd.addVocab(code);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     // response should be [cmd] [name] value
     b = response.get(2).asFloat64();
     r = response.get(3).asFloat64();
@@ -81,7 +81,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getVideoModeMaskDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETMSK);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -92,7 +92,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getVideoModeDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETVMD);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -104,7 +104,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setVideoModeDC1394(int video_mode)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETVMD);
     cmd.addInt32(video_mode);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -115,7 +115,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getFPSMaskDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETFPM);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -126,7 +126,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getFPSDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETFPS);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -138,7 +138,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setFPSDC1394(int fps)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETFPS);
     cmd.addInt32(fps);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -149,7 +149,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getISOSpeedDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETISO);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -161,7 +161,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setISOSpeedDC1394(int speed)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETISO);
     cmd.addInt32(speed);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -173,7 +173,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getColorCodingMaskDC1394(unsi
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETCCM);
     cmd.addInt32(video_mode);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -184,7 +184,7 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getColorCodingDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETCOD);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }
 
@@ -196,7 +196,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setColorCodingDC1394(int coding)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETCOD);
     cmd.addInt32(coding);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -212,7 +212,7 @@ bool FrameGrabberControlsDC1394_Forwarder::getFormat7MaxWindowDC1394(unsigned in
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETF7M);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
 
     xdim = response.get(0).asInt32();
     ydim = response.get(1).asInt32();
@@ -230,7 +230,7 @@ bool FrameGrabberControlsDC1394_Forwarder::getFormat7WindowDC1394(unsigned int&
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETWF7);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     xdim = response.get(0).asInt32();
     ydim = response.get(1).asInt32();
     x0 = response.get(2).asInt32();
@@ -249,7 +249,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setFormat7WindowDC1394(unsigned int x
     cmd.addInt32(ydim);
     cmd.addInt32(x0);
     cmd.addInt32(y0);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -261,7 +261,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setOperationModeDC1394(bool b1394b)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETOPM);
     cmd.addInt32(int(b1394b));
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -272,7 +272,7 @@ bool FrameGrabberControlsDC1394_Forwarder::getOperationModeDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETOPM);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -284,7 +284,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setTransmissionDC1394(bool bTxON)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETTXM);
     cmd.addInt32(int(bTxON));
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -295,7 +295,7 @@ bool FrameGrabberControlsDC1394_Forwarder::getTransmissionDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETTXM);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -307,7 +307,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setBroadcastDC1394(bool onoff)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETBCS);
     cmd.addInt32(static_cast<int>(onoff));
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -318,7 +318,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setDefaultsDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETDEF);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -329,7 +329,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setResetDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETRST);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -341,7 +341,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setPowerDC1394(bool onoff)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETPWR);
     cmd.addInt32(static_cast<int>(onoff));
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -353,7 +353,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setCaptureDC1394(bool bON)
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETCAP);
     cmd.addInt32(int(bON));
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -365,7 +365,7 @@ bool FrameGrabberControlsDC1394_Forwarder::setBytesPerPacketDC1394(unsigned int
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRSETBPP);
     cmd.addInt32(int(bpp));
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return response.get(0).asBool();
 }
 
@@ -376,6 +376,6 @@ unsigned int FrameGrabberControlsDC1394_Forwarder::getBytesPerPacketDC1394()
     yarp::os::Bottle response;
     cmd.addVocab(VOCAB_FRAMEGRABBER_CONTROL_DC1394);
     cmd.addVocab(VOCAB_DRGETBPP);
-    m_port->write(cmd, response);
+    m_port.write(cmd, response);
     return static_cast<unsigned int>(response.get(0).asInt32());
 }

src/devices/framegrabber_protocol/yarp/proto/framegrabber/FrameGrabberControlsDC1394_Forwarder.h

@@ -21,7 +21,8 @@ class FrameGrabberControlsDC1394_Forwarder :
         public yarp::dev::IFrameGrabberControlsDC1394
 {
 public:
-    void init(yarp::os::Port* port);
+    FrameGrabberControlsDC1394_Forwarder(yarp::os::Port& port);
+    ~FrameGrabberControlsDC1394_Forwarder() override = default;
 
     unsigned int getVideoModeMaskDC1394() override;
     unsigned int getVideoModeDC1394() override;
@@ -61,7 +62,7 @@ class FrameGrabberControlsDC1394_Forwarder :
     unsigned int getBytesPerPacketDC1394() override;
 
 private:
-    yarp::os::Port* m_port {nullptr};
+    yarp::os::Port& m_port;
 
     bool setCommand(int code, double v);
     bool setCommand(int code, double b, double r);