portthread.h

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#ifndef PORTTHREAD_H
#define PORTTHREAD_H
 
#include <QThread>
 
#include <string>
#include <sstream>
#include <iomanip>                  // io manipulator (setw, setfill)
#include <cstdarg>
//#include <cstdlib>
#include <math.h>
#include <vector>
 
 
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Bottle.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
 
#include <iCub/skinDynLib/rpcSkinManager.h>
 
using namespace std;
using namespace yarp::os;
using namespace yarp::sig;
using namespace iCub::skinManager;
 
class PortThread : public QThread
{
    Q_OBJECT
public:
    explicit PortThread(QObject *parent = 0);
    void closePorts();
    void stop();
    Bottle sendRpcCommand(bool responseExpected, SkinManagerCommand cmd);
 
protected:
    void run();
 
public:
    Port                    *guiRpcPort;             // to send rpc command to the module
    BufferedPort<Vector>    *driftCompMonitorPort;   // for reading streaming data (frequency, drift)
    BufferedPort<Bottle>    *driftCompInfoPort;      // for reading sporadic msgs (errors, warnings)
 
signals:
 
    void portCreated();
    void openErrorDialog(QString);
 
public slots:
 
};
 
#endif // PORTTHREAD_H