start-inspect.h

/*
 * Copyright (C) 2017 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Author: Vadim Tikhanoff
 * email:  vadim.tikhanoff@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program 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 General
 * Public License for more details
 */
 
#ifndef __ICUB_STARTINSPECT_MOD_H__
#define __ICUB_STARTINSPECT_MOD_H__
 
#include <yarp/os/BufferedPort.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Network.h>
#include <yarp/os/Thread.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Time.h>
#include <yarp/os/Stamp.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Image.h>
 
#include <yarp/os/RpcClient.h>
 
#include <vector>
#include <string>
#include <cstring>
#include <algorithm>
 
struct Object{
 
    std::string name;
    std::vector<std::string> property;
};
 
class STARTManager : public yarp::os::BufferedPort<yarp::os::Bottle>
{
private:
 
    std::string moduleName;                                             //string containing module name
    std::string inSpeechPortName;                                       //string containing speech input port name
    std::string outSTARTPortName;                                       //string containing start output port name
 
    yarp::os::BufferedPort<yarp::os::Bottle>    speechInPort;           //input port containing speech
    yarp::os::BufferedPort<yarp::os::Bottle>    startOutPort;           //output port containing start
 
    Object  *objectDetails;
 
public:
    STARTManager( const std::string &moduleName );
    ~STARTManager();
 
    bool    open();
    void    close();
    void    onRead( yarp::os::Bottle &bot );
    void    interrupt();
 
    static bool aZCheck(char c)
    {
        return !isalpha(c);
    }
 
};
 
class STARTModule:public yarp::os::RFModule
{
    /* module parameters */
    std::string             moduleName;
    std::string             handlerPortName;
    yarp::os::RpcServer     rpcPort;
 
    /* pointer to a new thread */
    STARTManager            *startManager;
    bool                    closing;
 
public:
 
 
    bool configure(yarp::os::ResourceFinder &rf); // configure all the module parameters and return true if successful
    bool interruptModule();                       // interrupt, e.g., the ports
    bool close();                                 // close and shut down the module
 
    double getPeriod();
    bool updateModule();
};
 
 
#endif
//empty line to make gcc happy