Streamer.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Streamer.hpp */

#ifndef VIDEO_STREAMER_VLC_STREAMER_TASK_HPP
#define VIDEO_STREAMER_VLC_STREAMER_TASK_HPP

#include "video_streamer_vlc/StreamerBase.hpp"
#include "opencv2/opencv.hpp"
#include "frame_helper/FrameHelper.h"
#include "video_streamer_vlc/VlcStream.hpp"


namespace video_streamer_vlc {

    struct PortHelper{
        RTT::InputPort< ::RTT::extras::ReadOnlyPointer< ::base::samples::frame::Frame > > *port;
        VlcStream *streamer;
        PortConfig config;
    };

    class Streamer : public StreamerBase
    {
        friend class StreamerBase;
    protected:
        RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> current_image_;
        frame_helper::FrameHelper frame_helper;
        base::samples::frame::Frame rgb_image;

        virtual bool createInput(::video_streamer_vlc::PortConfig const & config);

        std::vector<PortHelper> my_ports;
    public:
        Streamer(std::string const& name = "video_streamer_vlc::Streamer");

        Streamer(std::string const& name, RTT::ExecutionEngine* engine);

        ~Streamer();

        bool configureHook();

        bool startHook();

        void updateHook();

        void errorHook();

        void stopHook();

        void cleanupHook();
    };
}

#endif