From 4b92ef0f5de14fa836a0c13721633b1ccb01f95e Mon Sep 17 00:00:00 2001
From: jgvictores <jcgvicto@gmail.com>
Date: Wed, 16 Dec 2020 14:20:18 +0100
Subject: [PATCH] add exampleRemoteGrabber

- https://github.com/roboticslab-uc3m/teo-developer-manual/issues/68
---
 .travis.yml                                   |  3 +
 .../cpp/exampleRemoteGrabber/CMakeLists.txt   | 17 ++++++
 .../exampleRemoteGrabber.cpp                  | 60 +++++++++++++++++++
 3 files changed, 80 insertions(+)
 create mode 100644 examples/cpp/exampleRemoteGrabber/CMakeLists.txt
 create mode 100644 examples/cpp/exampleRemoteGrabber/exampleRemoteGrabber.cpp

diff --git a/.travis.yml b/.travis.yml
index 65c91565..111b5707 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -89,6 +89,9 @@ before_script:
   - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleProcessCloud" && cd "$_"
   - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleProcessCloud" && make
 
+  - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleRemoteGrabber" && cd "$_"
+  - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleRemoteGrabber" && make
+
   - mkdir -p "$TRAVIS_BUILD_DIR/build/exampleRemoteRGBDSensor" && cd "$_"
   - cmake "$TRAVIS_BUILD_DIR/examples/cpp/exampleRemoteRGBDSensor" && make
 
diff --git a/examples/cpp/exampleRemoteGrabber/CMakeLists.txt b/examples/cpp/exampleRemoteGrabber/CMakeLists.txt
new file mode 100644
index 00000000..62671f6a
--- /dev/null
+++ b/examples/cpp/exampleRemoteGrabber/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.12 FATAL_ERROR)
+
+project(exampleRemoteGrabber LANGUAGES CXX)
+
+find_package(YARP 3.2 REQUIRED COMPONENTS os dev sig)
+
+add_executable(exampleRemoteGrabber exampleRemoteGrabber.cpp)
+
+target_link_libraries(exampleRemoteGrabber YARP::YARP_os
+                                           YARP::YARP_init
+                                           YARP::YARP_dev
+                                           YARP::YARP_sig)
+
+include(GNUInstallDirs)
+
+install(TARGETS exampleRemoteGrabber
+        DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/examples/cpp/exampleRemoteGrabber/exampleRemoteGrabber.cpp b/examples/cpp/exampleRemoteGrabber/exampleRemoteGrabber.cpp
new file mode 100644
index 00000000..7af68c68
--- /dev/null
+++ b/examples/cpp/exampleRemoteGrabber/exampleRemoteGrabber.cpp
@@ -0,0 +1,60 @@
+// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
+
+/**
+ * @ingroup vision_examples
+ * @defgroup exampleRemoteGrabber exampleRemoteGrabber
+ * @brief This example connects to a remote grabber (generally, RGB) device.
+ */
+
+#include <cstdio>
+
+#include <yarp/os/Network.h>
+#include <yarp/os/Property.h>
+
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/dev/FrameGrabberInterfaces.h>
+
+int main(int argc, char *argv[])
+{
+    yarp::os::Network yarp;
+
+    if (!yarp::os::Network::checkNetwork())
+    {
+        std::printf("Please start a yarp name server first\n");
+        return 1;
+    }
+
+    yarp::os::Property options;
+
+    options.put("device","remote_grabber");
+    options.put("local","/exampleRemoteGrabber");
+    options.put("remote","/grabber");
+
+    yarp::dev::PolyDriver dd(options);
+
+    if (!dd.isValid())
+    {
+        std::printf("Device not available.\n");
+        return 1;
+    }
+
+    yarp::dev::IFrameGrabberImage *iFrameGrabberImage;
+
+    if (!dd.view(iFrameGrabberImage))
+    {
+        std::printf("[error] Problems acquiring interface\n");
+        return 1;
+    }
+
+    std::printf("[success] acquired interface\n");
+
+    // The following delay should avoid bad status
+    yarp::os::Time::delay(1);
+
+    std::printf("Width: %d\n", iFrameGrabberImage->width());
+    std::printf("Height: %d\n", iFrameGrabberImage->height());
+
+    dd.close();
+
+    return 0;
+}