add exampleRemoteGrabber

- roboticslab-uc3m/teo-developer-manual#68

.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
 

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})

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;
+}