From 72dab2af8da703bfd375b1c748deb561de67753f Mon Sep 17 00:00:00 2001
From: jgvictores <jcgvicto@gmail.com>
Date: Wed, 12 Feb 2020 13:33:19 +0100
Subject: [PATCH] YarpOpenraveGrabber implement getCameraDescription

- https://github.com/roboticslab-uc3m/yarp-devices/issues/244
---
 .../YarpPlugins/YarpOpenraveGrabber/DeviceDriverImpl.cpp   | 6 ++++--
 .../YarpOpenraveGrabber/IFrameGrabberControlsImpl.cpp      | 3 ++-
 .../YarpOpenraveGrabber/YarpOpenraveGrabber.hpp            | 7 +++++--
 3 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/libraries/YarpPlugins/YarpOpenraveGrabber/DeviceDriverImpl.cpp b/libraries/YarpPlugins/YarpOpenraveGrabber/DeviceDriverImpl.cpp
index ffdb0696..f77bd746 100644
--- a/libraries/YarpPlugins/YarpOpenraveGrabber/DeviceDriverImpl.cpp
+++ b/libraries/YarpPlugins/YarpOpenraveGrabber/DeviceDriverImpl.cpp
@@ -45,9 +45,11 @@ bool YarpOpenraveGrabber::open(yarp::os::Searchable& config)
 
     sensorBasePtr = vectorOfSensorPtr.at(sensorIndex)->GetSensor();
 
-    std::string tipo = sensorBasePtr->GetName();
+    std::string sensorName = sensorBasePtr->GetName();
 
-    printf("Sensor %d name: %s\n",sensorIndex,tipo.c_str());
+    printf("Sensor %d name: %s\n",sensorIndex,sensorName.c_str());
+    cameraDescriptor.deviceDescription = sensorName;
+    cameraDescriptor.busType = BUS_UNKNOWN;
 
     // printf("Sensor %d description: %s\n",sensorIter,psensorbase->GetDescription().c_str());
 
diff --git a/libraries/YarpPlugins/YarpOpenraveGrabber/IFrameGrabberControlsImpl.cpp b/libraries/YarpPlugins/YarpOpenraveGrabber/IFrameGrabberControlsImpl.cpp
index 941a2998..6fae6d59 100644
--- a/libraries/YarpPlugins/YarpOpenraveGrabber/IFrameGrabberControlsImpl.cpp
+++ b/libraries/YarpPlugins/YarpOpenraveGrabber/IFrameGrabberControlsImpl.cpp
@@ -11,7 +11,8 @@ namespace roboticslab
 
 bool YarpOpenraveGrabber::getCameraDescription(CameraDescriptor *camera)
 {
-    return false;
+    *camera = cameraDescriptor;
+    return true;
 }
 
 // ----------------------------------------------------------------------------
diff --git a/libraries/YarpPlugins/YarpOpenraveGrabber/YarpOpenraveGrabber.hpp b/libraries/YarpPlugins/YarpOpenraveGrabber/YarpOpenraveGrabber.hpp
index d421be78..2b9b9dec 100644
--- a/libraries/YarpPlugins/YarpOpenraveGrabber/YarpOpenraveGrabber.hpp
+++ b/libraries/YarpPlugins/YarpOpenraveGrabber/YarpOpenraveGrabber.hpp
@@ -83,14 +83,17 @@ class YarpOpenraveGrabber : YarpOpenraveBase,
 
 private:
 
-    // General Grabber parameters //
+    // General Grabber parameters
     int _height, _width;
 
-    //OpenRAVE//
+    // OpenRAVE
     OpenRAVE::SensorBasePtr sensorBasePtr;
     boost::shared_ptr<OpenRAVE::SensorBase::CameraSensorData> sensorDataPtr;
     boost::shared_ptr<OpenRAVE::SensorBase::CameraGeomData> modGeomDataPtr;
 
+    // YARP
+    CameraDescriptor cameraDescriptor;
+
     static const int NOT_SET;
 };