DeviceBundler.h

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/*
 * SPDX-FileCopyrightText: 2024-2024 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEVICEBUNDLER_H
#define YARP_DEVICEBUNDLER_H
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IWrapper.h>
#include "DeviceBundler_ParamsParser.h"
 
class DeviceBundler :  public yarp::dev::DeviceDriver,
                       public DeviceBundler_ParamsParser
{
public:
    DeviceBundler();
    DeviceBundler(const DeviceBundler&) = delete;
    DeviceBundler(DeviceBundler&&) = delete;
    DeviceBundler& operator=(const DeviceBundler&) = delete;
    DeviceBundler& operator=(DeviceBundler&&) = delete;
 
    ~DeviceBundler() override;
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
private:
    yarp::dev::PolyDriver m_pdev_wrapper;
    yarp::dev::PolyDriver m_pdev_subdevice;
    yarp::dev::IWrapper*  m_iWrapper=nullptr;
};
 
#endif // YARP_DEVICEBUNDLER_H