Device.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_ROBOTINTERFACE_DEVICE_H
#define YARP_ROBOTINTERFACE_DEVICE_H
 
#include <yarp/robotinterface/Action.h>
#include <yarp/robotinterface/Param.h>
#include <yarp/robotinterface/Types.h>
 
namespace yarp {
 
namespace dev {
class PolyDriver;
class PolyDriverDescriptor;
class PolyDriverList;
} // namespace dev
 
namespace robotinterface {
 
class YARP_robotinterface_API Device
{
public:
    explicit Device();
    Device(const std::string& name,
           const std::string& type,
           const ParamList& params = ParamList(),
           const ActionList& actions = ActionList());
    Device(const Device& other);
    Device& operator=(const Device& other);
 
    virtual ~Device();
 
    std::string& name();
    std::string& type();
    ParamList& params();
    ActionList& actions();
 
    const std::string& name() const;
    const std::string& type() const;
    const ParamList& params() const;
    const ActionList& actions() const;
 
    bool hasParam(const std::string& name) const;
    std::string findParam(const std::string& name) const;
 
    bool open();
    bool close();
 
    yarp::dev::PolyDriver* driver() const;
 
    // thread handling methods
    void registerThread(yarp::os::Thread* thread) const;
    void joinThreads() const;
    void stopThreads() const;
 
    // configure action
    bool configure(const Device& target, const ParamList& params) const;
 
    // calibrate one device
    bool calibrate(const yarp::dev::PolyDriverDescriptor& target) const;
 
    // attach a list of drivers to this wrapper
    bool attach(const yarp::dev::PolyDriverList& drivers) const;
 
    // abort action
    bool abort() const;
 
    // detach all drivers attached to this wrapper
    bool detach() const;
 
    // park
    bool park(const yarp::dev::PolyDriverDescriptor& target) const;
 
    // custom action
    bool custom(const ParamList& params) const;
 
 
private:
    class Private;
    Private* const mPriv;
}; // class Device
 
} // namespace robotinterface
} // namespace yarp
 
YARP_robotinterface_API yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::Device& t);
 
 
#endif // YARP_ROBOTINTERFACE_DEVICE_H