YARP
Yet Another Robot Platform
Device.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-License-Identifier: BSD-3-Clause
4 */
5
6#ifndef YARP_ROBOTINTERFACE_DEVICE_H
7#define YARP_ROBOTINTERFACE_DEVICE_H
8
12
13namespace yarp {
14
15namespace dev {
16class PolyDriver;
17class PolyDriverDescriptor;
18class PolyDriverList;
19} // namespace dev
20
21namespace robotinterface {
22
24{
25public:
26 explicit Device();
27 Device(const std::string& name,
28 const std::string& type,
29 const ParamList& params = ParamList(),
30 const ActionList& actions = ActionList());
31 Device(const Device& other);
32 Device& operator=(const Device& other);
33
34 virtual ~Device();
35
36 std::string& name();
37 std::string& type();
38 ParamList& params();
39 ActionList& actions();
40
41 const std::string& name() const;
42 const std::string& type() const;
43 const ParamList& params() const;
44 const ActionList& actions() const;
45
46 bool hasParam(const std::string& name) const;
47 std::string findParam(const std::string& name) const;
48
49 bool open();
50 bool close();
51
52 yarp::dev::PolyDriver* driver() const;
53
54 // thread handling methods
55 void registerThread(yarp::os::Thread* thread) const;
56 void joinThreads() const;
57 void stopThreads() const;
58
59 // configure action
60 bool configure(const Device& target, const ParamList& params) const;
61
62 // calibrate one device
63 bool calibrate(const yarp::dev::PolyDriverDescriptor& target) const;
64
65 // attach a list of drivers to this wrapper
66 bool attach(const yarp::dev::PolyDriverList& drivers) const;
67
68 // abort action
69 bool abort() const;
70
71 // detach all drivers attached to this wrapper
72 bool detach() const;
73
74 // park
75 bool park(const yarp::dev::PolyDriverDescriptor& target) const;
76
77 // custom action
78 bool custom(const ParamList& params) const;
79
80
81private:
82 class Private;
83 Private* const mPriv;
84}; // class Device
85
86} // namespace robotinterface
87} // namespace yarp
88
90
91
92#endif // YARP_ROBOTINTERFACE_DEVICE_H
yarp::os::LogStream operator<<(yarp::os::LogStream dbg, const yarp::robotinterface::Device &t)
Definition: Device.cpp:188
float t
A container for a device driver.
Definition: PolyDriver.h:23
An abstraction for a thread of execution.
Definition: Thread.h:21
bool configure(const Device &target, const ParamList &params) const
bool custom(const ParamList &params) const
yarp::robotinterface::Device Device
Definition: Device.h:31
std::vector< robotinterface::Action > ActionList
Definition: Types.h:31
bool hasParam(const robotinterface::ParamList &list, const std::string &name)
Definition: Types.cpp:16
std::vector< robotinterface::Param > ParamList
Definition: Types.h:30
std::string findParam(const robotinterface::ParamList &list, const std::string &name)
Definition: Types.cpp:26
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_robotinterface_API
Definition: api.h:18