LLM_nws_yarp.h

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/*
 * SPDX-FileCopyrightText: 2023-2023 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/WrapperSingle.h>
#include <yarp/os/PortReader.h>
#include <yarp/os/RpcServer.h>
#include <yarp/dev/ILLM.h>
 
#include "ILLMServerImpl.h"
#include "LLM_nws_yarp_ParamsParser.h"
 
class LLM_nws_yarp : public yarp::dev::DeviceDriver,
                     public yarp::dev::WrapperSingle,
                     public yarp::os::PortReader,
                     public LLM_nws_yarp_ParamsParser
{
protected:
    ILLMRPCd    m_RPC;
    yarp::os::RpcServer m_RpcPort;
    yarp::dev::ILLM *m_iLlm = nullptr;
 
public:
    // From DeviceDriver
    virtual bool open(yarp::os::Searchable &prop) override;
    virtual bool close() override;
 
    // From WrapperSingle
    virtual bool attach(yarp::dev::PolyDriver *drv) override;
    virtual bool detach() override;
 
    // From PortReader
    bool read(yarp::os::ConnectionReader& connection) override;
};