Module.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#ifndef YARP_YARPROBOTINTERFACE_MODULE_H
#define YARP_YARPROBOTINTERFACE_MODULE_H
 
#include <yarp/os/RFModule.h>
#include <yarprobotinterfaceRpc.h>
 
namespace yarprobotinterface
{
 
class Module : public yarp::os::RFModule,
               public yarprobotinterfaceRpc
{
public:
    explicit Module();
    virtual ~Module();
 
    // yarp::os::RFModule
    double getPeriod() override;
    bool updateModule() override;
    bool close() override;
    bool interruptModule() override;
    bool configure(yarp::os::ResourceFinder &rf) override;
 
    using yarp::os::RFModule::attach;
    bool attach(yarp::os::RpcServer &source) override;
 
    // yarprobotinterfaceRpc
    std::string get_phase() override;
    int32_t get_level() override;
    bool is_ready() override;
    std::string get_robot() override;
 
    std::string quit() override;
    inline std::string bye() override { return quit(); }
    inline std::string exit() override { return quit(); }
 
private:
    class Private;
    Private * const mPriv;
}; // class Module
 
} // namespace yarprobotinterface
 
#endif // YARP_YARPROBOTINTERFACE_MODULE_H