YARP
Yet Another Robot Platform
PolyDriver.h
Go to the documentation of this file.
1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef YARP_DEV_POLYDRIVER_H
8#define YARP_DEV_POLYDRIVER_H
9
10#include <yarp/dev/api.h>
11#include <yarp/dev/Drivers.h>
12
13namespace yarp::dev {
14
15
22 public DeviceDriver
23{
24public:
26
30 PolyDriver();
31
36 PolyDriver(const std::string& txt);
37
47
51 virtual ~PolyDriver();
52
53 PolyDriver(const PolyDriver& alt) = delete;
54 const PolyDriver& operator=(const PolyDriver& alt) = delete;
55
61 bool open(const std::string& txt);
62
72 bool open(yarp::os::Searchable& config) override;
73
81 bool link(PolyDriver& alt);
82
83
89 DeviceDriver *take();
90
98 bool give(DeviceDriver *dd, bool own);
99
100 bool close() override;
101
106 bool isValid() const;
107
114 yarp::os::Bottle getOptions();
115
122 std::string getComment(const char *option);
123
130 yarp::os::Value getDefaultValue(const char *option);
131
138 yarp::os::Value getValue(const char *option);
139
140 DeviceDriver *getImplementation() override;
141
142private:
143 DeviceDriver *dd;
144
145 bool coreOpen(yarp::os::Searchable& config);
146
147#ifndef DOXYGEN_SHOULD_SKIP_THIS
148 class Private;
149 Private* mPriv;
150#endif
151};
152
153} // namespace yarp::dev
154
155#endif // YARP_DEV_POLYDRIVER_H
Interface implemented by all device drivers.
Definition: DeviceDriver.h:30
bool open(yarp::os::Searchable &config) override
Open the DeviceDriver.
Definition: DeviceDriver.h:53
A container for a device driver.
Definition: PolyDriver.h:23
PolyDriver(const PolyDriver &alt)=delete
const PolyDriver & operator=(const PolyDriver &alt)=delete
A simple collection of objects that can be described and transmitted in a portable way.
Definition: Bottle.h:64
A base class for nested structures that can be searched.
Definition: Searchable.h:56
A single value (typically within a Bottle).
Definition: Value.h:43
For streams capable of holding different kinds of content, check what they actually have.
bool isValid()
Check if time is valid (non-zero).
Definition: Time.cpp:314
#define YARP_dev_API
Definition: api.h:18