DeviceGroup.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_DEVICEGROUP_H
#define YARP_DEV_DEVICEGROUP_H
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/ServiceInterfaces.h>
 
class DeviceGroup :
        public yarp::dev::DeviceDriver,
        public yarp::dev::IService
{
public:
    DeviceGroup() = default;
    DeviceGroup(const DeviceGroup&) = delete;
    DeviceGroup(DeviceGroup&&) = delete;
    DeviceGroup& operator=(const DeviceGroup&) = delete;
    DeviceGroup& operator=(DeviceGroup&&) = delete;
    ~DeviceGroup() override;
 
    bool open(yarp::os::Searchable& config) override;
 
    bool close() override
    {
        return closeMain();
    }
 
    bool startService() override;
 
    bool stopService() override
    {
        return close();
    }
 
    bool updateService() override;
 
private:
    void* implementation{nullptr};
 
    bool closeMain();
 
    yarp::dev::PolyDriver source;
    yarp::dev::PolyDriver sink;
 
    bool open(const char *key,
              yarp::dev::PolyDriver& poly,
              yarp::os::Searchable& config,
              const char *comment);
};
 
 
#endif // YARP_DEV_DEVICEGROUP_H