PolyDriver.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_POLYDRIVER_H
#define YARP_DEV_POLYDRIVER_H
 
#include <yarp/dev/api.h>
#include <yarp/dev/Drivers.h>
 
namespace yarp {
namespace dev {
 
 
class YARP_dev_API PolyDriver :
        public DeviceDriver
{
public:
    using DeviceDriver::open;
 
    PolyDriver();
 
    PolyDriver(const std::string& txt);
 
    PolyDriver(yarp::os::Searchable& config);
 
    virtual ~PolyDriver();
 
    PolyDriver(const PolyDriver& alt) = delete;
    const PolyDriver& operator=(const PolyDriver& alt) = delete;
 
    bool open(const std::string& txt);
 
    bool open(yarp::os::Searchable& config) override;
 
    bool link(PolyDriver& alt);
 
 
    DeviceDriver *take();
 
    bool give(DeviceDriver *dd, bool own);
 
    bool close() override;
 
    bool isValid() const;
 
    yarp::os::Bottle getOptions();
 
    std::string getComment(const char *option);
 
    yarp::os::Value getDefaultValue(const char *option);
 
    yarp::os::Value getValue(const char *option);
 
    DeviceDriver *getImplementation() override;
 
private:
    DeviceDriver *dd;
 
    bool coreOpen(yarp::os::Searchable& config);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
    class Private;
    Private* mPriv;
#endif
};
 
} // namespace dev
} // namespace yarp
 
#endif // YARP_DEV_POLYDRIVER_H