RFModule.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_OS_RFMODULE_H
#define YARP_OS_RFMODULE_H
 
#include <yarp/os/Port.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/RpcServer.h>
 
namespace yarp {
namespace os {
 
class YARP_os_API RFModule
{
public:
    RFModule();
 
    virtual ~RFModule();
 
    virtual double getPeriod();
 
    virtual bool updateModule() = 0;
 
    virtual int runModule();
 
    virtual int runModule(yarp::os::ResourceFinder& rf);
 
    virtual int runModuleThreaded();
 
    virtual int runModuleThreaded(yarp::os::ResourceFinder& rf);
 
    virtual int getThreadKey();
 
    virtual bool configure(yarp::os::ResourceFinder& rf);
 
    virtual bool respond(const Bottle& command, Bottle& reply);
 
    virtual bool attach(yarp::os::Port& source);
 
    virtual bool attach(yarp::os::RpcServer& source);
 
    bool attachTerminal();
 
    bool detachTerminal();
 
    virtual bool interruptModule();
 
    virtual bool close();
 
    void stopModule(bool wait = false);
 
    bool isStopping();
 
    bool joinModule(double seconds = -1);
 
    std::string getName(const std::string& subName = "");
 
    void setName(const char* name);
 
    bool safeRespond(const Bottle& command, Bottle& reply);
 
private:
    ResourceFinder resourceFinder;
    bool stopFlag;
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::string) name;
 
    virtual bool basicRespond(const Bottle& command, Bottle& reply);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
private:
    class Private;
    Private* mPriv;
#endif // DOXYGEN_SHOULD_SKIP_THIS
};
 
} // namespace os
} // namespace yarp
 
#endif // YARP_OS_RFMODULE_H