DriverLinkCreator.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_DRIVERLINKCREATOR_H
#define YARP_DEV_DRIVERLINKCREATOR_H
 
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/Drivers.h>
 
namespace yarp {
namespace dev {
 
class YARP_dev_API DriverLinkCreator :
        public DriverCreator
{
private:
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::string) name;
    PolyDriver holding;
 
public:
    DriverLinkCreator(const std::string& name, PolyDriver& source);
    virtual ~DriverLinkCreator() override;
 
    std::string toString() const override
    {
        return name;
    }
 
    DeviceDriver *create() const override
    {
        DeviceDriver *internal;
        const_cast<PolyDriver&>(holding).view(internal);
        return internal;
    }
 
    std::string getName() const override
    {
        return name;
    }
 
    std::string getWrapper() const override
    {
        return "(link)";
    }
 
    std::string getCode() const override
    {
        return "DriverLinkCreator";
    }
 
    PolyDriver *owner() override
    {
        return &holding;
    }
 
    void close()
    {
        holding.close();
    }
};
 
} // namespace dev
} // namespace yarp
 
#endif // YARP_DEV_DRIVERLINKCREATOR_H