Drivers.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_DRIVERS_H
#define YARP_DRIVERS_H
 
#include <yarp/os/Network.h>
#include <yarp/os/Property.h>
#include <yarp/dev/DeviceDriver.h>
 
namespace yarp {
    namespace dev {
        template <class T> class DriverCreatorOf;
        class DriverCreator;
        class Drivers;
        class PolyDriver;
        class StubDriverCreator;
    }
}
 
class YARP_dev_API yarp::dev::DriverCreator {
public:
    virtual ~DriverCreator() {}
 
    virtual std::string toString() const = 0;
 
    virtual DeviceDriver *create() const = 0;
 
    virtual std::string getName() const = 0;
 
    virtual std::string getWrapper() const = 0;
 
    virtual std::string getCode() const = 0;
 
    virtual PolyDriver *owner() {
        return nullptr;
    }
};
 
template <class T>
class yarp::dev::DriverCreatorOf : public DriverCreator {
private:
    std::string desc, wrap, code;
public:
    DriverCreatorOf(const char *name, const char *wrap, const char *code) :
        desc(name), wrap(wrap), code(code)
    {
    }
 
    std::string toString() const override {
        return desc;
    }
 
    std::string getName() const override {
        return desc;
    }
 
    std::string getWrapper() const override {
        return wrap;
    }
 
    std::string getCode() const override {
        return code;
    }
 
    DeviceDriver *create() const override {
        return new T;
    }
};
 
 
 
class YARP_dev_API yarp::dev::StubDriverCreator : public DriverCreator {
private:
    YARP_SUPPRESS_DLL_INTERFACE_WARNING_ARG(std::string) desc, wrap, code, libname, fnname;
public:
    StubDriverCreator(const char *name, const char *wrap, const char *code,
                      const char *libname, const char *fnname) :
        desc(name), wrap(wrap), code(code), libname(libname), fnname(fnname)
    {
    }
 
    std::string toString() const override {
        return desc;
    }
 
    std::string getName() const override {
        return desc;
    }
 
    std::string getWrapper() const override {
        return wrap;
    }
 
    std::string getCode() const override {
        return code;
    }
 
    DeviceDriver *create() const override;
};
 
 
 
class YARP_dev_API yarp::dev::Drivers {
public:
    static Drivers& factory();
    DeviceDriver *open(const char *device) {
        yarp::os::Property p;
        p.put("device",device);
        return open(p);
    }
 
    virtual DeviceDriver *open(yarp::os::Searchable& config);
 
    virtual std::string toString() const;
 
    virtual ~Drivers();
 
    void add(DriverCreator *creator);
 
 
    DriverCreator *find(const char *name);
 
    bool remove(const char *name);
 
    static int yarpdev(int argc, char *argv[]);
 
private:
    Drivers();
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
private:
    class Private;
    Private* mPriv;
#endif // DOXYGEN_SHOULD_SKIP_THIS
};
 
#endif // YARP_DRIVERS_H