ImplementRemoteVariables.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * 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.
 */
 
#include "yarp/dev/ControlBoardInterfacesImpl.h"
#include <yarp/dev/ControlBoardHelper.h>
 
#include <cstdio>
using namespace yarp::dev;
 
// Encoder Interface Timed Implementation
ImplementRemoteVariables::ImplementRemoteVariables(IRemoteVariablesRaw *y)
{
    ivar=y;
    helper = nullptr;
    temp1=nullptr;
    temp2=nullptr;
}
 
ImplementRemoteVariables::~ImplementRemoteVariables()
{
    uninitialize();
}
 
bool ImplementRemoteVariables::initialize(int size, const int *amap)
{
    if (helper!=nullptr)
        return false;
 
    helper=(void *)(new ControlBoardHelper(size, amap));
    yAssert (helper != nullptr);
    temp1=new double [size];
    yAssert (temp1 != nullptr);
    temp2=new double [size];
    yAssert (temp2 != nullptr);
    return true;
}
 
bool ImplementRemoteVariables::uninitialize()
{
    if (helper!=nullptr)
    {
        delete castToMapper(helper);
        helper=nullptr;
    }
 
    checkAndDestroy(temp1);
    checkAndDestroy(temp2);
 
    return true;
}
 
bool ImplementRemoteVariables::getRemoteVariable(std::string key, yarp::os::Bottle& val)
{
    bool ret;
    ret = ivar->getRemoteVariableRaw(key, val);
    return ret;
}
 
bool ImplementRemoteVariables::setRemoteVariable(std::string key, const yarp::os::Bottle& val)
{
    bool ret;
    ret = ivar->setRemoteVariableRaw(key, val);
    return ret;
}
 
 
bool ImplementRemoteVariables::getRemoteVariablesList(yarp::os::Bottle* listOfKeys)
{
    bool ret;
    ret = ivar->getRemoteVariablesListRaw(listOfKeys);
    return ret;
}