MonitorSharedLib.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/os/Network.h>
#include <yarp/os/Log.h>
#include <yarp/os/YarpPlugin.h>
 
#include "MonitorSharedLib.h"
 
 
using namespace yarp::os;
using namespace std;
 
 
 
class MonitorSelector : public YarpPluginSelector {
    bool select(Searchable& options) override {
        return options.check("type",Value("none")).asString() == "portmonitor";
    }
};
 
MonitorSharedLib::MonitorSharedLib()
{
}
 
MonitorSharedLib::~MonitorSharedLib()
{
    if(monitor.isValid())
        monitor->destroy();
    monitor.close();
}
 
bool MonitorSharedLib::load(const yarp::os::Property& options)
{
    MonitorSelector selector;
    selector.scan();
 
    settings.setPluginName(options.find("filename").asString());
    if (!settings.setSelector(selector)) {
        return false;
    }
 
    if (!plugin.open(settings)) {
        return false;
    }
 
    monitor.open(*plugin.getFactory());
    if (!monitor.isValid()) {
        return false;
    }
 
    settings.setLibraryMethodName(plugin.getFactory()->getName(),
                                  settings.getMethodName());
    settings.setClassInfo(plugin.getFactory()->getClassName(),
                          plugin.getFactory()->getBaseClassName());
 
    return monitor->create(options);
}
 
bool MonitorSharedLib::setParams(const Property &params)
{
    return monitor->setparam(params);
}
 
bool MonitorSharedLib::getParams(yarp::os::Property& params)
{
    return monitor->getparam(params);
}
 
bool MonitorSharedLib::acceptData(yarp::os::Things& thing)
{
    return monitor->accept(thing);
}
 
 
yarp::os::Things& MonitorSharedLib::updateData(Things &thing)
{
    return monitor->update(thing);
}
 
yarp::os::Things& MonitorSharedLib::updateReply(Things &thing)
{
    return monitor->updateReply(thing);
}
 
 
bool MonitorSharedLib::peerTrigged()
{
    monitor->trig();
    return true;
}
 
bool MonitorSharedLib::canAccept()
{
    if(constraint == "")
        return true;
     //TODO: constraint checking should be implemented here!
     return true;
}