MonitorSharedLib.h

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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.
 */
 
#ifndef MONITOR_SHAREDLIB_INC
#define MONITOR_SHAREDLIB_INC
 
#include "MonitorBinding.h"
 
#include <yarp/os/MonitorObject.h>
#include <yarp/os/SharedLibraryClass.h>
#include <yarp/os/SharedLibrary.h>
#include <yarp/os/YarpPlugin.h>
 
#include <string>
 
class MonitorSharedLib : public MonitorBinding
{
 
public:
    MonitorSharedLib();
    ~MonitorSharedLib() override;
 
    bool load(const yarp::os::Property &options) override;
    bool setParams(const yarp::os::Property& params) override;
    bool getParams(yarp::os::Property& params) override;
 
    bool acceptData(yarp::os::Things &thing) override;
    yarp::os::Things& updateData(yarp::os::Things &thing) override;
    yarp::os::Things& updateReply(yarp::os::Things &thing) override;
 
    bool peerTrigged() override;
    bool canAccept() override;
 
    bool setAcceptConstraint(const char* constraint) override {
        if(!constraint) {
            return false;
        }
        MonitorSharedLib::constraint = constraint;
        return true;
    }
 
    const char* getAcceptConstraint() override {
        return constraint.c_str();
    }
 
    bool hasAccept() override { return true; }
    bool hasUpdate() override { return true; }
    bool hasUpdateReply() override { return true; }
 
private:
    std::string constraint;
    yarp::os::YarpPluginSettings settings;
    yarp::os::YarpPlugin<yarp::os::MonitorObject> plugin;
    yarp::os::SharedLibraryClass<yarp::os::MonitorObject> monitor;
};
 
#endif //_MONITOR_SHAREDLIB_INC_