RobotDescriptionServer.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 YARP_DEV_ROBOTDESCRIPTIONSERVER_H
#define YARP_DEV_ROBOTDESCRIPTIONSERVER_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <mutex>
#include <yarp/os/Time.h>
#include <string>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <yarp/dev/IRobotDescription.h>
 
class RobotDescriptionServer :
        public yarp::dev::DeviceDriver,
        public yarp::os::PortReader,
        public yarp::dev::IMultipleWrapper
{
protected:
    std::mutex                                m_external_mutex;
    std::mutex                                m_internal_mutex;
    yarp::os::Port                            m_rpc_port;
    std::string                               m_local_name;
    std::vector<yarp::dev::DeviceDescription> m_robot_devices;
 
public:
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    bool detachAll() override;
    bool attachAll(const yarp::dev::PolyDriverList &l) override;
    bool read(yarp::os::ConnectionReader& connection) override;
 
private:
    bool add_device(yarp::dev::DeviceDescription dev);
    bool remove_device(yarp::dev::DeviceDescription dev);
};
 
#endif // YARP_DEV_ROBOTDESCRIPTIONSERVER_H