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serviceParserMultipleFt.h
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1/*
2 * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
3 * All rights reserved.
4 * Author: Luca Tricerri
5 * This software may be modified and distributed under the terms of the
6 * BSD-3-Clause license. See the accompanying LICENSE file for details.
7 */
8
9#ifndef _SERVICEPARSERMULTIPLEFT_H_
10#define _SERVICEPARSERMULTIPLEFT_H_
11
12#include <yarp/os/Bottle.h>
13
14#include <map>
15#include <string>
16
17#include "EoAnalogSensors.h"
18#include "EoBoards.h"
19#include "EoManagement.h"
20#include "EoMotionControl.h"
21#include "ftInfo.h"
22
23using namespace yarp::os;
24
26{
27 public:
28 uint8_t checkPeriod;
29 eObrd_canmonitor_reportmode_t reportmode;
31};
32
34{
35 public:
37 bool parse(const yarp::os::Searchable& config);
38 bool toEomn(eOmn_serv_config_data_as_ft_t& out) const;
39 std::map<std::string, FtInfo>& getFtInfo();
40
41 protected:
42 virtual bool checkPropertyCanBoards(const Bottle& bPropertiesCanBoards);
43 virtual bool checkPropertySensors(const Bottle& property);
44 virtual bool checkSettings(const Bottle& settings);
45 virtual bool checkServiceType(const Bottle& service);
46 virtual bool checkCanMonitor(const Bottle& service);
47 virtual eObrd_type_t checkBoardType(const std::string& boardType);
48
49 std::map<std::string /*sensor id*/, FtInfo> ftInfo_;
50 eObrd_canmonitor_cfg_t canMonitor_;
51};
52
53#endif
eObrd_canmonitor_reportmode_t reportmode
eObrd_canmonitor_cfg_t canMonitor_
virtual eObrd_type_t checkBoardType(const std::string &boardType)
virtual bool checkCanMonitor(const Bottle &service)
virtual bool checkPropertyCanBoards(const Bottle &bPropertiesCanBoards)
bool parse(const yarp::os::Searchable &config)
virtual bool checkSettings(const Bottle &settings)
virtual bool checkPropertySensors(const Bottle &property)
std::map< std::string, FtInfo > & getFtInfo()
bool toEomn(eOmn_serv_config_data_as_ft_t &out) const
std::map< std::string, FtInfo > ftInfo_
virtual bool checkServiceType(const Bottle &service)
out
Definition sine.m:8