serviceParserMultipleFt.h

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/*
 * Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 * Author: Luca Tricerri
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef _SERVICEPARSERMULTIPLEFT_H_
#define _SERVICEPARSERMULTIPLEFT_H_
 
#include <yarp/os/Bottle.h>
 
#include <map>
#include <string>
 
#include "EoAnalogSensors.h"
#include "EoBoards.h"
#include "EoManagement.h"
#include "EoMotionControl.h"
#include "ftInfo.h"
 
using namespace yarp::os;
 
class CanMonitor
{
   public:
    uint8_t checkPeriod;
    eObrd_canmonitor_reportmode_t reportmode;
    uint16_t periodofreport;
};
 
class ServiceParserMultipleFt
{
   public:
    ServiceParserMultipleFt();
    bool parse(const yarp::os::Searchable& config);
    bool toEomn(eOmn_serv_config_data_as_ft_t& out) const;
    std::map<std::string, FtInfo>& getFtInfo();
 
   protected:
    virtual bool checkPropertyCanBoards(const Bottle& bPropertiesCanBoards);
    virtual bool checkPropertySensors(const Bottle& property);
    virtual bool checkSettings(const Bottle& settings);
    virtual bool checkServiceType(const Bottle& service);
    virtual bool checkCanMonitor(const Bottle& service);
    virtual eObrd_type_t checkBoardType(const std::string& boardType);
 
    std::map<std::string /*sensor id*/, FtInfo> ftInfo_;
    eObrd_canmonitor_cfg_t canMonitor_;
};
 
#endif