OypPortReader.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __OPEN_PORT_READER_HPP__
#define __OPEN_PORT_READER_HPP__
 
#include <yarp/os/PortReader.h>
 
namespace roboticslab
{
 
class OpenraveYarpPlanner;
 
class OypPortReader: public yarp::os::PortReader
{
public:
    void setOpenraveYarpPlannerPtr(OpenraveYarpPlanner *value) { openraveYarpPlannerPtr = value; }
private:
    OpenraveYarpPlanner* openraveYarpPlannerPtr;
 
    bool read(yarp::os::ConnectionReader& in) override;
 
    // Internally used members
    bool checkIfString(yarp::os::Bottle& request, int index, yarp::os::Bottle& response);
    bool tryToSetActiveManipulator(const std::string& robot, const std::string& manipulator, yarp::os::Bottle& response);
};
 
} // namespace roboticslab
 
#endif // __OPEN_PORT_READER_HPP__