RawDevice.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __RAW_DEVICE_HPP__
#define __RAW_DEVICE_HPP__
 
#include <memory>
#include <string>
 
#include <yarp/dev/PolyDriver.h>
 
namespace roboticslab
{
 
class RawDevice final
{
public:
    explicit RawDevice(yarp::dev::PolyDriver * driver);
 
    ~RawDevice();
 
    template<typename T>
    T * getHandle() const;
 
    std::string getId() const
    { return valid ? driver->getImplementation()->id() : ""; }
 
    template<typename T>
    T * castToType() const
    { return valid ? dynamic_cast<T *>(driver->getImplementation()) : nullptr; }
 
    bool isValid() const
    { return valid; }
 
private:
    class Private;
    std::unique_ptr<Private> priv;
    yarp::dev::PolyDriver * driver {nullptr};
    bool valid {false};
};
 
inline const RawDevice invalidDevice(nullptr);
 
} // namespace roboticslab
 
#endif // __RAW_DEVICE_HPP__