yarp::dev::Drivers Class Reference

Global factory for devices. More...

#include <yarp/dev/Drivers.h>

Classes
class	Private

Public Member Functions
DeviceDriver *	open (const char *device)
	Create and configure a device, by name.
virtual DeviceDriver *	open (yarp::os::Searchable &config)
	Create and configure a device, by name.
virtual std::string	toString () const
	A description of the available devices.
virtual	~Drivers ()
	Destructor.
void	add (DriverCreator *creator)
	Add a factory for creating a particular device.
DriverCreator *	find (const char *name)
	Find the factory for a named device.
bool	remove (const char *name)
	Remove a factory for a named device.

Static Public Member Functions
static Drivers &	factory ()
	Get the global factory for devices.
static int	yarpdev (int argc, char *argv[])
	Body of the yarpdev program for starting device wrappers.

Detailed Description

Global factory for devices.

You can create your devices any way you like, but if you register them with the Driver object returned by Drivers::factory() by calling the add() method on it, then those devices will be creatable by name through the open() methods.

There is only one instance of the Drivers class. Call Drivers::factory() to get that instance.

Examples

dev/fake_motor/fake_motor.cpp.

Definition at line 171 of file Drivers.h.

Constructor & Destructor Documentation

~Drivers()

Drivers::~Drivers ( )

virtual

Destructor.

Definition at line 279 of file Drivers.cpp.

Member Function Documentation

add()

void Drivers::add

(

DriverCreator *

creator

)

Add a factory for creating a particular device.

The library will be responsible for deallocating this factor.

Parameters

creator

A factory for creating a particular device.

Definition at line 287 of file Drivers.cpp.

factory()

Drivers & Drivers::factory ( )

static

Get the global factory for devices.

Returns

the global factory for devices.

Definition at line 268 of file Drivers.cpp.

find()

DriverCreator * Drivers::find

(

const char *

name

)

Find the factory for a named device.

Parameters

name	The name of the device

Returns

a pointer to the factory, or NULL if there is none

Definition at line 292 of file Drivers.cpp.

open() [1/2]

DeviceDriver * yarp::dev::Drivers::open ( const char *  device )

inline

Create and configure a device, by name.

If you need to pass configuration options to the device (usually the case) use the other open method that takes a Searchable.

Parameters

device

the common name of the device.

Returns

the device, if it could be created and configured, otherwise NULL. The user is responsible for deallocating the device.

Definition at line 189 of file Drivers.h.

open() [2/2]

DeviceDriver * Drivers::open ( yarp::os::Searchable &  config )

virtual

Create and configure a device, by name.

The config object should have a property called "device" that is set to the common name of the device. All other properties are passed on the the device's DeviceDriver::open method.

Parameters

config

configuration options for the device

Returns

the device, if it could be created and configured, otherwise NULL. The user is responsible for deallocating the device.

Definition at line 301 of file Drivers.cpp.

remove()

bool Drivers::remove

(

const char *

name

)

Remove a factory for a named device.

Parameters

name	The name of the device

Returns

true if the factory was found and removed

Definition at line 296 of file Drivers.cpp.

toString()

std::string Drivers::toString ( ) const

virtual

A description of the available devices.

Returns

a description of the available devices.

Definition at line 283 of file Drivers.cpp.

yarpdev()

int Drivers::yarpdev ( int  argc, char *  argv[]  )

static

Body of the yarpdev program for starting device wrappers.

Parameters

argc	number of arguments
argv	list of arguments

Returns

0 on success, error code otherwise

Definition at line 383 of file Drivers.cpp.

---

The documentation for this class was generated from the following files:

• src/libYARP_dev/src/yarp/dev/Drivers.h
• src/libYARP_dev/src/yarp/dev/Drivers.cpp