hayodea
6ef86eea05
This language is used broadly to specify how to attach (and thus also how to detach) devices to/from Salmanoff. The next bit of work we'll do is split off the DSL parsing from the management of the list of parsed binary attached spec objects. We'll be creating a PipeDeviceAttachmentParser, and later on when we support URDF, we'll create a URDFDeviceAttachmentParser.
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
#ifndef SENSE_API_MANAGER_H
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#define SENSE_API_MANAGER_H
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#include <config.h>
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#include <memory>
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#include <vector>
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#include <string>
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#include <optional>
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#include <functional>
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#include <senseApis/senseApiLib.h>
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#include <user/deviceAttachmentSpec.h>
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namespace smo {
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namespace sense_api {
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class SenseApiManager
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{
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public:
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static SenseApiManager& getInstance()
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{
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static SenseApiManager instance;
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return instance;
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}
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SenseApiLib& loadSenseApiLib(const std::string& libraryPath);
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std::optional<std::shared_ptr<SenseApiLib>> getSenseApiLib(
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const std::string& libraryPath);
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std::optional<std::shared_ptr<SenseApiLib>> getSenseApiLibByApiName(
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const std::string& apiName);
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void unloadSenseApiLib(const std::string& libraryPath);
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void initializeSenseApiLib(SenseApiLib& lib);
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void finalizeSenseApiLib(SenseApiLib& lib);
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void loadAllSenseApiLibsFromOptions(void);
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void unloadAllSenseApiLibs(void);
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void initializeAllSenseApiLibs(void);
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void finalizeAllSenseApiLibs(void);
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void attachAllSenseDevicesFromSpecs(void);
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void attachSenseDevice(
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const std::shared_ptr<device::DeviceAttachmentSpec>& spec);
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void detachSenseDevice(
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const std::shared_ptr<device::DeviceAttachmentSpec>& spec);
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void detachAllSenseDevices(void);
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std::string stringifyLibs() const;
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private:
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SenseApiManager() = default;
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~SenseApiManager() = default;
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SenseApiManager(const SenseApiManager&) = delete;
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SenseApiManager& operator=(const SenseApiManager&) = delete;
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std::vector<std::shared_ptr<SenseApiLib>> senseApiLibs;
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public:
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static std::optional<std::string> searchForLibInSmoSearchPaths(
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const std::string& libraryPath);
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};
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} // namespace sense_api
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} // namespace smo
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#endif // SENSE_API_MANAGER_H
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