SlaveConfig.h

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#pragma once
 
#include <armarx/control/hardware_config/Config.h>
#include <armarx/control/hardware_config/SlaveIdentifierConfig.h>
 
namespace armarx::control::hardware_config
{
    class SlaveProfile : public Config
    {
        friend class SlaveConfig;
 
    public:
        SlaveProfile(SlaveIdentifierConfig identifier, std::string type, std::string name) :
            type(type), name(name), identifier(identifier)
        {
        }
 
        std::string getName();
        std::string getType();
        SlaveIdentifierConfig& getIdentifier();
 
    private:
        std::string type;
        std::string name;
        SlaveIdentifierConfig identifier;
    };
 
    class SlaveConfig : public Config
    {
    public:
        SlaveConfig(SlaveIdentifierConfig identifier,
                    std::optional<std::string> type,
                    std::optional<std::string> name);
 
        SlaveConfig(SlaveIdentifierConfig identifier,
                    std::optional<std::string> type,
                    std::optional<std::string> name,
                    std::shared_ptr<SlaveProfile> profile);
 
        virtual ~SlaveConfig() = default;
 
        SlaveIdentifierConfig& getIdentifier();
 
        std::optional<std::string> getType() const;
 
        std::optional<std::string> getName() const;
 
        bool checkAllItemsRead(std::vector<std::string>& errors) const override;
 
        void print(std::stringstream& s, int indention) const override;
 
        void onParsingFinished() override;
 
    private:
        SlaveIdentifierConfig identifier;
        std::optional<std::string> type;
        std::optional<std::string> name;
        bool identifierRead = false;
    };
 
    enum SlaveType
    {
        WithType,
        WithoutType
    };
} // namespace armarx::control::hardware_config