hardware_interface.h

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// Copyright (C) 2012, hiDOF INC.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright
//     notice, this list of conditions and the following disclaimer in the
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of hiDOF, Inc. nor the names of its
//     contributors may be used to endorse or promote products derived from
//     this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
/*
 * Author: Wim Meeussen
 */
 
#pragma once
 
 
#include <exception>
#include <string>
#include <set>
#include <typeinfo>
 
 
namespace hardware_interface{
 
class HardwareInterface
{
public:
  virtual ~HardwareInterface() = default;
 
  virtual void claim(std::string resource) { claims_.insert(resource); }
 
  void clearClaims()                       { claims_.clear(); }
 
  std::set<std::string> getClaims() const  { return claims_; }
 
  /*\}*/
 
private:
  std::set<std::string> claims_;
};
 
 
class HardwareInterfaceException: public std::exception
{
public:
  HardwareInterfaceException(const std::string& message) : msg(message) {}
  const char* what() const noexcept override {return msg.c_str();}
private:
  std::string msg;
};
}