hardware_base.h

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// WOLF - Copyright (C) 2020-2026
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
 
// Fwd dependencies
namespace wolf
{
class Problem;
class SensorBase;
}  // namespace wolf
 
// Wolf includes
#include "core/common/wolf.h"
#include "core/common/node_base.h"
 
namespace wolf
{
// class HardwareBase
class HardwareBase : public NodeBase, public std::enable_shared_from_this<HardwareBase>
{
    friend SensorBase;
 
  private:
    SensorBasePtrList sensor_list_;
 
  public:
    HardwareBase();
    ~HardwareBase() override;
    bool hasChildren() const override;
 
    SensorBaseConstPtrList getSensorList() const;
    SensorBasePtrList      getSensorList();
 
    SensorBaseConstPtr getSensor(const std::string& _sensor_name) const;
    SensorBasePtr      getSensor(const std::string& _sensor_name);
 
    virtual void printHeader(int           depth,        //
                             bool          factored_by,  //
                             bool          metric,       //
                             bool          state_blocks,
                             std::ostream& stream,
                             std::string   _tabs = "") const;
    void         print(int           depth,        //
                       bool          factored_by,  //
                       bool          metric,       //
                       bool          state_blocks,
                       std::ostream& stream = std::cout,
                       std::string   _tabs  = "") const;
 
    virtual CheckLog localCheck(bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
    bool             check(CheckLog& _log, bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
 
  private:
    virtual SensorBasePtr addSensor(SensorBasePtr _sensor_ptr);
};
 
}  // namespace wolf
 
// IMPLEMENTATION
 
namespace wolf
{
inline SensorBaseConstPtrList HardwareBase::getSensorList() const
{
    SensorBaseConstPtrList list_const;
    for (auto&& obj_ptr : sensor_list_) list_const.push_back(obj_ptr);
    return list_const;
}
 
inline SensorBasePtrList HardwareBase::getSensorList()
{
    return sensor_list_;
}
 
inline bool HardwareBase::hasChildren() const
{
    return not sensor_list_.empty();
}
 
}  // namespace wolf