HAL.hpp

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#ifndef ORG_EEROS_HAL_HAL_HPP_
#define ORG_EEROS_HAL_HAL_HPP_

#include <string>
#include <map>
#include <unordered_set>
#include <eeros/hal/PeripheralInput.hpp>
#include <eeros/hal/PeripheralOutput.hpp>

namespace eeros {
    namespace hal {
        
        class HAL {
        public:
            PeripheralOutputInterface* getPeripheralOutput(std::string name, bool exclusive = false);
            PeripheralOutput<bool>* getLogicPeripheralOutput(std::string name, bool exclusive = false);
            PeripheralOutput<double>* getRealPeripheralOutput(std::string name, bool exclusive = false);
            PeripheralInputInterface* getPeripheralInput(std::string name, bool exclusive = false);
            PeripheralInput<bool>* getLogicPeripheralInput(std::string name, bool exclusive = false);
            PeripheralInput<double>* getRealPeripheralInput(std::string name, bool exclusive = false);
            
            bool addPeripheralInput(PeripheralInputInterface* systemInput);
            bool addPeripheralOutput(PeripheralOutputInterface* systemOutput);
            
            bool readConfigFromFile(std::string file);
            
            static HAL& instance();
            
        private:
            HAL();
            HAL(const HAL&);
            HAL& operator=(const HAL&);
            
            bool loadModule(std::string moduleName);
            
            std::unordered_set<PeripheralOutputInterface*> exclusiveReservedOutputs;
            std::unordered_set<PeripheralInputInterface*> exclusiveReservedInputs;
            
            std::map<std::string, PeripheralInputInterface*> inputs;
            std::map<std::string, PeripheralOutputInterface*> outputs;
        };

    };
};

#endif /* ORG_EEROS_HAL_HAL_HPP_ */