Implemented iService interface in DeviceBundler

Author: S-Dafarra

src/devices/deviceBundler/DeviceBundler.cpp

@@ -76,6 +76,12 @@ bool DeviceBundler::open(yarp::os::Searchable& config)
         return false;
     }
 
+    ret = m_pdev_wrapper.view(m_iService);
+    if (ret)
+    {
+        yCInfo(DEVICEBUNDLER, "The device implements the IService iterface");
+    }
+
     ret = m_iWrapper->attach(&m_pdev_subdevice);
     if (!ret)
     {
@@ -93,6 +99,7 @@ bool DeviceBundler::close()
     {
         m_iWrapper->detach();
         m_iWrapper = nullptr;
+        m_iService = nullptr;
     }
 
     if (m_pdev_wrapper.isValid())
@@ -107,3 +114,30 @@ bool DeviceBundler::close()
 
     return true;
 }
+
+bool DeviceBundler::startService()
+{
+    if (m_iService)
+    {
+        return m_iService->startService();
+    }
+    return true; //If not implemented, emulate running in background
+}
+
+bool DeviceBundler::updateService()
+{
+    if (m_iService)
+    {
+        return m_iService->updateService();
+    }
+    return false;
+}
+
+bool DeviceBundler::stopService()
+{
+    if (m_iService)
+    {
+        return m_iService->stopService();
+    }
+    return false;
+}

src/devices/deviceBundler/DeviceBundler.h

@@ -9,6 +9,7 @@
 #include <yarp/dev/DeviceDriver.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/IWrapper.h>
+#include <yarp/dev/ServiceInterfaces.h>
 #include "DeviceBundler_ParamsParser.h"
 
 /**
@@ -25,6 +26,7 @@
 */
 
 class DeviceBundler :  public yarp::dev::DeviceDriver,
+                       public yarp::dev::IService,
                        public DeviceBundler_ParamsParser
 {
 public:
@@ -39,10 +41,16 @@ class DeviceBundler :  public yarp::dev::DeviceDriver,
     bool open(yarp::os::Searchable& config) override;
     bool close() override;
 
+    //  yarp::dev::IService methods
+    virtual bool startService() override;
+    virtual bool updateService() override;
+    virtual bool stopService() override;
+
 private:
     yarp::dev::PolyDriver m_pdev_wrapper;
     yarp::dev::PolyDriver m_pdev_subdevice;
     yarp::dev::IWrapper*  m_iWrapper=nullptr;
+    yarp::dev::IService* m_iService=nullptr;
 };
 
 #endif // YARP_DEVICEBUNDLER_H