fbus_manager.h

/*
 * Developer : Alexey Zakharov (alexey.zakharov@vectioneer.com)
 * All rights reserved. Copyright (c) 2020 VECTIONEER.
 */
 
#ifndef MOTORCORTEX_CORE_FBUS_MANAGER_H
#define MOTORCORTEX_CORE_FBUS_MANAGER_H
 
#include "cmdline_systemmode.h"
#include "ct_module.h"
#include "ecat_domain.h"
 
#include <vector>
 
namespace tinyxml2 {
class XMLElement;
}
 
namespace mcx::fbus {
 
class Manager {
public:
  Manager() = default;
 
  virtual ~Manager();
 
  std::vector<container::Module*> create(cmd_line::SystemMode system_mode, parameter_server::Parameter* param_server,
                                         const std::string& path);
 
private:
  static std::vector<ecat::Domain> loadDomains(const std::string& path, const std::string& version,
                                               tinyxml2::XMLElement* root);
 
  static bool isIncluded(const tinyxml2::XMLElement* root);
 
  std::vector<container::Module*> modules_;
};
 
} // namespace mcx::fbus
 
#endif // MOTORCORTEX_CORE_FBUS_MANAGER_H