bool add(const char *name, yarp::os::Searchable& config) {
//printf("ADDING %s\n", config.toString().c_str());
PolyDriver *pd = new PolyDriver();
YARP_ASSERT (pd!=NULL);
bool result = pd->open(config);
if (!result) {
delete pd;
return false;
}
drivers.push_back(pd);
names.push_back(ConstString(name));
IService *service = NULL;
pd->view(service);
bool backgrounded = true;
if (service!=NULL) {
backgrounded = service->startService();
if (backgrounded) {
// we don't need to poll this, so forget about the
// service interface
printf("group: service backgrounded\n");
service = NULL;
}
}
needDrive.push_back(!backgrounded);
needDriveSummary = needDriveSummary || (!backgrounded);
Drivers::factory().add(new DriverLinkCreator(name,*pd));
return true;
}
void add(DriverCreator *creator) {
if (creator!=NULL) {
delegates.push_back(creator);
}
}
