[WIP]

libraries/YarpPlugins/CanBusBroker/CanBusBroker.hpp

@@ -8,6 +8,7 @@
 #include <yarp/dev/IMultipleWrapper.h>
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/MultipleAnalogSensorsInterfaces.h>
+#include <yarp/dev/PolyDriverList.h>
 
 #include "DeviceMapper.hpp"
 #include "SingleBusBroker.hpp"
@@ -417,6 +418,8 @@ class CanBusBroker : public yarp::dev::DeviceDriver,
 private:
     DeviceMapper deviceMapper;
     std::vector<SingleBusBroker *> brokers;
+    yarp::dev::PolyDriverList fakeBuses;
+    yarp::dev::PolyDriverList fakeNodes;
     SyncPeriodicThread * syncThread {nullptr};
 };
 

libraries/YarpPlugins/CanBusBroker/DeviceDriverImpl.cpp

@@ -19,7 +19,7 @@ bool CanBusBroker::open(yarp::os::Searchable & config)
 
     if (!buses)
     {
-        yCError(CBB) << "Missing key \"buses\" or not a list";
+        yCError(CBB) << R"(Missing key "buses" or not a list)";
         return false;
     }
 
@@ -59,6 +59,38 @@ bool CanBusBroker::open(yarp::os::Searchable & config)
         }
     }
 
+    if (yarp::os::Value * v; config.check("fakeBuses", v, "fake CAN buses"))
+    {
+        if (!v->isList())
+        {
+            yCError(CBB) << R"(Key "fakeBuses" must be a list)";
+            return false;
+        }
+
+        const auto * buses = v->asList();
+
+        for (int i = 0; i < buses->size(); i++)
+        {
+            fakeBuses.push(nullptr, buses->get(i).asString().c_str());
+        }
+    }
+
+    if (yarp::os::Value * v; config.check("fakeNodes", v, "fake CAN nodes"))
+    {
+        if (!v->isList())
+        {
+            yCError(CBB) << R"(Key "fakeNodes" must be a list)";
+            return false;
+        }
+
+        const auto * nodes = v->asList();
+
+        for (int i = 0; i < nodes->size(); i++)
+        {
+            fakeNodes.push(nullptr, nodes->get(i).asString().c_str());
+        }
+    }
+
     if (config.check("syncPeriod", "SYNC message period (s)"))
     {
         auto syncPeriod = config.find("syncPeriod").asFloat64();

libraries/YarpPlugins/CanBusBroker/IMultipleWrapperImpl.cpp

@@ -197,6 +197,20 @@ bool CanBusBroker::detachAll()
         ok &= broker->clearFilters();
     }
 
+    for (int i = 0; i < fakeBuses.size(); i++)
+    {
+        ok &= fakeBuses[i]->poly->close();
+        delete fakeBuses[i]->poly;
+        fakeBuses[i]->poly = nullptr;
+    }
+
+    for (int i = 0; i < fakeNodes.size(); i++)
+    {
+        ok &= fakeNodes[i]->poly->close();
+        delete fakeNodes[i]->poly;
+        fakeNodes[i]->poly = nullptr;
+    }
+
     return ok;
 }