Retrieve common iPOS options

roboticslab-uc3m · Jan 17, 2020 · 61dfba2 · 61dfba2
1 parent 0fe9e17
commit 61dfba2
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp b/libraries/YarpPlugins/TechnosoftIpos/DeviceDriverImpl.cpp
@@ -24,6 +24,16 @@ bool TechnosoftIpos::open(yarp::os::Searchable & config)
 
     const auto * robotConfig = *reinterpret_cast<const yarp::os::Property * const *>(config.find("robotConfig").asBlob());
 
+    yarp::os::Bottle & commonGroup = robotConfig->findGroup("common-ipos2");
+    yarp::os::Property iposGroup;
+
+    if (!commonGroup.isNull())
+    {
+        iposGroup.fromString(commonGroup.toString());
+    }
+
+    iposGroup.fromString(config.toString(), false); // override common options
+
     yarp::os::Bottle & driverGroup = robotConfig->findGroup(config.find("driver").asString());
     yarp::os::Bottle & motorGroup = robotConfig->findGroup(config.find("motor").asString());
     yarp::os::Bottle & gearboxGroup = robotConfig->findGroup(config.find("gearbox").asString());