IAnalogSensor.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_DEV_IANALOGSENSOR_H
#define YARP_DEV_IANALOGSENSOR_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/sig/Vector.h>
 
constexpr yarp::conf::vocab32_t VOCAB_IANALOG           = yarp::os::createVocab('i','a','n','a');
 
namespace yarp {
namespace dev {
 
class YARP_dev_API IAnalogSensor
{
public:
    enum
    {
        AS_OK=0,
        AS_ERROR=1,
        AS_OVF=2,
        AS_TIMEOUT=3
    };
 
    virtual ~IAnalogSensor();
 
    virtual int read(yarp::sig::Vector &out)=0;
 
    virtual int getState(int ch)=0;
 
    virtual int getChannels()=0;
 
    virtual int calibrateSensor()=0;
 
    virtual int calibrateSensor(const yarp::sig::Vector& value)=0;
 
    virtual int calibrateChannel(int ch)=0;
 
    virtual int calibrateChannel(int ch, double value)=0;
};
 
} // namespace dev
} // namespace yarp
 
#endif // YARP_DEV_IANALOGSENSOR_H