IControlCalibration.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_ICONTROLCALIBRATION_H
#define YARP_DEV_ICONTROLCALIBRATION_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/dev/CalibratorInterfaces.h> // ICalibrator
 
namespace yarp {
    namespace dev {
        class IControlCalibrationRaw;
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
YARP_DEPRECATED_TYPEDEF_MSG("Use yarp::dev::IControlCalibrationRaw instead") IControlCalibrationRaw IControlCalibration2Raw;
#endif
        class IControlCalibration;
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
YARP_DEPRECATED_TYPEDEF_MSG("Use yarp::dev::IControlCalibration instead") IControlCalibration IControlCalibration2;
#endif
        struct CalibrationParameters;
    }
}
 
struct YARP_dev_API yarp::dev::CalibrationParameters
{
    unsigned int type;
    double param1;
    double param2;
    double param3;
    double param4;
    double param5;
    double paramZero;
    CalibrationParameters() { type = 0; param1 = 0; param2 = 0; param3 = 0; param4 = 0; param5 = 0; paramZero = 0; }
};
 
class YARP_dev_API yarp::dev::IControlCalibrationRaw
{
public:
    IControlCalibrationRaw(){}
    virtual ~IControlCalibrationRaw() {}
 
    virtual bool calibrationDoneRaw(int j)=0;
 
    virtual bool calibrateAxisWithParamsRaw(int axis, unsigned int type, double p1, double p2, double p3)=0;
 
    virtual bool setCalibrationParametersRaw(int axis, const CalibrationParameters& params) { return false; }
 
};
 
class YARP_dev_API yarp::dev::IControlCalibration
{
private:
    ICalibrator *calibrator;
 
public:
    IControlCalibration();
    virtual ~IControlCalibration() {}
 
    virtual bool calibrateAxisWithParams(int axis, unsigned int type, double p1, double p2, double p3)=0;
 
    virtual bool setCalibrationParameters(int axis, const CalibrationParameters& params) { return false; }
 
    virtual bool calibrationDone(int j)=0;
 
    virtual bool setCalibrator(ICalibrator *c);
 
    virtual bool calibrateRobot();
 
    virtual bool park(bool wait=true);
 
    /* Abort calibration, force the function calibrate() to return.*/
    virtual bool abortCalibration();
 
    /* Abort parking, force the function park() to return.*/
    virtual bool abortPark();
};
 
 
/* Vocabs representing the above interfaces */
 
constexpr yarp::conf::vocab32_t VOCAB_CALIBRATE_JOINT        = yarp::os::createVocab('c','a','l','j');
constexpr yarp::conf::vocab32_t VOCAB_CALIBRATE_JOINT_PARAMS = yarp::os::createVocab('c','l','j','p');
constexpr yarp::conf::vocab32_t VOCAB_CALIBRATE              = yarp::os::createVocab('c','a','l');
constexpr yarp::conf::vocab32_t VOCAB_CALIBRATE_CHANNEL      = yarp::os::createVocab('c','a','l','c');
constexpr yarp::conf::vocab32_t VOCAB_ABORTCALIB             = yarp::os::createVocab('a','b','c','a');
constexpr yarp::conf::vocab32_t VOCAB_ABORTPARK              = yarp::os::createVocab('a','b','p','a');
constexpr yarp::conf::vocab32_t VOCAB_CALIBRATE_DONE         = yarp::os::createVocab('c','a','l','d');
constexpr yarp::conf::vocab32_t VOCAB_PARK                   = yarp::os::createVocab('p','a','r','k');
 
#endif // YARP_DEV_ICONTROLCALIBRATION_H