ICurrentControl.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * 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_ICURRENTCONTROL_H
#define YARP_DEV_ICURRENTCONTROL_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
        class ICurrentControlRaw;
        class ICurrentControl;
      }
}
 
class YARP_dev_API yarp::dev::ICurrentControl
{
public:
    virtual ~ICurrentControl() {}
 
    virtual bool getNumberOfMotors(int *ax) = 0;
 
    virtual bool getCurrent(int m, double *curr) = 0;
 
    virtual bool getCurrents(double *currs) = 0;
 
    virtual bool getCurrentRange(int m, double *min, double *max) = 0;
 
    virtual bool getCurrentRanges(double *min, double *max) = 0;
 
    virtual bool setRefCurrents(const double *currs) = 0;
 
    virtual bool setRefCurrent(int m, double curr) = 0;
 
    virtual bool setRefCurrents(const int n_motor, const int *motors, const double *currs) = 0;
 
    virtual bool getRefCurrents(double *currs) = 0;
 
    virtual bool getRefCurrent(int m, double *curr) = 0;
};
 
class YARP_dev_API yarp::dev::ICurrentControlRaw
{
public:
    virtual ~ICurrentControlRaw() {}
 
    virtual bool getNumberOfMotorsRaw(int *number) = 0;
 
    virtual bool getCurrentRaw(int m, double *curr)=0;
 
    virtual bool getCurrentsRaw(double *currs)=0;
 
    virtual bool getCurrentRangeRaw(int m, double *min, double *max)=0;
 
    virtual bool getCurrentRangesRaw(double *min, double *max)=0;
 
    virtual bool setRefCurrentsRaw(const double *currs)=0;
 
    virtual bool setRefCurrentRaw(int m, double curr)=0;
 
    virtual bool setRefCurrentsRaw(const int n_motor, const int *motors, const double *currs) = 0;
 
    virtual bool getRefCurrentsRaw(double *currs)=0;
 
    virtual bool getRefCurrentRaw(int m, double *curr)=0;
};
 
// Interface name
constexpr yarp::conf::vocab32_t VOCAB_CURRENTCONTROL_INTERFACE = yarp::os::createVocab('i','c','u','r');
// methods names
 
constexpr yarp::conf::vocab32_t VOCAB_CURRENT_REF          = yarp::os::createVocab('r','e','f');
constexpr yarp::conf::vocab32_t VOCAB_CURRENT_REFS         = yarp::os::createVocab('r','e','f','s');
constexpr yarp::conf::vocab32_t VOCAB_CURRENT_REF_GROUP    = yarp::os::createVocab('r','e','f','g');
constexpr yarp::conf::vocab32_t VOCAB_CURRENT_RANGE        = yarp::os::createVocab('r','n','g');
constexpr yarp::conf::vocab32_t VOCAB_CURRENT_RANGES       = yarp::os::createVocab('r','n','g','s');
 
#endif // YARP_DEV_ICURRENTCONTROL_H