IPWMControl.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_IPWMCONTROL_H
#define YARP_DEV_IPWMCONTROL_H
 
#include <yarp/dev/api.h>
#include <yarp/os/Vocab.h>
 
namespace yarp {
    namespace dev {
        class IPWMControlRaw;
        class IPWMControl;
    }
}
 
class YARP_dev_API yarp::dev::IPWMControl
{
public:
    virtual ~IPWMControl(){}
 
    virtual bool getNumberOfMotors(int *number) = 0;
 
    virtual bool setRefDutyCycle(int m, double ref) = 0;
 
    virtual bool setRefDutyCycles(const double *refs) = 0;
 
    virtual bool getRefDutyCycle(int m, double *ref) = 0;
 
    virtual bool getRefDutyCycles(double *refs) = 0;
 
    virtual bool getDutyCycle(int m, double *val) = 0;
 
    virtual bool getDutyCycles(double *vals) = 0;
};
 
class YARP_dev_API yarp::dev::IPWMControlRaw
{
public:
    virtual ~IPWMControlRaw(){}
 
    virtual bool getNumberOfMotorsRaw(int *number) = 0;
 
    virtual bool setRefDutyCycleRaw(int m, double ref) = 0;
 
    virtual bool setRefDutyCyclesRaw(const double *refs) = 0;
 
    virtual bool getRefDutyCycleRaw(int m, double *ref) = 0;
 
    virtual bool getRefDutyCyclesRaw(double *refs) = 0;
 
    virtual bool getDutyCycleRaw(int m, double *val) = 0;
 
    virtual bool getDutyCyclesRaw(double *vals) = 0;
};
 
// Interface name
constexpr yarp::conf::vocab32_t VOCAB_PWMCONTROL_INTERFACE   = yarp::os::createVocab('i','p','w','m');
// methods names
constexpr yarp::conf::vocab32_t VOCAB_PWMCONTROL_REF_PWM     = yarp::os::createVocab('r','e','f');
constexpr yarp::conf::vocab32_t VOCAB_PWMCONTROL_REF_PWMS    = yarp::os::createVocab('r','e','f','s');
constexpr yarp::conf::vocab32_t VOCAB_PWMCONTROL_PWM_OUTPUT  = yarp::os::createVocab('p','w','m');
constexpr yarp::conf::vocab32_t VOCAB_PWMCONTROL_PWM_OUTPUTS = yarp::os::createVocab('p','w','m','s');
 
#endif // YARP_DEV_IPWMCONTROL_H