ImplementInteractionMode.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_IINTERACTIONMODEIMPL_H
#define YARP_DEV_IINTERACTIONMODEIMPL_H
 
#include <yarp/dev/api.h>
#include <yarp/dev/IInteractionMode.h>
#include <yarp/os/Log.h>
 
namespace yarp {
    namespace dev {
        class ImplementInteractionMode;
        class StubImplInteractionModeRaw;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
class YARP_dev_API yarp::dev::ImplementInteractionMode : public yarp::dev::IInteractionMode
{
protected:
    yarp::dev::IInteractionModeRaw *iInteraction;
    void    *helper;                                // class controlBoardHelper, to handle axis map and conversion unit, where needed
 
    yarp::dev::impl::FixedSizeBuffersManager<yarp::dev::InteractionModeEnum> *imodeBuffManager; //This Buffer Manager handles temporary buffers of type yarp::dev::InteractionModeEnum
    yarp::dev::impl::FixedSizeBuffersManager<int> *intBuffManager; //This Buffer Manager handles temporary buffers  of type int
    bool initialize (int size, const int *amap);
 
    bool initialize (int size, const int *amap, const double *enc, const double *zos);
 
 
    bool uninitialize ();
 
 
public:
    ImplementInteractionMode(yarp::dev::IInteractionModeRaw *Class_p);
 
    virtual ~ImplementInteractionMode();
 
    // Methods are documented in the <yarp/dev/IInteractionMode.h> file
    bool getInteractionMode(int axis, yarp::dev::InteractionModeEnum* mode) override;
    bool getInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
    bool getInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
 
    bool setInteractionMode(int axis, yarp::dev::InteractionModeEnum mode) override;
    bool setInteractionModes(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override;
    bool setInteractionModes(yarp::dev::InteractionModeEnum* modes) override;
};
 
 
class yarp::dev::StubImplInteractionModeRaw : public yarp::dev::IInteractionModeRaw
{
protected:
    bool NOT_YET_IMPLEMENTED(const char *func = 0)
    {
        if (func)
            yError("%s: not yet implemented\n", func);
        else
            yError("Function not yet implemented\n");
 
        return false;
    }
 
 
public:
    virtual ~StubImplInteractionModeRaw() {}
 
    bool getInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum* mode) override
    {
        return NOT_YET_IMPLEMENTED("getInteractionModeRaw");
    }
 
    bool getInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override
    {
        return NOT_YET_IMPLEMENTED("getInteractionModesRaw");
    }
 
    bool getInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override
    {
        return NOT_YET_IMPLEMENTED("getInteractionModesRaw");
    }
 
    bool setInteractionModeRaw(int axis, yarp::dev::InteractionModeEnum mode) override
    {
        return NOT_YET_IMPLEMENTED("setInteractionModeRaw");
    }
 
    bool setInteractionModesRaw(int n_joints, int *joints, yarp::dev::InteractionModeEnum* modes) override
    {
        return NOT_YET_IMPLEMENTED("setInteractionModesRaw");
    }
 
    bool setInteractionModesRaw(yarp::dev::InteractionModeEnum* modes) override
    {
        return NOT_YET_IMPLEMENTED("setInteractionModesRaw");
    }
};
 
#endif // YARP_DEV_IINTERACTIONMODEIMPL_H