IMotorEncoders.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMOTORENCODERS_H
#define YARP_DEV_IMOTORENCODERS_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class IMotorEncodersRaw;
class IMotorEncoders;
}
 
class YARP_dev_API yarp::dev::IMotorEncodersRaw
{
public:
    virtual ~IMotorEncodersRaw() {}
 
    virtual bool getNumberOfMotorEncodersRaw(int *num) = 0;
 
    virtual bool resetMotorEncoderRaw(int m)=0;
 
    virtual bool resetMotorEncodersRaw()=0;
 
    virtual bool setMotorEncoderCountsPerRevolutionRaw(int m, const double cpr)=0;
 
    virtual bool getMotorEncoderCountsPerRevolutionRaw(int m, double *cpr)=0;
 
    virtual bool setMotorEncoderRaw(int m, const double val)=0;
 
    virtual bool setMotorEncodersRaw(const double *vals)=0;
 
    virtual bool getMotorEncoderRaw(int m, double *v)=0;
 
    virtual bool getMotorEncodersRaw(double *encs)=0;
 
    virtual bool getMotorEncodersTimedRaw(double *encs, double *stamps)=0;
 
    virtual bool getMotorEncoderTimedRaw(int m, double *encs, double *stamp)=0;
 
    virtual bool getMotorEncoderSpeedRaw(int m, double *sp)=0;
 
    virtual bool getMotorEncoderSpeedsRaw(double *spds)=0;
 
    virtual bool getMotorEncoderAccelerationRaw(int m, double *spds)=0;
 
    virtual bool getMotorEncoderAccelerationsRaw(double *accs)=0;
};
 
class YARP_dev_API yarp::dev::IMotorEncoders
{
public:
    virtual ~IMotorEncoders() {}
 
    virtual bool getNumberOfMotorEncoders(int *num) = 0;
 
    virtual bool resetMotorEncoder(int m)=0;
 
    virtual bool resetMotorEncoders()=0;
 
    virtual bool setMotorEncoderCountsPerRevolution(int m, const double cpr)=0;
 
    virtual bool getMotorEncoderCountsPerRevolution(int m, double *cpr)=0;
 
    virtual bool setMotorEncoder(int m, const double val)=0;
 
    virtual bool setMotorEncoders(const double *vals)=0;
 
    virtual bool getMotorEncoder(int m, double *v)=0;
 
    virtual bool getMotorEncoders(double *encs)=0;
 
    virtual bool getMotorEncodersTimed(double *encs, double *time)=0;
 
    virtual bool getMotorEncoderTimed(int m, double *encs, double *time)=0;
 
    virtual bool getMotorEncoderSpeed(int m, double *sp)=0;
 
    virtual bool getMotorEncoderSpeeds(double *spds)=0;
 
    virtual bool getMotorEncoderAcceleration(int m, double *acc)=0;
 
    virtual bool getMotorEncoderAccelerations(double *accs)=0;
};
 
// interface IMotorEncoders sets
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_E_RESET  = yarp::os::createVocab32('m','r','e');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_E_RESETS = yarp::os::createVocab32('m','r','e','s');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODER  = yarp::os::createVocab32('m','n','c');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODERS = yarp::os::createVocab32('m','n','c','s');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_CPR      = yarp::os::createVocab32('m','c','p','r');
 
// interface IMotorEncoders gets
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODER_NUMBER        =  yarp::os::createVocab32('m','n','u','m');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODER_SPEED         = yarp::os::createVocab32('m','s','p');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODER_SPEEDS        = yarp::os::createVocab32('m','s','p','s');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODER_ACCELERATION  = yarp::os::createVocab32('m','a','c');
constexpr yarp::conf::vocab32_t VOCAB_MOTOR_ENCODER_ACCELERATIONS = yarp::os::createVocab32('m','a','c','s');
 
#endif // YARP_DEV_IMOTORENCODERS_H