IMotor.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMOTOR_H
#define YARP_DEV_IMOTOR_H
 
#include <yarp/os/Vocab.h>
#include <yarp/os/Log.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class IMotorRaw;
class IMotor;
}
 
class YARP_dev_API yarp::dev::IMotorRaw
{
public:
    virtual ~IMotorRaw() {}
 
    virtual bool getNumberOfMotorsRaw(int *num) = 0;
 
    virtual bool getTemperatureRaw(int m, double* val)=0;
 
    virtual bool getTemperaturesRaw(double *vals)=0;
 
    virtual bool getTemperatureLimitRaw(int m, double *temp)=0;
 
    virtual bool setTemperatureLimitRaw(int m, const double temp)=0;
 
    virtual bool getGearboxRatioRaw(int m, double *val) { yWarning("getGearboxRatioRaw() not implemented");  return false; };
 
    virtual bool setGearboxRatioRaw(int m, const double val) { yWarning("setGearboxRatioRaw() not implemented");  return false; };
};
 
class YARP_dev_API yarp::dev::IMotor
{
public:
    virtual ~IMotor() {}
 
    virtual bool getNumberOfMotors(int *num) = 0;
 
    virtual bool getTemperature(int m, double *val)=0;
 
    virtual bool getTemperatures(double *vals)=0;
 
    virtual bool getTemperatureLimit(int m, double *temp)=0;
 
    virtual bool setTemperatureLimit(int m, const double temp)=0;
 
    virtual bool getGearboxRatio(int m, double *val) { yError("getGearboxRatioRaw() not implemented");  return false; };
 
    virtual bool setGearboxRatio(int m, const double val) { yError("setGearboxRatio() not implemented");  return false; };
};
 
// interface IMotorEncoders gets
constexpr yarp::conf::vocab32_t VOCAB_MOTORS_NUMBER        = yarp::os::createVocab32('m','t','n','m');
constexpr yarp::conf::vocab32_t VOCAB_TEMPERATURE          = yarp::os::createVocab32('t','m','p');
constexpr yarp::conf::vocab32_t VOCAB_GEARBOX_RATIO        = yarp::os::createVocab32('g','b','x','r');
constexpr yarp::conf::vocab32_t VOCAB_TEMPERATURES         = yarp::os::createVocab32('t','m','p','s');
constexpr yarp::conf::vocab32_t VOCAB_TEMPERATURE_LIMIT    = yarp::os::createVocab32('t','m','p','l');
 
 
#endif // YARP_DEV_IMOTOR_H