IVirtualAnalogSensor.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IVIRTUALANALOGSENSOR_H
#define YARP_DEV_IVIRTUALANALOGSENSOR_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/sig/Vector.h>
 
constexpr yarp::conf::vocab32_t VOCAB_IVIRTUAL_ANALOG   = yarp::os::createVocab32('i','v','a','n');
 
namespace yarp::dev {
class IVirtualAnalogSensor;
class IVirtualAnalogSensorRaw;
}
 
namespace yarp::dev {
YARP_WARNING_PUSH
YARP_DISABLE_CLASS_ENUM_API_WARNING
enum class YARP_dev_API VAS_status
{
    VAS_OK = 0,
    VAS_ERROR = 1,      // generic error
    VAS_OVF = 2,        // overflow
    VAS_TIMEOUT = 3
};
YARP_WARNING_POP
} // namespace yarp::dev
 
class YARP_dev_API yarp::dev::IVirtualAnalogSensor
{
public:
 
    virtual ~IVirtualAnalogSensor(){}
 
    virtual VAS_status getVirtualAnalogSensorStatus(int ch)=0;
 
    virtual int getVirtualAnalogSensorChannels()=0;
 
    virtual bool updateVirtualAnalogSensorMeasure(yarp::sig::Vector &measure)=0;
    virtual bool updateVirtualAnalogSensorMeasure(int ch, double &measure)=0;
 
};
 
class YARP_dev_API yarp::dev::IVirtualAnalogSensorRaw
{
public:
 
    virtual ~IVirtualAnalogSensorRaw() {}
 
    virtual VAS_status getVirtualAnalogSensorStatusRaw(int ch) = 0;
 
    virtual int getVirtualAnalogSensorChannelsRaw() = 0;
 
    virtual bool updateVirtualAnalogSensorMeasureRaw(yarp::sig::Vector &measure) = 0;
    virtual bool updateVirtualAnalogSensorMeasureRaw(int ch, double &measure) = 0;
 
};
 
#endif // YARP_DEV_IVIRTUALANALOGSENSOR_H