ImplementCurrentControl.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMPLEMENTCURRENTCONTROL_H
#define YARP_DEV_IMPLEMENTCURRENTCONTROL_H
 
#include <yarp/dev/ICurrentControl.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class ImplementCurrentControl;
}
 
namespace yarp::dev::impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace yarp::dev::impl
 
class YARP_dev_API yarp::dev::ImplementCurrentControl: public ICurrentControl
{
protected:
    yarp::dev::ICurrentControlRaw *iCurrentRaw;
    void *helper;
    yarp::dev::impl::FixedSizeBuffersManager<int> *intBuffManager;
    yarp::dev::impl::FixedSizeBuffersManager<double> *doubleBuffManager;
 
    bool initialize(int size, const int *amap, const double* ampsToSens);
 
    bool uninitialize();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementCurrentControl(yarp::dev::ICurrentControlRaw *y);
 
    virtual ~ImplementCurrentControl();
 
    bool getNumberOfMotors(int *ax) override;
    bool getRefCurrent(int j, double *) override;
    bool getRefCurrents(double *t) override;
    bool setRefCurrents(const double *t) override;
    bool setRefCurrent(int j, double t) override;
    bool setRefCurrents(const int n_joint, const int *joints, const double *t) override;
    bool getCurrents(double *t) override;
    bool getCurrent(int j, double *t) override;
    bool getCurrentRange(int j, double *min, double *max) override;
    bool getCurrentRanges(double *min, double *max) override;
};
 
#endif // YARP_DEV_IMPLEMENTCURRENTCONTROL_H