ImplementJointBrake.h

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IMPLEMENTJOINTBRAKE_H
#define YARP_DEV_IMPLEMENTJOINTBRAKE_H
 
#include <yarp/dev/IJointBrake.h>
#include <yarp/dev/api.h>
 
namespace yarp::dev {
class ImplementJointBrake;
}
 
class YARP_dev_API yarp::dev::ImplementJointBrake: public IJointBrake
{
protected:
    yarp::dev::IJointBrakeRaw *raw;
    void *helper;
 
    bool initialize (int size, const int *amap);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementJointBrake(yarp::dev::IJointBrakeRaw *y);
 
    virtual ~ImplementJointBrake();
 
    virtual yarp::dev::ReturnValue isJointBraked(int j, bool& braked) const override;
    virtual yarp::dev::ReturnValue setManualBrakeActive(int j, bool active) override;
    virtual yarp::dev::ReturnValue setAutoBrakeEnabled(int j, bool enabled) override;
    virtual yarp::dev::ReturnValue getAutoBrakeEnabled(int j, bool& enabled) const override;
};
 
#endif // YARP_DEV_IMPLEMENTJOINTFAULT_H