CalibratorThread.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_ROBOTINTERFACE_CALIBRATORTHREAD_H
#define YARP_ROBOTINTERFACE_CALIBRATORTHREAD_H
 
#include <yarp/robotinterface/api.h>
 
#include <yarp/os/Thread.h>
 
#include <yarp/robotinterface/experimental/Types.h>
 
 
namespace yarp {
 
namespace os {
class Semaphore;
} // namespace os
 
namespace dev {
class ICalibrator;
class DeviceDriver;
} // namespace dev
 
namespace robotinterface {
namespace impl {
 
class CalibratorThread : public yarp::os::Thread
{
public:
    enum Action
    {
        ActionCalibrate,
        ActionPark
    };
 
    CalibratorThread(yarp::dev::ICalibrator* calibrator,
                     const std::string& calibratorName,
                     yarp::dev::DeviceDriver* target,
                     const std::string& targetName,
                     yarp::robotinterface::impl::CalibratorThread::Action action);
    ~CalibratorThread() override;
 
    void run() override;
    void onStop() override;
 
private:
    class Private;
    Private* const mPriv;
};
 
} // namespace impl
} // namespace robotinterface
} // namespace yarp
 
#endif // YARP_ROBOTINTERFACE_CALIBRATORTHREAD_H