ImplementMotor.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_DEV_IMPLEMENTMOTOR_H
#define YARP_DEV_IMPLEMENTMOTOR_H
 
#include <yarp/dev/IMotor.h>
 
namespace yarp {
    namespace dev {
        class ImplementMotor;
    }
}
 
namespace yarp {
namespace dev {
namespace impl {
 
template <typename T>
class FixedSizeBuffersManager;
 
} // namespace impl
} // namespace dev
} // namespace yarp
 
 
class YARP_dev_API yarp::dev::ImplementMotor: public IMotor
{
protected:
    IMotorRaw *imotor;
    void *helper;
 
    yarp::dev::impl::FixedSizeBuffersManager<double> *doubleBuffManager;
 
    bool initialize (int size, const int *amap);
 
    bool uninitialize ();
 
public:
    /* Constructor.
     * @param y is the pointer to the class instance inheriting from this
     *  implementation.
     */
    ImplementMotor(yarp::dev::IMotorRaw *y);
 
 
    virtual ~ImplementMotor();
 
    bool getNumberOfMotors(int *num) override;
 
    bool getTemperature      (int m, double* val) override;
    bool getTemperatures     (double *vals) override;
    bool getTemperatureLimit (int m, double* val) override;
    bool setTemperatureLimit (int m, const double val) override;
    bool getGearboxRatio     (int m, double* val) override;
    bool setGearboxRatio     (int m, const double val) override;
};
 
#endif // YARP_DEV_IMPLEMENTMOTOR_H