fakeAnalogSensor.h

Go to the documentation of this file.

/*
 * 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_DEVICE_FAKE_ANALOGSENSOR
#define YARP_DEVICE_FAKE_ANALOGSENSOR
 
#include <yarp/os/PeriodicThread.h>
 
#include <yarp/dev/all.h>
#include <yarp/dev/IAnalogSensor.h>
 
#include <mutex>
 
class FakeAnalogSensor :
        public yarp::dev::DeviceDriver,
        public yarp::os::PeriodicThread,
        public yarp::dev::IAnalogSensor
{
private:
 
    std::mutex         mutex;
 
    std::string   name;    // device name
    unsigned int            channelsNum;
    short                   status;
    double                  timeStamp;
    yarp::sig::Vector       data;
 
public:
    FakeAnalogSensor(double period = 0.02);
 
    ~FakeAnalogSensor();
 
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    //IAnalogSensor interface
    int getChannels() override;
    int getState(int ch) override;
    int read(yarp::sig::Vector &out) override;
 
    int calibrateSensor() override;
    int calibrateSensor(const yarp::sig::Vector& v) override;
 
    int calibrateChannel(int ch) override;
    int calibrateChannel(int ch, double v) override;
 
    // RateThread interface
    void run() override;
    bool threadInit() override;
    void threadRelease() override;
};
 
 
#endif  // YARP_DEVICE_FAKE_ANALOGSENSOR