IControlMode.h

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_ICONTROLMODE_H
#define YARP_DEV_ICONTROLMODE_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
 
namespace yarp {
    namespace dev {
    class IControlModeRaw;
    class IControlMode;
    }
}
 
class YARP_dev_API yarp::dev::IControlMode
{
public:
    virtual ~IControlMode(){}
 
    virtual bool getControlMode(int j, int *mode)=0;
 
    virtual bool getControlModes(int *modes)=0;
 
    virtual bool getControlModes(const int n_joint, const int *joints, int *modes)=0;
 
    virtual bool setControlMode(const int j, const int mode)=0;
 
    virtual bool setControlModes(const int n_joint, const int *joints, int *modes)=0;
 
    virtual bool setControlModes(int *modes)=0;
};
 
 
class YARP_dev_API yarp::dev::IControlModeRaw
{
public:
    virtual ~IControlModeRaw(){}
    virtual bool getControlModeRaw(int j, int *mode)=0;
    virtual bool getControlModesRaw(int* modes)=0;
    virtual bool getControlModesRaw(const int n_joint, const int *joints, int *modes)=0;
    virtual bool setControlModeRaw(const int j, const int mode)=0;
    virtual bool setControlModesRaw(const int n_joint, const int *joints, int *modes)=0;
    virtual bool setControlModesRaw(int *modes)=0;
};
 
 
// new style VOCABS
// Interface
constexpr yarp::conf::vocab32_t VOCAB_ICONTROLMODE = yarp::os::createVocab32('i','c','m','d');
// Methods
constexpr yarp::conf::vocab32_t VOCAB_CM_CONTROL_MODE       =   yarp::os::createVocab32('c','m','o','d');
constexpr yarp::conf::vocab32_t VOCAB_CM_CONTROL_MODE_GROUP =   yarp::os::createVocab32('c','m','o','g');
constexpr yarp::conf::vocab32_t VOCAB_CM_CONTROL_MODES      =   yarp::os::createVocab32('c','m','d','s');
 
// Values
// Read / Write
constexpr yarp::conf::vocab32_t VOCAB_CM_IDLE            =   yarp::os::createVocab32('i','d','l');
constexpr yarp::conf::vocab32_t VOCAB_CM_TORQUE          =   yarp::os::createVocab32('t','o','r','q');
constexpr yarp::conf::vocab32_t VOCAB_CM_POSITION        =   yarp::os::createVocab32('p','o','s');
constexpr yarp::conf::vocab32_t VOCAB_CM_POSITION_DIRECT =   yarp::os::createVocab32('p','o','s','d');
constexpr yarp::conf::vocab32_t VOCAB_CM_VELOCITY        =   yarp::os::createVocab32('v','e','l');
constexpr yarp::conf::vocab32_t VOCAB_CM_CURRENT         =   yarp::os::createVocab32('i','c','u','r');
constexpr yarp::conf::vocab32_t VOCAB_CM_PWM             =   yarp::os::createVocab32('i','p','w','m');
constexpr yarp::conf::vocab32_t VOCAB_CM_IMPEDANCE_POS   =   yarp::os::createVocab32('i','m','p','o');  // deprecated
constexpr yarp::conf::vocab32_t VOCAB_CM_IMPEDANCE_VEL   =   yarp::os::createVocab32('i','m','v','e');  // deprecated
 
// Values
// Read / Write
constexpr yarp::conf::vocab32_t  VOCAB_CM_MIXED = yarp::os::createVocab32('m','i','x');
 
// Write only (only from high level toward the joint)
constexpr yarp::conf::vocab32_t  VOCAB_CM_FORCE_IDLE =   yarp::os::createVocab32('f','i','d','l');
 
// Read only (imposed by the board on special events)
constexpr yarp::conf::vocab32_t  VOCAB_CM_HW_FAULT       =    yarp::os::createVocab32('h','w','f','a');
constexpr yarp::conf::vocab32_t  VOCAB_CM_CALIBRATING    =    yarp::os::createVocab32('c','a','l');     // the joint is calibrating
constexpr yarp::conf::vocab32_t  VOCAB_CM_CALIB_DONE     =    yarp::os::createVocab32('c','a','l','d'); // calibration successfully completed
constexpr yarp::conf::vocab32_t  VOCAB_CM_NOT_CONFIGURED =    yarp::os::createVocab32('c','f','g','n'); // missing initial configuration (default value at start-up)
constexpr yarp::conf::vocab32_t  VOCAB_CM_CONFIGURED     =    yarp::os::createVocab32('c','f','g','y'); // initial configuration completed, if any
 
// Read only (cannot be set from user)
constexpr yarp::conf::vocab32_t VOCAB_CM_UNKNOWN =   yarp::os::createVocab32('u','n','k','w');
 
#endif // YARP_DEV_ICONTROLMODE_H