IPidControl.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_PIDCONTROL_H
#define YARP_DEV_PIDCONTROL_H
 
#include <yarp/os/Vocab.h>
#include <yarp/dev/api.h>
#include <yarp/dev/GenericVocabs.h>
#include <yarp/dev/PidEnums.h>
#include <yarp/dev/ControlBoardPid.h>
 
namespace yarp
{
    namespace dev
    {
        class IPidControlRaw;
        class IPidControl;
    }
}
 
 
class YARP_dev_API yarp::dev::IPidControlRaw
{
public:
    virtual ~IPidControlRaw() {}
 
 
    virtual bool setPidRaw(const PidControlTypeEnum& pidtype, int j, const Pid &pid) = 0;
 
    virtual bool setPidsRaw(const PidControlTypeEnum& pidtype, const Pid *pids) = 0;
 
    virtual bool setPidReferenceRaw(const PidControlTypeEnum& pidtype, int j, double ref) = 0;
 
    virtual bool setPidReferencesRaw(const PidControlTypeEnum& pidtype, const double *refs) = 0;
 
    virtual bool setPidErrorLimitRaw(const PidControlTypeEnum& pidtype, int j, double limit) = 0;
 
    virtual bool setPidErrorLimitsRaw(const PidControlTypeEnum& pidtype, const double *limits) = 0;
 
    virtual bool getPidErrorRaw(const PidControlTypeEnum& pidtype, int j, double *err) = 0;
 
    virtual bool getPidErrorsRaw(const PidControlTypeEnum& pidtype, double *errs) = 0;
 
    virtual bool getPidOutputRaw(const PidControlTypeEnum& pidtype, int j, double *out) = 0;
 
    virtual bool getPidOutputsRaw(const PidControlTypeEnum& pidtype, double *outs) = 0;
 
    virtual bool getPidRaw(const PidControlTypeEnum& pidtype, int j, Pid *pid) = 0;
 
    virtual bool getPidsRaw(const PidControlTypeEnum& pidtype, Pid *pids) = 0;
 
    virtual bool getPidReferenceRaw(const PidControlTypeEnum& pidtype, int j, double *ref) = 0;
 
    virtual bool getPidReferencesRaw(const PidControlTypeEnum& pidtype, double *refs) = 0;
 
    virtual bool getPidErrorLimitRaw(const PidControlTypeEnum& pidtype, int j, double *limit) = 0;
 
    virtual bool getPidErrorLimitsRaw(const PidControlTypeEnum& pidtype, double *limits) = 0;
 
    virtual bool resetPidRaw(const PidControlTypeEnum& pidtype, int j) = 0;
 
    virtual bool disablePidRaw(const PidControlTypeEnum& pidtype, int j) = 0;
 
    virtual bool enablePidRaw(const PidControlTypeEnum& pidtype, int j) = 0;
 
    virtual bool setPidOffsetRaw(const PidControlTypeEnum& pidtype, int j, double v) = 0;
 
    virtual bool isPidEnabledRaw(const PidControlTypeEnum& pidtype, int j, bool* enabled) = 0;
};
 
class YARP_dev_API yarp::dev::IPidControl
{
public:
    virtual ~IPidControl() {}
 
 
    virtual bool setPid(const PidControlTypeEnum& pidtype, int j, const Pid &pid) = 0;
 
    virtual bool setPids(const PidControlTypeEnum& pidtype, const Pid *pids) = 0;
 
    virtual bool setPidReference(const PidControlTypeEnum& pidtype, int j, double ref) = 0;
 
    virtual bool setPidReferences(const PidControlTypeEnum& pidtype, const double *refs) = 0;
 
    virtual bool setPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double limit) = 0;
 
    virtual bool setPidErrorLimits(const PidControlTypeEnum& pidtype, const double *limits) = 0;
 
    virtual bool getPidError(const PidControlTypeEnum& pidtype, int j, double *err) = 0;
 
    virtual bool getPidErrors(const PidControlTypeEnum& pidtype, double *errs) = 0;
 
    virtual bool getPidOutput(const PidControlTypeEnum& pidtype, int j, double *out) = 0;
 
    virtual bool getPidOutputs(const PidControlTypeEnum& pidtype, double *outs) = 0;
 
    virtual bool getPid(const PidControlTypeEnum& pidtype, int j, Pid *pid) = 0;
 
    virtual bool getPids(const PidControlTypeEnum& pidtype, Pid *pids) = 0;
 
    virtual bool getPidReference(const PidControlTypeEnum& pidtype, int j, double *ref) = 0;
 
    virtual bool getPidReferences(const PidControlTypeEnum& pidtype, double *refs) = 0;
 
    virtual bool getPidErrorLimit(const PidControlTypeEnum& pidtype, int j, double *limit) = 0;
 
    virtual bool getPidErrorLimits(const PidControlTypeEnum& pidtype, double *limits) = 0;
 
    virtual bool resetPid(const PidControlTypeEnum& pidtype, int j) = 0;
 
    virtual bool disablePid(const PidControlTypeEnum& pidtype, int j) = 0;
 
    virtual bool enablePid(const PidControlTypeEnum& pidtype, int j) = 0;
 
    virtual bool setPidOffset(const PidControlTypeEnum& pidtype, int j, double v) = 0;
 
    virtual bool isPidEnabled(const PidControlTypeEnum& pidtype, int j, bool* enabled) = 0;
};
 
// interface IPositionControl gets
constexpr yarp::conf::vocab32_t VOCAB_PID     = yarp::os::createVocab32('p','i','d');
constexpr yarp::conf::vocab32_t VOCAB_PIDS    = yarp::os::createVocab32('p','i','d','s');
 
 
#endif // YARP_DEV_CONTROLBOARDINTERFACES_H