axisinterface.hpp

机器人开源项目orocos的源代码

/***************************************************************************

                       AxisInterface.hpp -  description
                          -------------------
   begin                : Thu October 21 2004
   copyright            : (C) 2002 Johan Rutgeerts
   email                : [e-mail]

   ***************************************************************************
   *   This library is free software; you can redistribute it and/or         *
   *   modify it under the terms of the GNU Lesser General Public            *
   *   License as published by the Free Software Foundation; either          *
   *   version 2.1 of the License, or (at your option) any later version.    *
   *                                                                         *
   *   This library is distributed in the hope that it will be useful,       *
   *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
   *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
   *   Lesser General Public License for more details.                       *
   *                                                                         *
   *   You should have received a copy of the GNU Lesser General Public      *
   *   License along with this library; if not, write to the Free Software   *
   *   Foundation, Inc., 59 Temple Place,                                    *
   *   Suite 330, Boston, MA  02111-1307  USA                                *
   *                                                                         *
   ***************************************************************************/

#ifndef _AXISINTERFACE_HPP
#define _AXISINTERFACE_HPP

#include "SensorInterface.hpp"
#include <string>
#include <vector>

namespace RTT
{
    class DigitalInput;
    class DigitalOutput;
}

namespace RTT
{
    /** 
     * The AxisInterface  represents an axis from a control
     * point of view
     * @ingroup DeviceInterface
     */
    class AxisInterface
    {
    public:

        AxisInterface() {};
        virtual ~AxisInterface() {};

        /**
         * @brief Stop the Axis (electronically), brakes disabled,
         * drive enabled and set to zero.
         */
        virtual bool stop() = 0;

        /**
         * @brief Lock the Axis (mechanically), brakes enabled, drive
         * disabled.
         */
        virtual bool lock() = 0;

        /**
         * @brief Unlock the Axis (mechanically), brakes enabled, drive
         * enabled.
         */
        virtual bool unlock() = 0;

        /**
         * @brief Drive a certain 'physical unit' (eg velocity, torque,...).
         */
        virtual bool drive( double v ) = 0;

        /**
         * @brief Get the drive value (eg velocity, torque,...).
         */
        virtual double getDriveValue() const = 0;

        /**
         * @brief Return true if the drive is disabled, and brakes are on.
         */
        virtual bool isLocked() const = 0;

        /**
         * @brief Return true if the drive is enabled but not moving, and brakes are off.
         */
        virtual bool isStopped() const = 0;

        /**
         * @brief Return true if the drive is enabled, and brakes are off.
         */
        virtual bool isDriven() const = 0;

        /**
         * @brief Get the brake signal of the Axis as a DigitalOutput.
         */
        virtual DigitalOutput* getBrake() = 0;

        /**
         * @brief Get the enable signal of the Axis as a DigitalOutput.
         */
        virtual DigitalOutput* getEnable() = 0;
  
        /**
         * @brief Retrieve a sensor from the Axis.
         */
        virtual SensorInterface<double>* getSensor(const std::string& name) const = 0;

        /**
         * @brief Retrieve a list of the sensor from the Axis.
         */
        virtual std::vector<std::string> sensorList() const = 0;
  
        /**
         * @brief Retrieve a switch (digital input) from the Axis.
         */
        virtual DigitalInput* getSwitch(const std::string& name) const = 0;

        /**
         * @brief Retrieve a list of the digital input switches from the Axis.
         */
        virtual std::vector<std::string> switchList() const = 0;
  
        /**
         * @brief Retrieve a counter from the Axis.
         */
        virtual SensorInterface<int>* getCounter(const std::string& name) const = 0;

        /**
         * @brief Retrieve a list of the counter from the Axis.
         */
        virtual std::vector<std::string> counterList() const = 0;
  
    };


} // namespace RTT

#endif //_AXISINTERFACE_HPP