Orocos Real-Time Toolkit  2.6.0
DriveInterface.hpp
00001 /***************************************************************************
00002   tag: FMTC  do nov 2 13:05:56 CET 2006  DriveInterface.hpp
00003 
00004                         DriveInterface.hpp -  description
00005                            -------------------
00006     begin                : do november 02 2006
00007     copyright            : (C) 2006 FMTC
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
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00033  *   Foundation, Inc., 59 Temple Place,                                    *
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00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 
00040 #ifndef DEVICE_DRIVERS_DRIVE_INTERFACE_HPP
00041 #define DEVICE_DRIVERS_DRIVE_INTERFACE_HPP
00042 
00043 #include "../../rtt-config.h"
00044 #include "../../internal/Signal.hpp"
00045 
00046 namespace RTT
00047 { namespace dev {
00048 
00049     class RTT_API DigitalOutput;
00050 
00056     class RTT_API DriveInterface
00057     {
00058     public:
00059         virtual ~DriveInterface() {}
00060 
00064         virtual bool enableDrive() = 0;
00065 
00069         virtual bool disableDrive() = 0;
00070 
00074         virtual bool isEnabled() const = 0;
00075 
00079         virtual DigitalOutput* getEnable() = 0;
00080 
00086         virtual void addOffset(double addoffset) = 0;
00087 
00091         virtual double getOffset() = 0;
00092 
00098         virtual bool driveSet( double v ) = 0;
00099 
00103         virtual double driveGet() const = 0;
00104 
00108         virtual double maxDriveGet() const = 0;
00109 
00113         virtual double minDriveGet() const = 0;
00114 
00118         virtual void limit(double lower, double higher, const internal::Signal<void(std::string)>& ev) = 0;
00119     };
00120 
00121 }}
00122 
00123 #endif