AxisInterface.hpp

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

                       AxisInterface.hpp -  description
                          -------------------
   begin                : Thu October 21 2004
   copyright            : (C) 2002 Johan Rutgeerts
   email                : Johan.Rutgeerts@mech.kuleuven.be

   ***************************************************************************
   *   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 "DigitalInput.hpp"
#include "DigitalOutput.hpp"
#include "../../rtt-config.h"
#include <string>
#include <vector>

namespace RTT
{ namespace dev {

    class RTT_API AxisInterface
    {
    public:

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

        virtual bool stop() = 0;

        virtual bool lock() = 0;

        virtual bool unlock() = 0;

        virtual bool drive( double v ) = 0;

        virtual double getDriveValue() const = 0;

        virtual bool isLocked() const = 0;

        virtual bool isStopped() const = 0;

        virtual bool isDriven() const = 0;

        virtual DigitalOutput* getBrake() = 0;

        virtual DigitalOutput* getEnable() = 0;

        virtual SensorInterface<double>* getSensor(const std::string& name) const = 0;

        virtual std::vector<std::string> sensorList() const = 0;

        virtual DigitalInput* getSwitch(const std::string& name) const = 0;

        virtual std::vector<std::string> switchList() const = 0;

        virtual SensorInterface<int>* getCounter(const std::string& name) const = 0;

        virtual std::vector<std::string> counterList() const = 0;

    };


}} // namespace RTT

#endif //_AXISINTERFACE_HPP