YouBotJointParameterPasswordProtected.hpp

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#ifndef YOUBOT_YOUBOTJOINTPARAMETERPASSWORDPROTECTED_H
#define YOUBOT_YOUBOTJOINTPARAMETERPASSWORDPROTECTED_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
 * License, or (at your option) any later version or the BSD license.
 *
 * This program 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 LGPL and the BSD license for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License LGPL and BSD license along with this program.
 *
 ****************************************************************/
#include <vector>
#include <sstream>
#include <boost/limits.hpp>
#include <youbot_driver/generic/Logger.hpp>
#include <youbot_driver/generic/Units.hpp>
#include <youbot_driver/generic/Time.hpp>
#include <youbot_driver/generic/Exceptions.hpp>
#include <youbot_driver/generic-joint/JointParameter.hpp>
#include <youbot_driver/youbot/YouBotJointParameter.hpp>
#include <youbot_driver/youbot/ProtocolDefinitions.hpp>
#include <youbot_driver/youbot/YouBotSlaveMsg.hpp>
#include <youbot_driver/youbot/YouBotSlaveMailboxMsg.hpp>
#include <youbot_driver/youbot/YouBotJointStorage.hpp>
namespace youbot
{

class YouBotJointParameterPasswordProtected : public YouBotJointParameter
{
  friend class YouBotJoint;
protected:
  YouBotJointParameterPasswordProtected();

public:
  virtual ~YouBotJointParameterPasswordProtected();

  virtual void toString(std::string& value) = 0;

protected:
  virtual void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                                   const YouBotJointStorage& storage) const = 0;

  virtual void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage) = 0;

  virtual std::string getName() const = 0;

  virtual ParameterType getType() const = 0;

  std::string name;

  ParameterType parameterType;

};
class ActivateOvervoltageProtection : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  ActivateOvervoltageProtection();

  virtual ~ActivateOvervoltageProtection();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class ActualCommutationOffset : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  ActualCommutationOffset();

  virtual ~ActualCommutationOffset();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class ApproveProtectedParameters : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  ApproveProtectedParameters();

  virtual ~ApproveProtectedParameters();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class BEMFConstant : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  BEMFConstant();

  virtual ~BEMFConstant();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class CommutationMode : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  CommutationMode();

  virtual ~CommutationMode();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class CommutationMotorCurrent : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  CommutationMotorCurrent();

  virtual ~CommutationMotorCurrent();

  void getParameter(quantity<current>& parameter) const;

  void setParameter(const quantity<current>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<current> upperLimit;

  quantity<current> lowerLimit;

  quantity<current> value;

  std::string name;

  ParameterType parameterType;

};
class CurrentControlLoopDelay : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  CurrentControlLoopDelay();

  virtual ~CurrentControlLoopDelay();

  void getParameter(quantity<si::time>& parameter) const;

  void setParameter(const quantity<si::time>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::time> upperLimit;

  quantity<si::time> lowerLimit;

  quantity<si::time> value;

  std::string name;

  ParameterType parameterType;

};
class EncoderResolution : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  EncoderResolution();

  virtual ~EncoderResolution();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class EncoderStopSwitch : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  EncoderStopSwitch();

  virtual ~EncoderStopSwitch();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class HallSensorPolarityReversal : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  HallSensorPolarityReversal();

  virtual ~HallSensorPolarityReversal();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class I2tExceedCounter : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  I2tExceedCounter();

  virtual ~I2tExceedCounter();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class I2tLimit : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  I2tLimit();

  virtual ~I2tLimit();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class InitializationMode : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  InitializationMode();

  virtual ~InitializationMode();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class InitSineDelay : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  InitSineDelay();

  virtual ~InitSineDelay();

  void getParameter(quantity<si::time>& parameter) const;

  void setParameter(const quantity<si::time>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::time> upperLimit;

  quantity<si::time> lowerLimit;

  quantity<si::time> value;

  std::string name;

  ParameterType parameterType;

};
class MassInertiaConstant : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  MassInertiaConstant();

  virtual ~MassInertiaConstant();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class MaximumMotorCurrent : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  MaximumMotorCurrent();

  virtual ~MaximumMotorCurrent();

  void getParameter(quantity<current>& parameter) const;

  void setParameter(const quantity<current>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<current> upperLimit;

  quantity<current> lowerLimit;

  quantity<current> value;

  std::string name;

  ParameterType parameterType;

};
class MotorCoilResistance : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  MotorCoilResistance();

  virtual ~MotorCoilResistance();

  void getParameter(quantity<resistance>& parameter) const;

  void setParameter(const quantity<resistance>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<resistance> upperLimit;

  quantity<resistance> lowerLimit;

  quantity<resistance> value;

  std::string name;

  ParameterType parameterType;

};
class MotorControllerTimeout : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  MotorControllerTimeout();

  virtual ~MotorControllerTimeout();

  void getParameter(quantity<si::time>& parameter) const;

  void setParameter(const quantity<si::time>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::time> upperLimit;

  quantity<si::time> lowerLimit;

  quantity<si::time> value;

  std::string name;

  ParameterType parameterType;

};
class MotorPoles : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  MotorPoles();

  virtual ~MotorPoles();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class OperationalTime : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  OperationalTime();

  virtual ~OperationalTime();

  void getParameter(quantity<si::time>& parameter) const;

  void setParameter(const quantity<si::time>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::time> upperLimit;

  quantity<si::time> lowerLimit;

  quantity<si::time> value;

  std::string name;

  ParameterType parameterType;

};
class PIDControlTime : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  PIDControlTime();

  virtual ~PIDControlTime();

  void getParameter(quantity<si::time>& parameter) const;

  void setParameter(const quantity<si::time>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::time> upperLimit;

  quantity<si::time> lowerLimit;

  quantity<si::time> value;

  std::string name;

  ParameterType parameterType;

};
class ReversingEncoderDirection : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  ReversingEncoderDirection();

  virtual ~ReversingEncoderDirection();

  bool getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class SetEncoderCounterZeroAtNextNChannel : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  SetEncoderCounterZeroAtNextNChannel();

  virtual ~SetEncoderCounterZeroAtNextNChannel();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class SetEncoderCounterZeroAtNextSwitch : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  SetEncoderCounterZeroAtNextSwitch();

  virtual ~SetEncoderCounterZeroAtNextSwitch();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class SetEncoderCounterZeroOnlyOnce : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  SetEncoderCounterZeroOnlyOnce();

  virtual ~SetEncoderCounterZeroOnlyOnce();

  void getParameter(bool& parameter) const;

  void setParameter(const bool parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  bool value;

  std::string name;

  ParameterType parameterType;

};
class SineInitializationVelocity : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  SineInitializationVelocity();

  virtual ~SineInitializationVelocity();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};
class StopSwitchPolarity : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  StopSwitchPolarity();

  virtual ~StopSwitchPolarity();

  void getParameter(unsigned int& parameter) const;

  void setParameter(const unsigned int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  unsigned int upperLimit;

  unsigned int lowerLimit;

  unsigned int value;

  std::string name;

  ParameterType parameterType;

};
class ThermalWindingTimeConstant : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  ThermalWindingTimeConstant();

  virtual ~ThermalWindingTimeConstant();

  void getParameter(quantity<si::time>& parameter) const;

  void setParameter(const quantity<si::time>& parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  quantity<si::time> upperLimit;

  quantity<si::time> lowerLimit;

  quantity<si::time> value;

  std::string name;

  ParameterType parameterType;

};

class MotorHaltedVelocity : public YouBotJointParameterPasswordProtected
{
  friend class YouBotJoint;
public:
  MotorHaltedVelocity();

  virtual ~MotorHaltedVelocity();

  void getParameter(int& parameter) const;

  void setParameter(const int parameter);

  void toString(std::string& value);

private:
  void getYouBotMailboxMsg(YouBotSlaveMailboxMsg& message, TMCLCommandNumber msgType,
                           const YouBotJointStorage& storage) const;

  void setYouBotMailboxMsg(const YouBotSlaveMailboxMsg& message, const YouBotJointStorage& storage);

  std::string getName() const
  {
    return this->name;
  }
  ;

  ParameterType getType() const
  {
    return this->parameterType;
  }
  ;

  int upperLimit;

  int lowerLimit;

  int value;

  std::string name;

  ParameterType parameterType;

};

} // namespace youbot
#endif