SVHControllerState.h
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00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 
00003 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00004 // This file is part of the SCHUNK SVH Driver suite.
00005 //
00006 // This program is free software licensed under the LGPL
00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00008 // You can find a copy of this license in LICENSE folder in the top
00009 // directory of the source code.
00010 //
00011 // © Copyright 2014 SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar Germany
00012 // © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00013 //
00014 // -- END LICENSE BLOCK ------------------------------------------------
00015 
00016 //----------------------------------------------------------------------
00028 //----------------------------------------------------------------------
00029 #ifndef SVHCONTROLLERSTATE_H
00030 #define SVHCONTROLLERSTATE_H
00031 
00032 namespace driver_svh {
00033 
00037 struct SVHControllerState
00038 {
00041   uint16_t pwm_fault;
00044   uint16_t pwm_otw;
00046   uint16_t pwm_reset;
00049   uint16_t pwm_active;
00051   uint16_t pos_ctrl;
00053   uint16_t cur_ctrl;
00054 
00056   SVHControllerState(uint16_t _pwm_fault =0,uint16_t _pwm_otw = 0 , uint16_t _pwm_reset = 0 ,uint16_t _pwm_active = 0 ,uint16_t _pos_ctrl =0, uint16_t _cur_ctrl =0):
00057   pwm_fault(_pwm_fault),
00058   pwm_otw(_pwm_otw),
00059   pwm_reset(_pwm_reset),
00060   pwm_active(_pwm_active),
00061   pos_ctrl(_pos_ctrl),
00062   cur_ctrl(_cur_ctrl)
00063   {  }
00064 
00066   bool operator == (const SVHControllerState& other) const
00067   {
00068     return
00069       (pwm_fault == other.pwm_fault
00070        && pwm_otw == other.pwm_otw
00071        && pwm_reset == other.pwm_reset
00072        && pwm_active == other.pwm_active
00073        && pos_ctrl == other.pos_ctrl
00074        && cur_ctrl == other.cur_ctrl);
00075   }
00076 };
00077 
00079 inline icl_comm::ArrayBuilder& operator << (icl_comm::ArrayBuilder& ab, const SVHControllerState& data)
00080 {
00081   ab << data.pwm_fault
00082      << data.pwm_otw
00083      << data.pwm_reset
00084      << data.pwm_active
00085      << data.pos_ctrl
00086      << data.cur_ctrl;
00087   return ab;
00088 }
00089 
00091 inline icl_comm::ArrayBuilder& operator >> (icl_comm::ArrayBuilder& ab, SVHControllerState& data)
00092 {
00093   ab >> data.pwm_fault
00094      >> data.pwm_otw
00095      >> data.pwm_reset
00096      >> data.pwm_active
00097      >> data.pos_ctrl
00098      >> data.cur_ctrl;
00099 
00100   return ab;
00101 }
00102 
00104 inline std::ostream& operator << (std::ostream& o, const SVHControllerState& cs)
00105 {
00106   o << std::setw(4) << std::setfill('0') << std::hex
00107     << "pwm_fault " << "0x" << static_cast<int>(cs.pwm_fault) << " "
00108     << "pwm_otw " << "0x" << static_cast<int>(cs.pwm_otw) << " "
00109     << "pwm_reset " << "0x" << static_cast<int>(cs.pwm_reset) << " "
00110     << "pwm_active " << "0x" << static_cast<int>(cs.pwm_active) << " "
00111     << "pos_ctr " << "0x" <<  static_cast<int>(cs.pos_ctrl) << " "
00112     << "cur_ctrl " << "0x" << static_cast<int>(cs.cur_ctrl) << " "
00113     << std::endl;
00114   // Reset Output stream to decimal output .. otherwise it may confuse people
00115   std::cout << std::dec ;
00116   return o;
00117 }
00118 
00119 }
00120 
00121 
00122 #endif // SVHCONTROLLERSTATE_H


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:19