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 * 00032 * License along with this library; if not, write to the Free Software * 00033 * Foundation, Inc., 59 Temple Place, * 00034 * Suite 330, Boston, MA 02111-1307 USA * 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