Program Listing for File default_driver.hpp
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// Copyright (c) 2022 PickNik, Inc.
//
// 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.
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// * 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 {copyright_holder} nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#pragma once
#include <memory>
#include <string>
#include <vector>
#include <robotiq_driver/driver.hpp>
#include <robotiq_driver/serial.hpp>
namespace robotiq_driver
{
class DefaultDriver : public Driver
{
public:
explicit DefaultDriver(std::unique_ptr<Serial> serial);
bool connect() override;
void disconnect() override;
void set_slave_address(uint8_t slave_address) override;
void activate() override;
void deactivate() override;
void set_gripper_position(uint8_t pos) override;
uint8_t get_gripper_position() override;
bool gripper_is_moving() override;
void set_speed(uint8_t speed) override;
void set_force(uint8_t force) override;
private:
std::vector<uint8_t> send(const std::vector<uint8_t>& request, size_t response_size) const;
std::vector<uint8_t> create_read_command(uint16_t first_register, uint8_t num_registers);
std::vector<uint8_t> create_write_command(uint16_t first_register, const std::vector<uint16_t>& data);
void update_status();
std::unique_ptr<Serial> serial_ = nullptr;
uint8_t slave_address_;
ActivationStatus activation_status_;
ActionStatus action_status_;
GripperStatus gripper_status_;
ObjectDetectionStatus object_detection_status_;
uint8_t gripper_position_;
uint8_t commanded_gripper_speed_;
uint8_t commanded_gripper_force_;
};
} // namespace robotiq_driver