Program Listing for File 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.
//
// * 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"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// POSSIBILITY OF SUCH DAMAGE.
#pragma once
#include <cstdint>
namespace robotiq_driver
{
class Driver
{
public:
enum class ActivationStatus
{
RESET,
ACTIVE
};
enum class ActionStatus
{
STOPPED,
MOVING
};
enum class GripperStatus
{
RESET,
IN_PROGRESS,
COMPLETED,
};
enum class ObjectDetectionStatus
{
MOVING,
OBJECT_DETECTED_OPENING,
OBJECT_DETECTED_CLOSING,
AT_REQUESTED_POSITION
};
virtual void set_slave_address(uint8_t slave_address) = 0;
virtual bool connect() = 0;
virtual void disconnect() = 0;
virtual void activate() = 0;
virtual void deactivate() = 0;
virtual void set_gripper_position(uint8_t pos) = 0;
virtual uint8_t get_gripper_position() = 0;
virtual bool gripper_is_moving() = 0;
virtual void set_speed(uint8_t speed) = 0;
virtual void set_force(uint8_t force) = 0;
};
} // namespace robotiq_driver