Program Listing for File fake_driver.hpp
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// Copyright (c) 2023 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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#pragma once
#include <robotiq_driver/driver.hpp>
namespace robotiq_driver
{
class FakeDriver : public Driver
{
public:
void set_slave_address(uint8_t slave_address) override;
bool connect() override;
void disconnect() override;
void activate() override;
void deactivate() override;
void set_gripper_position(uint8_t position) 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:
uint8_t slave_address_ = 0x00;
bool connected_ = false;
bool activated_ = false;
uint8_t position_ = 0;
bool gripper_is_moving_ = false;
uint8_t speed_ = 0;
uint8_t force_ = 0;
};
} // namespace robotiq_driver