ServoControllerService_impl.h

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
#ifndef __SERVOCONTROLLER_SERVICE_H__
#define __SERVOCONTROLLER_SERVICE_H__

#include "hrpsys/idl/ServoControllerService.hh"

using namespace OpenHRP;

class ServoController;

class ServoControllerService_impl
        : public virtual POA_OpenHRP::ServoControllerService,
          public virtual PortableServer::RefCountServantBase
{
public:
        ServoControllerService_impl();

        virtual ~ServoControllerService_impl();

        CORBA::Boolean setJointAngle(const CORBA::Short id, CORBA::Double jv, CORBA::Double tm);
        CORBA::Boolean setJointAngles(const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm);
        CORBA::Boolean getJointAngle(const CORBA::Short id, CORBA::Double &jv);
        CORBA::Boolean getJointAngles(OpenHRP::ServoControllerService::dSequence_out jvs);

        CORBA::Boolean addJointGroup(const char* gname, const OpenHRP::ServoControllerService::iSequence& ids);
        CORBA::Boolean removeJointGroup(const char* gname);
        CORBA::Boolean setJointAnglesOfGroup(const char *gname, const OpenHRP::ServoControllerService::dSequence& jvs, CORBA::Double tm);

        CORBA::Boolean setMaxTorque(const CORBA::Short id, const CORBA::Short percentage);
        CORBA::Boolean setReset(const CORBA::Short id);
        CORBA::Boolean getDuration(const CORBA::Short id, CORBA::Double &duration);
        CORBA::Boolean getSpeed(const CORBA::Short id, CORBA::Double &speed);
        CORBA::Boolean getMaxTorque(const CORBA::Short id, CORBA::Short &percentage);
        CORBA::Boolean getTorque(const CORBA::Short id, CORBA::Double &torque);
        CORBA::Boolean getTemperature(const CORBA::Short id, CORBA::Double &temperature);
        CORBA::Boolean getVoltage(const CORBA::Short id, CORBA::Double &voltage);
        CORBA::Boolean servoOn();
        CORBA::Boolean servoOff();

        void servo(ServoController *i_servo);
private:
  ServoController *m_servo;
};

#endif