encoders.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *       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
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef PHIDGETS_API_ENCODERS_H
#define PHIDGETS_API_ENCODERS_H
 
#include <functional>
#include <memory>
#include <vector>
 
#include "phidgets_api/encoder.h"
#include "phidgets_api/phidget22.h"
 
namespace phidgets {
 
class Encoders final
{
  public:
    PHIDGET22_NO_COPY_NO_MOVE_NO_ASSIGN(Encoders)
 
    explicit Encoders(
        int32_t serial_number, int hub_port, bool is_hub_port_device,
        std::function<void(int, int, double, int)> position_change_handler);
 
    ~Encoders();
 
    uint32_t getEncoderCount() const;
 
    int64_t getPosition(int index) const;
 
    void setPosition(int index, int64_t position) const;
 
    int64_t getIndexPosition(int index) const;
 
    bool getEnabled(int index) const;
 
    void setEnabled(int index, bool enabled) const;
 
    Phidget_EncoderIOMode getIOMode(int index) const;
    void setIOMode(int index, Phidget_EncoderIOMode io_mode) const;
 
    uint32_t getDataInterval(int index) const;
    void setDataInterval(int index, uint32_t data_interval_ms) const;
 
  private:
    uint32_t encoder_count_;
    std::vector<std::unique_ptr<Encoder>> encs_;
};
 
}  // namespace phidgets
 
#endif  // PHIDGETS_API_ENCODERS_H