Program Listing for File encoders.hpp
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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:
*
* * 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"
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#ifndef PHIDGETS_API_ENCODERS_HPP
#define PHIDGETS_API_ENCODERS_HPP
#include <functional>
#include <memory>
#include <vector>
#include "phidgets_api/encoder.hpp"
#include "phidgets_api/phidget22.hpp"
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() = default;
int32_t getSerialNumber() const noexcept;
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;
private:
uint32_t encoder_count_{0};
std::vector<std::unique_ptr<Encoder>> encs_;
};
} // namespace phidgets
#endif // PHIDGETS_API_ENCODERS_HPP