rq_sensor_state.h

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/*
 *  \file rq_sensor_state.h
 *  \date June 19, 2014
 *  \author Jonathan Savoie <jonathan.savoie@robotiq.com>
 *  \maintainer Jean-Philippe Roberge <ros@robotiq.com>
 */

#ifndef RQ_SENSOR_STATE_H
#define RQ_SENSOR_STATE_H


#include "rq_int.h"
#include <stdbool.h>
#include <string>


namespace SensorAccessor
{
  enum Command
  {
         GET_SERIAL_NUMBER = 1,
         GET_FIRMWARE_VERSION = 2,
         GET_PRODUCTION_YEAR = 4,
         SET_ZERO = 8
  };
}


enum rq_sensor_state_values
{
        RQ_STATE_INIT,         
        RQ_STATE_READ_INFO,    
        RQ_STATE_START_STREAM, 
        RQ_STATE_RUN           
};

INT_8 rq_sensor_state(unsigned int max_retries);
INT_8 rq_sensor_state(unsigned int max_retries, const std::string& ftdi_id);
void rq_state_get_command(INT_8 const * const name, INT_8 * const  value);
bool rq_state_get_command(INT_8 command, INT_8 * const  value);

void rq_state_do_zero_force_flag(void);
enum rq_sensor_state_values rq_sensor_get_current_state(void);
bool rq_state_got_new_message(void);
float rq_state_get_received_data(UINT_8 i);

#endif //RQ_SENSOR_STATE_H