qbsofthand_industry_api.h

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#ifndef QBSOFTHAND_INDUSTRY_API_H
#define QBSOFTHAND_INDUSTRY_API_H
 
// standard libraries
#include <memory>
#include <string>
 
namespace qbsofthand_industry_api {
class qbSoftHandIndustryAPI {
 public:
  qbSoftHandIndustryAPI();
 
  explicit qbSoftHandIndustryAPI(const bool &debug_serial);
 
  explicit qbSoftHandIndustryAPI(const std::string &serial_port_name);
 
  explicit qbSoftHandIndustryAPI(const std::string &device_ip, const int &max_timeout);
 
  virtual ~qbSoftHandIndustryAPI();
 
  double getCurrent();
  
  double getVoltage();
  
  int getDigitalInputPosition(const int &index);
 
  int getDigitalInputVelocity(const int &index);
 
  int getDigitalInputCurrent(const int &index);
 
  double getPosition();
 
  double getVelocity();
 
  std::string getStatistics();
 
  std::string getStatisticsFull();
 
  std::string getSerialNumber();
 
  std::string getDeviceSerialNumber();
 
  std::string getFirmwareVersion();
 
  std::string getIPAddress();
 
  std::string getNetMask();
 
  std::string getGateWayAddress();
 
  int getMaxCurrentThreshold();
 
  bool getWaitForStableGrasp();
 
  bool getEthercatConnection();
 
  int getHandSide();
 
  int setHandSide(const bool &is_right);
 
  int setEthercatConnection(const bool &mode);
 
  bool isInitialized();
 
  void saveParams();
 
  int setClosure(const float &position);
 
  int setClosure(const float &position, const float &velocity, const float &current);
 
  int setIP(const std::string &net_ip, const std::string &net_mask, const std::string &net_gateway);
 
  int setDigitalInputParams(const int &index, const int &position, const int &velocity, const int &current);
 
  int setWaitForStableGrasp(const bool &wait);
 
  int waitForTargetReached();
 
  int sendRawCommand(const std::string &command, const int &max_repeats); 
 
 private:
  class Implementation;
  std::unique_ptr<Implementation> pimpl_;
};
}  // namespace qbsofthand_industry_api
 
#endif // QBSOFTHAND_INDUSTRY_API_H