.. _program_listing_file__tmp_ws_src_ros2_robotiq_gripper_robotiq_driver_include_robotiq_driver_driver.hpp:

Program Listing for File driver.hpp
===================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_ros2_robotiq_gripper_robotiq_driver_include_robotiq_driver_driver.hpp>` (``/tmp/ws/src/ros2_robotiq_gripper/robotiq_driver/include/robotiq_driver/driver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2022 PickNik, Inc.
   //
   // 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"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   // POSSIBILITY OF SUCH DAMAGE.
   
   #pragma once
   
   #include <cstdint>
   
   namespace robotiq_driver
   {
   class Driver
   {
   public:
     enum class ActivationStatus
     {
       RESET,
       ACTIVE
     };
   
     enum class ActionStatus
     {
       STOPPED,
       MOVING
     };
   
     enum class GripperStatus
     {
       RESET,
       IN_PROGRESS,
       COMPLETED,
     };
   
     enum class ObjectDetectionStatus
     {
       MOVING,
       OBJECT_DETECTED_OPENING,
       OBJECT_DETECTED_CLOSING,
       AT_REQUESTED_POSITION
     };
   
     virtual void set_slave_address(uint8_t slave_address) = 0;
   
     virtual bool connect() = 0;
   
     virtual void disconnect() = 0;
   
     virtual void activate() = 0;
   
     virtual void deactivate() = 0;
   
     virtual void set_gripper_position(uint8_t pos) = 0;
   
     virtual uint8_t get_gripper_position() = 0;
   
     virtual bool gripper_is_moving() = 0;
   
     virtual void set_speed(uint8_t speed) = 0;
   
     virtual void set_force(uint8_t force) = 0;
   };
   }  // namespace robotiq_driver