Visual Servoing Platform version 3.5.0
vpQbDevice.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Interface for the qb robotics devices.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpQbDevice_h_
40#define _vpQbDevice_h_
41
42#include <visp3/core/vpConfig.h>
43#ifdef VISP_HAVE_QBDEVICE
44
45#include <vector>
46#include <map>
47#include <mutex>
48#include <memory>
49
63class VISP_EXPORT vpQbDevice
64{
65public:
66 vpQbDevice();
67 virtual ~vpQbDevice();
68
70 double getCurrentMax() const;
71 std::vector<short int> getPositionLimits() const;
72 void setMaxRepeats(const int &max_repeats);
74
75protected:
78 virtual int activate(const int &id, const bool &command, const int &max_repeats);
79 virtual int activate(const int &id, const int &max_repeats);
80 virtual bool close(const std::string &serial_port);
81 virtual int deactivate(const int &id, const int &max_repeats);
82
83 virtual int getCurrents(const int &id, const int &max_repeats, std::vector<short int> &currents);
84
85 virtual int getInfo(const int &id, const int &max_repeats, std::string &info);
86 virtual int getMeasurements(const int &id, const int &max_repeats, std::vector<short int> &currents, std::vector<short int> &positions);
87
88 virtual int getParameters(const int &id, std::vector<int> &limits, std::vector<int> &resolutions);
89 virtual int getPositions(const int &id, const int &max_repeats, std::vector<short int> &positions);
90 virtual int getSerialPortsAndDevices(const int &max_repeats);
91
92 virtual bool init(const int &id);
93
94 virtual int isActive(const int &id, const int &max_repeats, bool &status);
95 int isConnected(const int &id, const int &max_repeats);
96 virtual bool isInConnectedSet(const int &id);
97 virtual bool isInOpenMap(const std::string &serial_port);
98 bool isReliable(int const &failures, int const &max_repeats);
99 virtual int open(const std::string &serial_port);
100
101 virtual int setCommandsAndWait(const int &id, const int &max_repeats, std::vector<short int> &commands);
102 virtual int setCommandsAsync(const int &id, std::vector<short int> &commands);
104
105private:
106 vpQbDevice(const vpQbDevice &); // noncopyable
107 vpQbDevice &operator=(const vpQbDevice &); //
108
109 // Implementation
110 class Impl;
111 Impl *m_impl;
112
113protected:
116};
117
118
119#endif
120#endif
int m_max_repeats
Max number of trials to send a command.
Definition: vpQbDevice.h:114
bool m_init_done
Flag used to indicate if the device is initialized.
Definition: vpQbDevice.h:115