JointCalibrator.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __JOINT_CALIBRATOR_HPP__
#define __JOINT_CALIBRATOR_HPP__
 
#include <vector>
 
#include <yarp/conf/version.h>
 
#include <yarp/dev/CalibratorInterfaces.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IControlMode.h>
#include <yarp/dev/IEncoders.h>
#include <yarp/dev/IPositionControl.h>
#include <yarp/dev/WrapperSingle.h>
 
#include "JointCalibrator_ParamsParser.h"
 
struct MovementSpecs
{
    std::vector<double> pos;
    std::vector<double> vel;
    std::vector<double> acc;
};
 
class JointCalibrator : public yarp::dev::DeviceDriver,
                        public yarp::dev::IRemoteCalibrator,
                        public yarp::dev::WrapperSingle,
                        public JointCalibrator_ParamsParser
{
public:
#if YARP_VERSION_COMPARE(>=, 4, 0, 0)
    yarp::dev::ReturnValue calibrateSingleJoint(int j) override;
    yarp::dev::ReturnValue calibrateWholePart() override;
    yarp::dev::ReturnValue homingSingleJoint(int j) override;
    yarp::dev::ReturnValue homingWholePart() override;
    yarp::dev::ReturnValue parkSingleJoint(int j, bool wait) override;
    yarp::dev::ReturnValue parkWholePart() override;
    yarp::dev::ReturnValue quitCalibrate() override;
    yarp::dev::ReturnValue quitPark() override;
#else
    bool calibrateSingleJoint(int j) override;
    bool calibrateWholePart() override;
    bool homingSingleJoint(int j) override;
    bool homingWholePart() override;
    bool parkSingleJoint(int j, bool wait) override;
    bool parkWholePart() override;
    bool quitCalibrate() override;
    bool quitPark() override;
#endif
 
    bool attach(yarp::dev::PolyDriver * poly) override;
    bool detach() override;
 
    bool open(yarp::os::Searchable & config) override;
    bool close() override;
 
private:
#if YARP_VERSION_COMPARE(>=, 4, 0, 0)
    yarp::dev::ReturnValue move(const std::vector<int> & joints, const MovementSpecs & specs);
#else
    bool move(const std::vector<int> & joints, const MovementSpecs & specs);
#endif
 
    MovementSpecs homeSpecs;
    MovementSpecs parkSpecs;
 
    yarp::dev::IControlMode * iControlMode {nullptr};
    yarp::dev::IEncoders * iEncoders {nullptr};
    yarp::dev::IPositionControl * iPositionControl {nullptr};
};
 
#endif // __JOINT_CALIBRATOR_HPP__