Visual Servoing Platform version 3.6.0
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vpQbDevice.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
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 https://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
24 *
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*****************************************************************************/
35
36#ifndef _vpQbDevice_h_
37#define _vpQbDevice_h_
38
39#include <visp3/core/vpConfig.h>
40#ifdef VISP_HAVE_QBDEVICE
41
42#include <map>
43#include <memory>
44#include <mutex>
45#include <vector>
46
60class VISP_EXPORT vpQbDevice
61{
62public:
63 vpQbDevice();
64 virtual ~vpQbDevice();
65
67 double getCurrentMax() const;
68 std::vector<short int> getPositionLimits() const;
69 void setMaxRepeats(const int &max_repeats);
71
72protected:
75 virtual int activate(const int &id, const bool &command, const int &max_repeats);
76 virtual int activate(const int &id, const int &max_repeats);
77 virtual bool close(const std::string &serial_port);
78 virtual int deactivate(const int &id, const int &max_repeats);
79
80 virtual int getCurrents(const int &id, const int &max_repeats, std::vector<short int> &currents);
81
82 virtual int getInfo(const int &id, const int &max_repeats, std::string &info);
83 virtual int getMeasurements(const int &id, const int &max_repeats, std::vector<short int> &currents,
84 std::vector<short int> &positions);
85
86 virtual int getParameters(const int &id, std::vector<int> &limits, std::vector<int> &resolutions);
87 virtual int getPositions(const int &id, const int &max_repeats, std::vector<short int> &positions);
88 virtual int getSerialPortsAndDevices(const int &max_repeats);
89
90 virtual bool init(const int &id);
91
92 virtual int isActive(const int &id, const int &max_repeats, bool &status);
93 int isConnected(const int &id, const int &max_repeats);
94 virtual bool isInConnectedSet(const int &id);
95 virtual bool isInOpenMap(const std::string &serial_port);
96 bool isReliable(int const &failures, int const &max_repeats);
97 virtual int open(const std::string &serial_port);
98
99 virtual int setCommandsAndWait(const int &id, const int &max_repeats, std::vector<short int> &commands);
100 virtual int setCommandsAsync(const int &id, std::vector<short int> &commands);
102
103private:
104 vpQbDevice(const vpQbDevice &); // noncopyable
105 vpQbDevice &operator=(const vpQbDevice &); //
106
107 // Implementation
108 class Impl;
109 Impl *m_impl;
110
111protected:
114};
115
116#endif
117#endif
int m_max_repeats
Max number of trials to send a command.
Definition vpQbDevice.h:112
bool m_init_done
Flag used to indicate if the device is initialized.
Definition vpQbDevice.h:113