Axis.hpp

/***************************************************************************
 tag: Peter Soetens  Mon Jun 10 14:22:14 CEST 2002  Axis.hpp

                       Axis.hpp -  description
                          -------------------
   begin                : Mon June 10 2002
   copyright            : (C) 2002 Peter Soetens
   email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef DEVICEDRIVERS_AXIS_HPP
#define DEVICEDRIVERS_AXIS_HPP

#include <ocl/OCL.hpp>
#include <rtt/dev/AxisInterface.hpp>
#include <rtt/dev/DigitalInput.hpp>
#include <rtt/dev/DigitalOutput.hpp>
#include <rtt/dev/DriveInterface.hpp>
#include <rtt/Event.hpp>
#include <string>
#include <map>
#include <vector>

namespace OCL
{
    class Axis : public AxisInterface
    {
    public:

        Axis( DriveInterface* adrive );

        virtual ~Axis();

        virtual bool stop();
        virtual bool lock();
        virtual bool unlock();
        virtual bool drive( double v );
        virtual bool isLocked() const;
        virtual bool isStopped() const;
        virtual bool isDriven() const;

        virtual void limitDrive( double lower, double higher, const Event<void(std::string)>& ev);

        void setBrake( DigitalOutput* brk );

        DigitalOutput* getBrake();

        DigitalOutput* getEnable();

        void setDrive( DriveInterface* a);

        DriveInterface* getDrive() const;

        double getDriveValue() const;

        virtual SensorInterface<double>* getSensor(const std::string& name) const;

        void setSensor(const std::string& name, SensorInterface<double>* _sens);

      virtual std::vector<std::string> sensorList() const;

      virtual DigitalInput* getSwitch(const std::string& name) const;

      virtual std::vector<std::string> switchList() const;

        void setSwitch(const std::string& name, DigitalInput* _digin);

      virtual SensorInterface<int>* getCounter(const std::string& name) const;

      virtual std::vector<std::string> counterList() const;

        void setCounter(const std::string& name, SensorInterface<int>* _sens);

    private:
        double _drive_value;

        DriveInterface* act;

        DigitalOutput* brakeswitch;

        typedef std::map< std::string,SensorInterface<double>* > SensList;
        typedef std::map< std::string,SensorInterface<int>* > CountList;
        typedef std::map< std::string,DigitalInput* > SwitchList;

        SensList sens;
        CountList count;
        SwitchList swtch;

        bool _is_locked, _is_stopped, _is_driven;

    };

}


#endif

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