Visual Servoing Platform  version 3.4.0
vpQbDevice.h
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20  * Inria Rennes - Bretagne Atlantique
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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 
63 class VISP_EXPORT vpQbDevice
64 {
65 public:
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 
75 protected:
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 
105 private:
106  vpQbDevice(const vpQbDevice &); // noncopyable
107  vpQbDevice &operator=(const vpQbDevice &); //
108 
109  // Implementation
110  class Impl;
111  Impl *m_impl;
112 
113 protected:
114  int m_max_repeats;
115  bool m_init_done;
116 };
117 
118 
119 #endif
120 #endif
vpQbDevice::m_init_done
bool m_init_done
Flag used to indicate if the device is initialized.
Definition: vpQbDevice.h:115
vpQbDevice::m_max_repeats
int m_max_repeats
Max number of trials to send a command.
Definition: vpQbDevice.h:114