DriveInterface.hpp

/***************************************************************************
  tag: FMTC  do nov 2 13:05:56 CET 2006  DriveInterface.hpp

                        DriveInterface.hpp -  description
                           -------------------
    begin                : do november 02 2006
    copyright            : (C) 2006 FMTC
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
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 *   Public License.                                                       *
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 ***************************************************************************/



#ifndef DEVICE_DRIVERS_DRIVE_INTERFACE_HPP
#define DEVICE_DRIVERS_DRIVE_INTERFACE_HPP

#include "../../rtt-config.h"
#include "../../internal/Signal.hpp"

namespace RTT
{ namespace dev {

    class RTT_API DigitalOutput;

    class RTT_API DriveInterface
    {
    public:
        virtual ~DriveInterface() {}

        virtual bool enableDrive() = 0;

        virtual bool disableDrive() = 0;

        virtual bool isEnabled() const = 0;

        virtual DigitalOutput* getEnable() = 0;

        virtual void addOffset(double addoffset) = 0;

        virtual double getOffset() = 0;

        virtual bool driveSet( double v ) = 0;

        virtual double driveGet() const = 0;

        virtual double maxDriveGet() const = 0;

        virtual double minDriveGet() const = 0;

        virtual void limit(double lower, double higher, const internal::Signal<void(std::string)>& ev) = 0;
    };

}}

#endif