prmActuatorState.h

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/* -*- Mode: C++; tab-width: 4; indent-tabs-mode: nil; c-basic-offset: 4 -*-    */
/* ex: set filetype=cpp softtabstop=4 shiftwidth=4 tabstop=4 cindent expandtab: */
 
/*
  Author(s):    Marcin Balicki
  Created on:   2008-09-14
 
  (C) Copyright 2008-2023 Johns Hopkins University (JHU), All Rights Reserved.
 
--- begin cisst license - do not edit ---
 
This software is provided "as is" under an open source license, with
no warranty.  The complete license can be found in license.txt and
http://www.cisst.org/cisst/license.txt.
 
--- end cisst license ---
*/
 

 
 
#ifndef _prmActuatorState_h
#define _prmActuatorState_h
 
// basic includes
#include <cisstVector/vctDynamicVectorTypes.h>
#include <cisstMultiTask/mtsGenericObject.h>
#include <cisstMultiTask/mtsVector.h>
 
// Always include last
#include <cisstParameterTypes/prmExport.h>

class CISST_EXPORT prmActuatorState: public mtsGenericObject
{
    CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION, CMN_LOG_ALLOW_DEFAULT);
 
public:
    typedef prmActuatorState ThisType;
    typedef mtsGenericObject BaseType;
 
    typedef unsigned int size_type;

    inline prmActuatorState() {}
 
    prmActuatorState(size_type size);
 
    void SetSize(size_type size);

    //inline prmActuatorState(const prmPosition & position,
    //                           const mtsStateIndex & stateIndex):
    //    PositionMember(position),
    //    StateIndexMember(stateIndex)
    //{}

    virtual ~prmActuatorState() {};

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsDoubleVec, Position);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(mtsDoubleVec, Velocity);
 

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, InMotion);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, MotorOff);
 

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, SoftFwdLimitHit);
 

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, SoftRevLimitHit);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, HardFwdLimitHit);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, HardRevLimitHit);
 

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, HomeSwitchOn);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(vctBoolVec, IsHomed);

    CMN_DECLARE_MEMBER_AND_ACCESSORS(bool, EStopON);
 
public:

    void ToStream(std::ostream & outputStream) const override;

    void SerializeRaw(std::ostream & outputStream) const override;

    void DeSerializeRaw(std::istream & inputStream) override;
 
};
 
 
CMN_DECLARE_SERVICES_INSTANTIATION(prmActuatorState);
 
#endif // _prmActuatorState_h