MultipleAnalogSensorsInterfaces.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_MULTIPLEANALOGSENSORSINTERFACES_H
#define YARP_DEV_MULTIPLEANALOGSENSORSINTERFACES_H
 
#include <cassert>
#include <string>
 
#include <yarp/dev/api.h>
#include <yarp/sig/Vector.h>
 
namespace yarp::dev {
class IThreeAxisGyroscopes;
class IThreeAxisLinearAccelerometers;
class IThreeAxisAngularAccelerometers;
class IThreeAxisMagnetometers;
class IPositionSensors;
class ILinearVelocitySensors;
class IOrientationSensors;
class ITemperatureSensors;
class ISixAxisForceTorqueSensors;
class IContactLoadCellArrays;
class IEncoderArrays;
class ISkinPatches;
 
enum MAS_status
{
    MAS_OK = 0,                     
    MAS_ERROR = 1,                  
    MAS_OVF = 2,                    
    MAS_TIMEOUT = 3,                
    MAS_WAITING_FOR_FIRST_READ = 4, 
    MAS_UNKNOWN = 5                 
};
} // namespace yarp::dev
 
class YARP_dev_API yarp::dev::IThreeAxisGyroscopes
{
public:
    virtual size_t getNrOfThreeAxisGyroscopes() const = 0;
 
    virtual yarp::dev::MAS_status getThreeAxisGyroscopeStatus(size_t sens_index) const = 0;
 
    virtual bool getThreeAxisGyroscopeName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getThreeAxisGyroscopeFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getThreeAxisGyroscopeMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual ~IThreeAxisGyroscopes(){}
};
 
 
class YARP_dev_API yarp::dev::IThreeAxisLinearAccelerometers
{
public:
    virtual size_t getNrOfThreeAxisLinearAccelerometers() const = 0;
 
    virtual yarp::dev::MAS_status getThreeAxisLinearAccelerometerStatus(size_t sens_index) const = 0;
 
    virtual bool getThreeAxisLinearAccelerometerName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getThreeAxisLinearAccelerometerFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getThreeAxisLinearAccelerometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual ~IThreeAxisLinearAccelerometers(){}
};
 
class YARP_dev_API yarp::dev::IThreeAxisAngularAccelerometers
{
public:
    virtual size_t getNrOfThreeAxisAngularAccelerometers() const = 0;
 
    virtual yarp::dev::MAS_status getThreeAxisAngularAccelerometerStatus(size_t sens_index) const = 0;
 
    virtual bool getThreeAxisAngularAccelerometerName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getThreeAxisAngularAccelerometerFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getThreeAxisAngularAccelerometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual ~IThreeAxisAngularAccelerometers(){}
};
 
class YARP_dev_API yarp::dev::IThreeAxisMagnetometers
{
public:
    virtual size_t getNrOfThreeAxisMagnetometers() const = 0;
 
    virtual yarp::dev::MAS_status getThreeAxisMagnetometerStatus(size_t sens_index) const = 0;
 
    virtual bool getThreeAxisMagnetometerName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getThreeAxisMagnetometerFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getThreeAxisMagnetometerMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual ~IThreeAxisMagnetometers(){}
};
 
class YARP_dev_API yarp::dev::IPositionSensors
{
public:
    virtual size_t getNrOfPositionSensors() const = 0;
 
    virtual yarp::dev::MAS_status getPositionSensorStatus(size_t sens_index) const = 0;
 
    virtual bool getPositionSensorName(size_t sens_index, std::string& name) const = 0;
 
    virtual bool getPositionSensorFrameName(size_t sens_index, std::string& frameName) const = 0;
 
    virtual bool getPositionSensorMeasure(size_t sens_index, yarp::sig::Vector& xyz, double& timestamp) const = 0;
 
    virtual ~IPositionSensors()
    {
    }
};
 
class YARP_dev_API yarp::dev::ILinearVelocitySensors
{
public:
    virtual size_t getNrOfLinearVelocitySensors() const = 0;
 
    virtual yarp::dev::MAS_status getLinearVelocitySensorStatus(size_t sens_index) const = 0;
 
    virtual bool getLinearVelocitySensorName(size_t sens_index, std::string& name) const = 0;
 
    virtual bool getLinearVelocitySensorFrameName(size_t sens_index, std::string& frameName) const = 0;
 
    virtual bool getLinearVelocitySensorMeasure(size_t sens_index, yarp::sig::Vector& xyz, double& timestamp) const = 0;
 
    virtual ~ILinearVelocitySensors()
    {
    }
};
 
class YARP_dev_API yarp::dev::IOrientationSensors
{
public:
    virtual size_t getNrOfOrientationSensors() const = 0;
 
    virtual yarp::dev::MAS_status getOrientationSensorStatus(size_t sens_index) const = 0;
 
    virtual bool getOrientationSensorName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getOrientationSensorFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getOrientationSensorMeasureAsRollPitchYaw(size_t sens_index, yarp::sig::Vector& rpy, double& timestamp) const = 0;
 
    virtual ~IOrientationSensors(){}
};
 
 
class YARP_dev_API yarp::dev::ITemperatureSensors
{
public:
    virtual size_t getNrOfTemperatureSensors() const = 0;
 
    virtual yarp::dev::MAS_status getTemperatureSensorStatus(size_t sens_index) const = 0;
 
    virtual bool getTemperatureSensorName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getTemperatureSensorFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getTemperatureSensorMeasure(size_t sens_index, double& out, double& timestamp) const = 0;
 
    virtual bool getTemperatureSensorMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
 
    virtual ~ITemperatureSensors(){}
};
 
class YARP_dev_API yarp::dev::ISixAxisForceTorqueSensors
{
public:
    virtual size_t getNrOfSixAxisForceTorqueSensors() const = 0;
 
    virtual yarp::dev::MAS_status getSixAxisForceTorqueSensorStatus(size_t sens_index) const = 0;
 
    virtual bool getSixAxisForceTorqueSensorName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getSixAxisForceTorqueSensorFrameName(size_t sens_index, std::string &frameName) const = 0;
 
    virtual bool getSixAxisForceTorqueSensorMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual ~ISixAxisForceTorqueSensors(){}
};
 
class YARP_dev_API yarp::dev::IContactLoadCellArrays
{
public:
    virtual size_t getNrOfContactLoadCellArrays() const = 0;
 
    virtual yarp::dev::MAS_status getContactLoadCellArrayStatus(size_t sens_index) const = 0;
 
    virtual bool getContactLoadCellArrayName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getContactLoadCellArrayMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual size_t getContactLoadCellArraySize(size_t sens_index) const = 0;
 
 
    virtual ~IContactLoadCellArrays(){}
};
 
class YARP_dev_API yarp::dev::IEncoderArrays
{
public:
    virtual size_t getNrOfEncoderArrays() const = 0;
 
    virtual yarp::dev::MAS_status getEncoderArrayStatus(size_t sens_index) const = 0;
 
    virtual bool getEncoderArrayName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getEncoderArrayMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual size_t getEncoderArraySize(size_t sens_index) const = 0;
 
 
    virtual ~IEncoderArrays(){}
};
 
class YARP_dev_API yarp::dev::ISkinPatches
{
public:
    virtual size_t getNrOfSkinPatches() const = 0;
 
    virtual yarp::dev::MAS_status getSkinPatchStatus(size_t sens_index) const = 0;
 
    virtual bool getSkinPatchName(size_t sens_index, std::string &name) const = 0;
 
    virtual bool getSkinPatchMeasure(size_t sens_index, yarp::sig::Vector& out, double& timestamp) const = 0;
 
    virtual size_t getSkinPatchSize(size_t sens_index) const = 0;
 
 
    virtual ~ISkinPatches(){}
};
 
#endif