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hwdriver.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef HARDWARE_DRIVER_H #define HARDWARE_DRIVER_H // #include <orcarobotdriverutil/ihwdriver.h> #include "types.h" namespace robot2d { // // Abstract interface class for something that talks to the // hardware (or a simulator). // // Member functions throw exceptions on error conditions. // // This class needn't be thread-safe. // class HwDriver { public: virtual ~HwDriver() {} // Throws std::exceptions on failure. // It is not an error to call this repeatedly: repeated calls should // re-initialise the hardware. // (eg this will be called if the hardware reports an error condition) virtual void enable()=0; // Blocking read. // Returns: // true: important change in internal state occured (details can be read with getStatus). // false: no important change virtual bool read( Data &data )=0; // Writes command. virtual void write( const Command& command )=0; // Get information about the current status of the driver. // the string 'status' is a human-readable description. // Note that there are two ways for faults to be notified: // - This function tells of hardware faults reported normally by the hardware. // - Exceptions can be thrown from read/write for non-recoverable faults, such as inability to // communicate with the hardware. virtual void getStatus( std::string &status, bool &isWarn, bool &isFault )=0; private: }; } // namespace #endif

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