hwdriver.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 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