IMotorController.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Contact: info@mira-project.org
 *
 * Commercial Usage:
 *   Licensees holding valid commercial licenses may use this file in
 *   accordance with the commercial license agreement provided with the
 *   software or, alternatively, in accordance with the terms contained in
 *   a written agreement between you and MLAB or NICR.
 *
 * GNU General Public License Usage:
 *   Alternatively, this file may be used under the terms of the GNU
 *   General Public License version 3.0 as published by the Free Software
 *   Foundation and appearing in the file LICENSE.GPL3 included in the
 *   packaging of this file. Please review the following information to
 *   ensure the GNU General Public License version 3.0 requirements will be
 *   met: http://www.gnu.org/copyleft/gpl.html.
 *   Alternatively you may (at your option) use any later version of the GNU
 *   General Public License if such license has been publicly approved by
 *   MLAB and NICR (or its successors, if any).
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
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 */

#ifndef _MIRA_IMOTORCONTROLLER_H_
#define _MIRA_IMOTORCONTROLLER_H_

#include <robot/IDrive.h>

namespace mira { namespace robot {


class IMotorController : public IDrive
{
public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        MIRA_REFLECT_BASE(r, IDrive);

        r.interface("IMotorController");
        r.method("enableMotors", &IMotorController::enableMotors, this,
                 "Enables/disable the motors.",
                 "enable", "whether to enable", true);
        r.method("resetMotorStop", &IMotorController::resetMotorStop, this,
                 "Reset the motor stop flags (bumper, emergency stop flags, etc).");
        r.method("suspendBumper", &IMotorController::suspendBumper, this,
                 "Temporarily suspend bumper detection.");
        r.method("suspendBumperSupported", &IMotorController::suspendBumperSupported, this,
                 "Returns true if suspending the bumper is supported by the motor controller.");
        r.method("resetOdometry", &IMotorController::resetOdometry, this,
                 "Reset the odometry to zero.");
        r.method("emergencyStop", &IMotorController::emergencyStop, this,
                 "Performs an emergency stop and sets the motor emergency stop flag.");
    }

    virtual ~IMotorController() {}


public:

    virtual void enableMotors(bool enable) = 0;

    virtual void resetMotorStop() = 0;

    virtual void suspendBumper() {}

    virtual bool suspendBumperSupported()
    {
        return false;
    }

    virtual void resetOdometry() = 0;

    virtual void emergencyStop() = 0;

};


}} // namespace

#endif