28 lines
700 B
C++
Executable File
28 lines
700 B
C++
Executable File
#ifndef IOINTERFACE_H
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#define IOINTERFACE_H
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#include <string>
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#include "message/LowlevelCmd.h"
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#include "message/LowlevelState.h"
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#include "control/keyboard.h"
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#include "common/math/robotics.h"
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class IOInterface{
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public:
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IOInterface(){}
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~IOInterface(){
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delete lowCmd;
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delete lowState;
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};
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virtual bool sendRecv(const LowlevelCmd *cmd, LowlevelState *state) = 0;
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virtual bool calibration(){return false;};
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bool checkGripper(){return hasGripper;};
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LowlevelCmd *lowCmd;
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LowlevelState *lowState;
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virtual bool isDisconnect(){ return false;};
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bool hasErrorState;
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protected:
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bool hasGripper;
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};
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#endif //IOINTERFACE_H
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