sensors.h

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/* 
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/
 
#ifndef __PERCEPTIVEMODELS_SENSORS_H__
#define __PERCEPTIVEMODELS_SENSORS_H__
 
#include <string>
 
#include <yarp/os/Value.h>
#include <yarp/os/Property.h>
 
 
namespace iCub
{
 
namespace perception
{
 
class Sensor
{
protected:
    std::string name;
    bool configured;
    void *source;
 
public:
    Sensor();
 
    std::string getName() const
    {
        return name;
    }
 
    virtual bool configure(void *source, const yarp::os::Property &options) = 0;
 
    virtual bool getOutput(yarp::os::Value &in) const = 0;
 
    virtual ~Sensor() { }
};
 
 
class SensorEncoders : public Sensor
{
protected:
    int size;
    int index;
 
public:
    bool configure(void *source, const yarp::os::Property &options);
 
    bool getOutput(yarp::os::Value &in) const;
};
 
 
class SensorEncoderArrays : public Sensor
{
protected:
    int num_arrays;
    int index_array;
    int index_element;
    mutable yarp::os::Value latch;
 
public:
    bool configure(void *source, const yarp::os::Property &options);
 
    bool getOutput(yarp::os::Value &in) const;
};
 
 
class SensorPort : public Sensor
{
protected:
    int index;
 
public:
    bool configure(void *source, const yarp::os::Property &options);
 
    bool getOutput(yarp::os::Value &in) const;
};
 
 
}
 
}
 
#endif