ArGripper.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     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.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARGRIPPER_H
#define ARGRIPPER_H

#include "ariaTypedefs.h"
#include "ArRobot.h"


class ArGripperCommands
{
public:
  enum Commands {
    GRIP_OPEN = 1, 
    GRIP_CLOSE = 2, 
    GRIP_STOP = 3, 
    LIFT_UP = 4, 
    LIFT_DOWN = 5, 
    LIFT_STOP = 6, 
    GRIPPER_STORE = 7, 
    GRIPPER_DEPLOY = 8, 
    GRIPPER_HALT = 15, 
    GRIP_PRESSURE = 16, 
    LIFT_CARRY = 17 
  };
};


class ArGripper
{
public:
  ArGripper(ArRobot *robot, int gripperType = QUERYTYPE);
  virtual ~ArGripper();
  bool gripOpen(void);
  bool gripClose(void);
  bool gripStop(void);
  bool liftUp(void);
  bool liftDown(void);
  bool liftStop(void);
  bool gripperStore(void);
  bool gripperDeploy(void);
  bool gripperHalt(void);
  bool gripPressure(int mSecIntervals);
  bool liftCarry(int mSecIntervals);
  bool isGripMoving(void) const;
  bool isLiftMoving(void) const;
  int getGripState(void) const;
  int getPaddleState(void) const;
  int getBreakBeamState(void) const;
  bool isLiftMaxed(void) const;
  int getType(void) const;
  void setType(int type);
  long getMSecSinceLastPacket(void) const;
  int getGraspTime(void) const;
  void logState(void) const;
  bool packetHandler(ArRobotPacket *packet);
  void connectHandler(void);
  enum Type {
    QUERYTYPE, 
    GENIO, 
    USERIO, 
    GRIPPAC, 
    NOGRIPPER 
  }; 
protected:
  ArRobot *myRobot;
  int myType;
  unsigned char myState;
  unsigned char mySwitches;
  unsigned char myGraspTime;
  ArTime myLastDataTime;
  ArFunctorC<ArGripper> myConnectCB;
  ArRetFunctor1C<bool, ArGripper, ArRobotPacket *> myPacketHandlerCB;
};


#endif // ARGRIPPER_H

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