trikRuntime
digitalSensor.h
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1 /* Copyright 2013 - 2015 Yurii Litvinov and CyberTech Labs Ltd.
2  *
3  * Licensed under the Apache License, Version 2.0 (the "License");
4  * you may not use this file except in compliance with the License.
5  * You may obtain a copy of the License at
6  *
7  * http://www.apache.org/licenses/LICENSE-2.0
8  *
9  * Unless required by applicable law or agreed to in writing, software
10  * distributed under the License is distributed on an "AS IS" BASIS,
11  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12  * See the License for the specific language governing permissions and
13  * limitations under the License. */
14 
15 #pragma once
16 
17 #include <QtCore/QString>
18 #include <QtCore/QScopedPointer>
19 
20 #include "deviceState.h"
21 #include "sensorInterface.h"
22 
23 namespace trikKernel {
24 class Configurer;
25 }
26 
27 namespace trikHal {
28 class HardwareAbstractionInterface;
29 class InputDeviceFileInterface;
30 }
31 
32 namespace trikControl {
33 
36 {
37  Q_OBJECT
38 
39 public:
43  DigitalSensor(const QString &port, const trikKernel::Configurer &configurer
44  , const trikHal::HardwareAbstractionInterface &hardwareAbstraction);
45 
46  ~DigitalSensor() override;
47 
48  int minValue() const override;
49 
50  int maxValue() const override;
51 
52 public slots:
53  int read() override;
54 
55  int readRawData() override;
56 
57  Status status() const override;
58 
59 private:
60  int mMin;
61  int mMax;
62  QScopedPointer<trikHal::InputDeviceFileInterface> mDeviceFile;
63  DeviceState mState;
64 };
65 
66 }
Definition: analogSensor.h:23
Generic configuration helper, parses configuration XML files and presents configuration as a set of a...
Definition: configurer.h:28
static const int port
Definition: trikCommunicatorTest.cpp:24
Helper class to track device state (off, starting, ready, stopping, fail).
Definition: deviceState.h:26
Digital TRIK sensor.
Definition: digitalSensor.h:35
Status
Device status.
Definition: deviceInterface.h:33
Definition: trikCommunicator.h:27
Abstract sensor, inherited by various sensor types.
Definition: sensorInterface.h:26
Definition: brickFactory.h:21
Hardware abstraction, provides devices that are used to communicate with robot hardware or emulate it...
Definition: hardwareAbstractionInterface.h:29