runInterface.h

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#ifndef RUN_INTERFACE_H
#define RUN_INTERFACE_H

#include "objCoordinateCtrl.h"
#include "coordinateTypes.h"


class RunInterface {
public:
  virtual ~RunInterface(void) {}

  virtual const char* what(void) = 0;

  virtual int connect(const char* device, long baudrate) = 0;

  virtual int connect(int argc, char *argv[]) = 0;

  virtual void disconnect(void) = 0;

  virtual void push_runState(void) = 0;

  virtual void pop_runState(void) = 0;

  virtual VXV::Position3D getLocalPosition(void) = 0;

  virtual VXV::Position getRunPosition(const CoordinateCtrl* crd) = 0;

  virtual void adjustRunPosition(const VXV::Position& position,
                                 const CoordinateCtrl* crd) = 0;

  virtual void coordinateUpdateDetect(bool on) = 0;

  virtual void servoCtrl(bool on) = 0;

  virtual void stop(void) = 0;

  virtual void followLine(const VXV::Position& position,
                          const CoordinateCtrl* crd) = 0;

  virtual void followCircle(const VXV::Grid& center, int radius,
                            const CoordinateCtrl* crd) = 0;

  virtual void followCircleOnTangent(const VXV::Position& position, int radius,
                                     const CoordinateCtrl* crd) = 0;

  virtual void stopToLine(const VXV::Position& position,
                          const CoordinateCtrl* crd) = 0;

  virtual void rotateToDirection(const VXV::Direction& direction,
                                 const CoordinateCtrl* crd) = 0;

  virtual void rotateAngle(const VXV::Direction& direction) = 0;

  virtual void spin(const VXV::Direction& velocity) = 0;

  virtual void lastMoveCommand(const CoordinateCtrl* crd) = 0;


  virtual bool isStable(void) = 0;

  virtual int getLengthToGrid(const VXV::Grid& grid,
                              const CoordinateCtrl* crd) = 0;

  virtual int getLengthToBody(const VXV::Grid& grid,
                              const CoordinateCtrl* crd) = 0;

  virtual int getLengthToLine(const VXV::Position& line,
                              const CoordinateCtrl* crd) = 0;

  virtual VXV::Direction getAngleToDirection(const VXV::Direction& t,
                                             const CoordinateCtrl* crd) = 0;

  virtual int getStraightVelDiff(int mm_vel) = 0;

  virtual VXV::Direction getRotateVelDiff(const VXV::Direction& t) = 0;

  virtual void setStraightRefVel(int mm_sec) = 0;

  virtual void setStraightRefAcc(int mm_acc) = 0;

  virtual void setRotateRefVel(const VXV::Direction& rotate_vel) = 0;

  virtual void setRotateRefAcc(const VXV::Direction& rotate_acc) = 0;

  virtual void setCurveRadius(int mm) = 0;

  virtual int getCurveRadius(void) = 0;

  virtual int getStraightVel(void) = 0;

  virtual VXV::Direction getRotateVel(void) = 0;
};

#endif /* !RUN_INTERFACE_H */