/build/rock-master-18.09-drivers-orogen-controldev-0.20180522/ControlDevTypes.hpp

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#ifndef CONTROLDEVTYPES_HPP
#define CONTROLDEVTYPES_HPP

#include <vector>
#include <string>
#include <base/Time.hpp>

namespace controldev
{

    struct AxisPort
    {
        //name of the to be created port
        std::string portName;
        //axis number of the port that should be written out
        int axisNr;
        //scale factor that is applied to the output value
        double scaleFactor;
        //offset that will be applied to the output value
        double offset;
    };
    
    struct RawCommand
    {
        /*
         * Device Type identifier like
         */
        std::string deviceIdentifier;

        /*
         * The Timesamp
         */
        base::Time time;

        std::vector<double> axisValue;

        /*
         * Switch/Key Values
         * Three State switches are handles as two
         * Comment, this has to be handeld as an bool vecotr.
         * Sine bools are buggy in rock currently, workaround it with an uint8_t
         * vecotr. For more details see http://rock.opendfki.de/ticket/187
         */
        std::vector<uint8_t> buttonValue;
    };
}

#endif /* CONTROLDEVTYPES_HPP */