include/rvc/Ports.hpp
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #pragma once | ||
| 2 | |||
| 3 | #include "rvc/Types.hpp" | ||
| 4 | |||
| 5 | namespace rvc { | ||
| 6 | |||
| 7 | class SessionIntentPort { | ||
| 8 | public: | ||
| 9 | 7 | virtual ~SessionIntentPort() = default; | |
| 10 | |||
| 11 | virtual void StartSession(SessionSource source) = 0; | ||
| 12 | virtual void StopSession() = 0; | ||
| 13 | virtual void ResumeSession(SessionSource source) = 0; | ||
| 14 | virtual void requestServiceOrReset() = 0; | ||
| 15 | }; | ||
| 16 | |||
| 17 | class ObstacleInputPort { | ||
| 18 | public: | ||
| 19 | 13 | virtual ~ObstacleInputPort() = default; | |
| 20 | |||
| 21 | virtual FusedObstacleSnapshot ObstacleStateChanged(const ObstacleEvent& event) = 0; | ||
| 22 | }; | ||
| 23 | |||
| 24 | class DustInputPort { | ||
| 25 | public: | ||
| 26 | 38 | virtual ~DustInputPort() = default; | |
| 27 | |||
| 28 | virtual void DustSignalUpdated(DustSignal signal) = 0; | ||
| 29 | }; | ||
| 30 | |||
| 31 | class MotionCommandSink { | ||
| 32 | public: | ||
| 33 | 30 | virtual ~MotionCommandSink() = default; | |
| 34 | |||
| 35 | virtual void MotionCommand(rvc::MotionCommand command) = 0; | ||
| 36 | }; | ||
| 37 | |||
| 38 | class CleaningCommandSink { | ||
| 39 | public: | ||
| 40 | 38 | virtual ~CleaningCommandSink() = default; | |
| 41 | |||
| 42 | virtual void CleaningCommand(rvc::CleaningCommand command) = 0; | ||
| 43 | }; | ||
| 44 | |||
| 45 | } // namespace rvc | ||
| 46 |