/usr/include/SurgSim/Input/OutputProducerInterface.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_INPUT_OUTPUTPRODUCERINTERFACE_H
#define SURGSIM_INPUT_OUTPUTPRODUCERINTERFACE_H
#include <string>
namespace SurgSim
{
namespace DataStructures
{
class DataGroup;
}; // namespace DataStructures
namespace Input
{
/// Interface for a producer that generates device output updates (forces, status LED state, etc).
class OutputProducerInterface
{
public:
/// Virtual destructor (empty).
virtual ~OutputProducerInterface()
{
}
/// Asks the producer to provide output state to the device.
///
/// Note that devices may never call this method, e.g. because the device doesn't actually have any
/// output capability.
///
/// Typical output data contents (but note that individual devices may do things differently):
/// | type | name | |
/// | ---- | ---- | --- |
/// | vector | "force" | Commanded force for the device (units are newtons). |
/// | vector | "torque" | Commanded torque for the device (units are newton-meters). |
/// | bool | "isEnabled" | Safety switch input. |
///
/// Other possible contents includes:
/// | type | name | |
/// | ---- | ---- | --- |
/// | bool | "led0" | Desired state for LED 0. |
/// | bool | "led1" | Desired state for LED 1. |
/// | string | "toolId" | Calibration ID to use, e.g. for camera devices. |
///
/// \param device The name of the device that is requesting the output. This should only be used to identify
/// the device (e.g. if the producer is listening to several devices at once).
/// \param [out] outputData The application output state being fed into the device.
///
/// \return true if the producer has provided some output, false if it refuses to do so. A producer
/// that returns false should leave outputData unmodified.
virtual bool requestOutput(const std::string& device, SurgSim::DataStructures::DataGroup* outputData) = 0;
};
}; // namespace Input
}; // namespace SurgSim
#endif // SURGSIM_INPUT_OUTPUTPRODUCERINTERFACE_H
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