From 8493775484a2e852652f6a00a1fc289256ca6ee9 Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Tue, 29 Nov 2016 11:45:46 +0100
Subject: [PATCH] Moved BusInspectionUnit to Armar4
---
.../BusInspectionUnitObserver/CMakeLists.txt | 16 ---
.../BusInspectionUnitObserver/main.cpp | 34 -----
source/RobotAPI/applications/CMakeLists.txt | 1 -
.../components/units/BusInspectionUnit.cpp | 99 --------------
.../components/units/BusInspectionUnit.h | 101 ---------------
.../units/BusInspectionUnitObserver.cpp | 121 ------------------
.../units/BusInspectionUnitObserver.h | 75 -----------
.../RobotAPI/components/units/CMakeLists.txt | 4 -
source/RobotAPI/interface/CMakeLists.txt | 2 -
.../hardware/BusInspectionInterface.ice | 112 ----------------
10 files changed, 565 deletions(-)
delete mode 100644 source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt
delete mode 100644 source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp
delete mode 100644 source/RobotAPI/components/units/BusInspectionUnit.cpp
delete mode 100644 source/RobotAPI/components/units/BusInspectionUnit.h
delete mode 100644 source/RobotAPI/components/units/BusInspectionUnitObserver.cpp
delete mode 100644 source/RobotAPI/components/units/BusInspectionUnitObserver.h
delete mode 100644 source/RobotAPI/interface/hardware/BusInspectionInterface.ice
diff --git a/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt
deleted file mode 100644
index 36d65f098..000000000
--- a/source/RobotAPI/applications/BusInspectionUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-
-armarx_component_set_name(BusInspectionUnitObserver)
-
-find_package(Eigen3 QUIET)
-armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
-if (Eigen3_FOUND)
- include_directories(
- ${Eigen3_INCLUDE_DIR})
-endif()
-
-set(COMPONENT_LIBS RobotAPIUnits)
-
-set(EXE_SOURCE main.cpp)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp b/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp
deleted file mode 100644
index 82f4b846f..000000000
--- a/source/RobotAPI/applications/BusInspectionUnitObserver/main.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package RobotAPI::application::BusInspectionUnitObserver
- * @author Peter Kaiser (peter dot kaiser at kit dot edu)
- * @date 2015
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#include <RobotAPI/components/units/BusInspectionUnitObserver.h>
-
-#include <ArmarXCore/core/application/Application.h>
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/logging/Logging.h>
-
-int main(int argc, char* argv[])
-{
- return armarx::runSimpleComponentApp<armarx::BusInspectionUnitObserver>(argc, argv, "BusInspectionUnitObserver");
-}
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 736267ef6..91731e3bd 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -1,4 +1,3 @@
-add_subdirectory(BusInspectionUnitObserver)
add_subdirectory(ForceTorqueObserver)
add_subdirectory(HeadIKUnit)
add_subdirectory(TCPControlUnit)
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.cpp b/source/RobotAPI/components/units/BusInspectionUnit.cpp
deleted file mode 100644
index 196c78b54..000000000
--- a/source/RobotAPI/components/units/BusInspectionUnit.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package Core
- * @author Matthias Hadlich (matthias dot hadlich at student dot kit dot edu)
- * @copyright 2014 Matthias Hadlich
- * @license http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef BUSINSPECTIONUNIT_CPP
-#define BUSINSPECTIONUNIT_CPP
-
-#include "BusInspectionUnit.h"
-#include <vector>
-#include <string>
-
-using namespace armarx;
-
-void BusInspectionUnit::onInitComponent()
-{
- this->onInitBusInspectionUnit();
- offeringTopic("HALCycleTimes");
-}
-
-void BusInspectionUnit::onConnectComponent()
-{
- busInspectionListenerPrx = getTopic<BusInspectionListenerPrx>("HALCycleTimes");
-
- this->onConnectBusInspectionUnit();
-}
-
-void BusInspectionUnit::onExitComponent()
-{
- this->onExitBusInspectionUnit();
-}
-
-BusNames BusInspectionUnit::getConfiguredBusses(const Ice::Current& c)
-{
- std::vector<std::string> res;
- return res;
-}
-BusInformation BusInspectionUnit::getBusInformation(const std::string& bus, const Ice::Current& c)
-{
- BusInformation res;
- return res;
-}
-DeviceNames BusInspectionUnit::getDevicesOnBus(const std::string& bus, const Ice::Current& c)
-{
- std::vector<std::string> res;
- return res;
-}
-
-DeviceInformation BusInspectionUnit::getDeviceInformation(const std::string& device, const Ice::Current& c)
-{
- DeviceInformation res;
- return res;
-}
-
-Ice::Int BusInspectionUnit::performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c)
-{
- return 0;
-}
-
-Ice::Int BusInspectionUnit::performBusOperation(BasicOperation operation, const std::string& bus, const Ice::Current& c)
-{
- return 0;
-}
-
-bool BusInspectionUnit::isInRealTimeMode(const Ice::Current& c)
-{
- return false;
-}
-
-std::string BusInspectionUnit::sendCommand(const std::string& command, Ice::Int device, const Ice::Current& c)
-{
- return "";
-}
-
-PropertyDefinitionsPtr BusInspectionUnit::createPropertyDefinitions()
-{
- return PropertyDefinitionsPtr(new BusInspectionUnitPropertyDefinitions(getConfigIdentifier()));
-}
-
-#endif
diff --git a/source/RobotAPI/components/units/BusInspectionUnit.h b/source/RobotAPI/components/units/BusInspectionUnit.h
deleted file mode 100644
index 604ea29b4..000000000
--- a/source/RobotAPI/components/units/BusInspectionUnit.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package Core
- * @author Matthias Hadlich (matthias dot hadlich at student dot kit dot edu)
- * @copyright 2014 Matthias Hadlich
- * @license http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _BUSINSPECTIONUNIT_H
-#define _BUSINSPECTIONUNIT_H
-
-#include <string>
-
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/application/properties/Properties.h>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-
-#include <RobotAPI/interface/hardware/BusInspectionInterface.h>
-
-namespace armarx
-{
- /**
- * \class BusInspectionUnitPropertyDefinitions
- * \brief
- */
- class BusInspectionUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- BusInspectionUnitPropertyDefinitions(std::string prefix) :
- ComponentPropertyDefinitions(prefix)
- {
- }
- };
-
- /**
- * \class BusInspectionUnit
- * \ingroup RobotAPI-SensorActorUnits
- * \brief Provides information about connected hardware devices.
- *
- * BusInspectionUnit is the base class of a unit that allows the introspection of a connected bus system.
- */
- class BusInspectionUnit :
- virtual public BusInspectionInterface, virtual public Component
- {
- public:
- // inherited from Component
- virtual std::string getDefaultName() const
- {
- return "BusInspectionUnit";
- }
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- virtual void onInitBusInspectionUnit() = 0;
- virtual void onConnectBusInspectionUnit() = 0;
- virtual void onExitBusInspectionUnit() = 0;
-
- virtual BusNames getConfiguredBusses(const Ice::Current& c = ::Ice::Current());
- virtual BusInformation getBusInformation(const std::string& bus, const Ice::Current& c = ::Ice::Current());
- virtual DeviceNames getDevicesOnBus(const std::string& bus, const Ice::Current& c = ::Ice::Current());
- virtual DeviceInformation getDeviceInformation(const std::string& device, const Ice::Current& c = ::Ice::Current());
-
- virtual Ice::Int performDeviceOperation(BasicOperation operation, Ice::Int device, const Ice::Current& c = ::Ice::Current());
- virtual Ice::Int performBusOperation(BasicOperation operation, const std::string& bus, const Ice::Current& c = ::Ice::Current());
- virtual bool isInRealTimeMode(const Ice::Current& c = ::Ice::Current());
-
- virtual std::string sendCommand(const std::string& command, Ice::Int device, const Ice::Current& c = ::Ice::Current());
-
- /**
- * \see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- std::string channel;
- BusInspectionListenerPrx busInspectionListenerPrx;
- };
-}
-
-
-
-
-#endif
diff --git a/source/RobotAPI/components/units/BusInspectionUnitObserver.cpp b/source/RobotAPI/components/units/BusInspectionUnitObserver.cpp
deleted file mode 100644
index 8cce4c9b8..000000000
--- a/source/RobotAPI/components/units/BusInspectionUnitObserver.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package ArmarX::
-* @author Peter Kaiser (peter dot kaiser at kit dot edu)
-* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#include "BusInspectionUnitObserver.h"
-
-#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
-#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
-#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
-#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
-#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
-#include <ArmarXCore/observers/checks/ConditionCheckEqualsWithTolerance.h>
-#include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
-#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
-#include <ArmarXCore/observers/variant/DatafieldRef.h>
-
-#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
-
-using namespace armarx;
-
-BusInspectionUnitObserver::BusInspectionUnitObserver()
-{
-}
-
-void BusInspectionUnitObserver::setTopicName(std::string topicName)
-{
- this->topicName = topicName;
-}
-
-void BusInspectionUnitObserver::onInitObserver()
-{
- if (topicName.empty())
- {
- usingTopic(getProperty<std::string>("BusInspectionUnitTopicName").getValue());
- ARMARX_INFO << "Using topic " << getProperty<std::string>("BusInspectionUnitTopicName").getValue();
- }
- else
- {
- usingTopic(topicName);
- ARMARX_INFO << "Using topic " << topicName;
- }
-}
-
-void BusInspectionUnitObserver::onConnectObserver()
-{
-}
-
-PropertyDefinitionsPtr BusInspectionUnitObserver::createPropertyDefinitions()
-{
- return PropertyDefinitionsPtr(new BusInspectionUnitObserverPropertyDefinitions(getConfigIdentifier()));
-}
-
-void BusInspectionUnitObserver::reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime, const Ice::Current&)
-{
- ScopedLock lock(dataMutex);
-
- try
- {
- std::string channelName = "HALCycleTimes";
-
- DataFieldIdentifierPtr id_avg = new DataFieldIdentifier(getName(), channelName, "Average HAL Cycle");
- if (!existsChannel(id_avg->channelName))
- {
- offerChannel(id_avg->channelName, "HAL Cycle times");
- }
-
- if (!existsDataField(id_avg->channelName, id_avg->datafieldName))
- {
- offerDataFieldWithDefault(id_avg->channelName, id_avg->datafieldName, Variant(averageCycleTime), "Average HAL cycle time");
- }
- else
- {
- setDataField(id_avg->channelName, id_avg->datafieldName, Variant(averageCycleTime));
- }
-
- DataFieldIdentifierPtr id_min = new DataFieldIdentifier(getName(), channelName, "Minimum HAL Cycle");
- if (!existsDataField(id_min->channelName, id_min->datafieldName))
- {
- offerDataFieldWithDefault(id_min->channelName, id_min->datafieldName, Variant(minCycleTime), "Minimum HAL cycle time");
- }
- else
- {
- setDataField(id_min->channelName, id_min->datafieldName, Variant(minCycleTime));
- }
-
- DataFieldIdentifierPtr id_max = new DataFieldIdentifier(getName(), channelName, "Maximum HAL Cycle");
- if (!existsDataField(id_max->channelName, id_max->datafieldName))
- {
- offerDataFieldWithDefault(id_max->channelName, id_max->datafieldName, Variant(maxCycleTime), "Maximum HAL cycle time");
- }
- else
- {
- setDataField(id_max->channelName, id_max->datafieldName, Variant(maxCycleTime));
- }
-
- updateChannel(channelName);
- }
- catch (std::exception& e)
- {
- ARMARX_ERROR << "Reporting HAL cycle time failed! ";
- handleExceptions();
- }
-}
diff --git a/source/RobotAPI/components/units/BusInspectionUnitObserver.h b/source/RobotAPI/components/units/BusInspectionUnitObserver.h
deleted file mode 100644
index 3eded4de0..000000000
--- a/source/RobotAPI/components/units/BusInspectionUnitObserver.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
-* This file is part of ArmarX.
-*
-* ArmarX is free software; you can redistribute it and/or modify
-* it under the terms of the GNU General Public License version 2 as
-* published by the Free Software Foundation.
-*
-* ArmarX is distributed in the hope that it will be useful, but
-* WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program. If not, see <http://www.gnu.org/licenses/>.
-*
-* @package ArmarX::
-* @author Peter Kaiser (peter dot kaiser at kit dot edu)
-* @date 2015
-* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#ifndef _ARMARX_ROBOTAPI_BUSINSPECTIONUNITOBSERVER_H
-#define _ARMARX_ROBOTAPI_BUSINSPECTIONUNITOBSERVER_H
-
-#include <RobotAPI/interface/hardware/BusInspectionInterface.h>
-#include <ArmarXCore/observers/Observer.h>
-
-namespace armarx
-{
- /**
- * \class ForceTorqueObserverPropertyDefinitions
- * \brief
- */
- class BusInspectionUnitObserverPropertyDefinitions:
- public ObserverPropertyDefinitions
- {
- public:
- BusInspectionUnitObserverPropertyDefinitions(std::string prefix):
- ObserverPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>("BusInspectionUnitTopicName", "HALCycleTimes", "Name of the BusInspectionUnit Topic");
- }
- };
-
- class BusInspectionUnitObserver :
- virtual public Observer,
- virtual public BusInspectionUnitObserverInterface
- {
- public:
- BusInspectionUnitObserver();
-
- void setTopicName(std::string topicName);
-
- virtual std::string getDefaultName() const
- {
- return "BusInspectionUnitObserver";
- }
- void onInitObserver();
- void onConnectObserver();
-
- virtual void reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime, const Ice::Current&);
-
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- private:
- armarx::Mutex dataMutex;
- std::string topicName;
- };
-}
-
-#endif
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 503f3e2e3..94ed1485e 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -37,8 +37,6 @@ set(LIB_HEADERS
HandUnit.h
HandUnitSimulation.h
- BusInspectionUnit.h
- BusInspectionUnitObserver.h
KinematicUnit.h
KinematicUnitSimulation.h
PlatformUnit.h
@@ -64,8 +62,6 @@ set(LIB_FILES
HandUnit.cpp
HandUnitSimulation.cpp
- BusInspectionUnit.cpp
- BusInspectionUnitObserver.cpp
KinematicUnit.cpp
KinematicUnitSimulation.cpp
PlatformUnit.cpp
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 044aadda5..11dd79e23 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -5,8 +5,6 @@
set(ROBOTAPI_INTERFACE_DEPEND ArmarXCore)
set(SLICE_FILES
- hardware/BusInspectionInterface.ice
-
observers/KinematicUnitObserverInterface.ice
observers/PlatformUnitObserverInterface.ice
observers/ObserverFilters.ice
diff --git a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
deleted file mode 100644
index ef342bda1..000000000
--- a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package ArmarX::Core
- * @author Peter Kaiser (peter dot kaiser at kit dot edu)
- * @author Matthias Hadlich (matthias dot hadlich at student dot kit dot edu)
- * @copyright 2014 Peter Kaiser
- * @license http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_CORE_BUSINSPECTIONINTERFACE_SLICE_
-#define _ARMARX_CORE_BUSINSPECTIONINTERFACE_SLICE_
-
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
-#include <ArmarXCore/interface/core/BasicTypes.ice>
-#include <ArmarXCore/interface/observers/ObserverInterface.ice>
-
-module armarx
-{
- exception UnknownBusException extends UserException
- {
- string busName;
- };
-
- exception UnknownDeviceException extends UserException
- {
- string deviceName;
- };
-
- exception UnknownCommandException extends UserException
- {
- string commandName;
- };
-
- struct DeviceStatus
- {
- OperationStatus operation;
- ErrorStatus error;
-
- bool enabled;
- bool emergencyStop;
- string msg;
- };
-
- sequence<string> BusNames;
- sequence<string> DeviceNames;
-
- struct DeviceInformation
- {
- int id;
- string type;
- int heartBeatErrorCounter;
- string firmwareBuildDate;
-
- DeviceStatus status;
- };
-
- struct BusInformation
- {
- int baudrate;
- int amountOfErrors;
- };
-
- enum BasicOperation { eStart, eStop, eReset };
-
-
- interface BusInspectionInterface
- {
- BusNames getConfiguredBusses();
- BusInformation getBusInformation(string bus) throws UnknownBusException;
- DeviceNames getDevicesOnBus(string bus) throws UnknownBusException;
- DeviceInformation getDeviceInformation(string device) throws UnknownDeviceException;
- int performDeviceOperation(BasicOperation operation, int device);
- int performBusOperation(BasicOperation operation, string bus);
- bool isInRealTimeMode();
- string sendCommand(string command, int device) throws UnknownCommandException;
- };
-
- interface BusInspectionListener
- {
- /**
- * Report statistics on the cycle times of the underlying hardware abstraction layer
- *
- * Times are given in µs.
- */
- void reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime);
- };
-
- interface BusInspectionUnitObserverInterface extends ObserverInterface, BusInspectionListener
- {
- };
-
-};
-
-#endif
--
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