libControl3Dp/axe.h

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//
//
//  Generated by StarUML(tm) C++ Add-In
//
//  @ Project : 3D printer driver
//  @ File Name : Axe_t.h
//  @ Date : 6.10.2009
//  @ Author : Darius Kocar xkocar00@stud.fit.vutbr.cz
//
//

#if !defined(_AXE_T_H)
#define _AXE_T_H

#include <boost/serialization/nvp.hpp>
#include <boost/integer.hpp>

#include "motor.h"


class Axe_t : protected Motor_t {
    public:
        Axe_t();
        
        void calibrate();
        
        void goAbs(const double &value);
        
        void goRel(const double &value);
        
        void stop();
        
        void setSpeed(const double &value);
        
        void setAcc(const double &value);
        
        void setForce(const double &value);
        
        void init();

        using Motor_t::setId;
        
        double getMax() const;
        
        double getMin() const;
        
        double getAct() const;
        
    private:
        friend class boost::serialization::access;
        
        template<class archive>
        void serialize(archive& ar, const unsigned int version);

    private:
        double act;             
        double ratio;           
        double min;             
        double max;             
        
        struct state_t {
            double speed;           
            double acceleration;    
            double force;           
            
            state_t(): speed(0), acceleration(0), force(0) {};
            
            private:
            
            friend class boost::serialization::access;
        
            template<class archive>
            void serialize(archive& ar, const unsigned int version);
        } state;
};


template<class archive>
void Axe_t::serialize(archive& ar, const unsigned int version) {
    using boost::serialization::make_nvp;
    
    ar & make_nvp("Actual", this->act);
    ar & make_nvp("Ratio", this->ratio);
    ar & make_nvp("Min", this->min);
    ar & make_nvp("Max", this->max);
    ar & make_nvp("State", this->state);
    ar & make_nvp("MotorId", this->id);
}


template<class archive>
void Axe_t::state_t::serialize(archive& ar, const unsigned int version) {
    using boost::serialization::make_nvp;
    
    ar & make_nvp("Speed", this->speed);
    ar & make_nvp("Acceleration", this->acceleration);
    ar & make_nvp("Force", this->force);     
}

#endif  //_AXE_T_H

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