/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Interface for the qb robotics qbSoftHand device.
 */

#ifndef _vpQbSoftHand_h_
#define _vpQbSoftHand_h_

#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_QBDEVICE) && defined(VISP_HAVE_THREADS)

#include <visp3/core/vpColVector.h>
#include <visp3/robot/vpQbDevice.h>

BEGIN_VISP_NAMESPACE
/*!
 * \class vpQbSoftHand
 *
 * \ingroup group_robot_haptic
 *
 * Interface for qbSoftHand [device](https://qbrobotics.com/products/qb-softhand/).
 *
 * See https://qbrobotics.com/ for more details.
 *
 * \note Before using this class under Linux (Ubuntu, Debian, Fedora...) it is mandatory to add
 * user to the dialout group. To do so, you must execute:
 * \code
 * $ sudo adduser user_name dialout
 * \endcode
 * otherwise you will get an error:
 * \code
 * vpQbDevice fails while opening [/dev/ttyUSB0] and sets errno [Permission denied].
 * \endcode
 *
 * The following example shows how to close and open the SoftHand with a given speed factor and stiffness used to stop
 * the command applied to the motors when the measured current is larger than the stiffness multiplied by the maximum
 * allowed current that can be applied to the motors.
 *
 * \code
 * #include <visp3/robot/vpQbSoftHand.h>
 *
 * #ifdef ENABLE_VISP_NAMESPACE
 * using namespace VISP_NAMESPACE_NAME;
 * #endif
 *
 * int main()
 * {
 *   vpQbSoftHand qbsofthand;
 *
 *   vpColVector q(1);
 *
 *   double speed_factor = 0.5; // half speed
 *   double stiffness = 0.7;    // 70% of the max allowed current supported by the motors
 *   std::cout << "** Close the hand with blocking positioning function" << std::endl;
 *   q[0] = 1;
 *   qbsofthand.setPosition(q, speed_factor, stiffness);
 *
 *   std::cout << "** Open the hand with blocking positioning function" << std::endl;
 *   q[0] = 0;
 *   qbsofthand.setPosition(q, speed_factor, stiffness);
 * }
 * \endcode
*/
class VISP_EXPORT vpQbSoftHand : public vpQbDevice
{
public:
  vpQbSoftHand();

  void getCurrent(vpColVector &current, const int &id = 1);
  void getPosition(vpColVector &position, const int &id = 1);

  void setPosition(const vpColVector &position, const int &id = 1);
  void setPosition(const vpColVector &position, double speed_factor, double stiffness, const int &id = 1);
};
END_VISP_NAMESPACE
#endif
#endif
