device.h

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#include <aubo_caps/domain/extension_info.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(Device);
 
/**
 * \chinese
 * 设备接口
 * 此基础接口表示 AuboScope 支持的设备，例如夹爪设备。
 * \endchinese
 * \english
 * Device
 * This base interface represents a device supported by AuboScope, e.g. a
 * gripping device.
 * \endenglish
 */
class ARCS_ABI_EXPORT Device
{
public:
    virtual ~Device() = 0;
    /**
     * \chinese
     * 获取将此夹爪设备添加/贡献到AuboScope的AuboCap信息。
     * @return 此夹爪设备的AuboCap信息。
     * \endchinese
     * \english
     * Get information about the AuboCap that added/contributed this gripper
     * device to AuboScope.
     *
     * @return AuboCap information for this gripper device.
     * \endenglish
     */
    virtual AuboCapInfoPtr getContributorInfo() = 0;
 
    /**
     * \chinese
     * <p>
     * 获取此夹爪的唯一标识符（id）。可用于在特定多夹爪设备中区分不同的夹爪。
     * </p>
     * 注意此id并非"全局"唯一，仅对属于特定多夹爪设备的各个夹爪唯一。
     * @return 此夹爪的唯一标识符。
     * \endchinese
     * \english
     * <p>
     * Get the unique identifier (id) for this gripper. This can be used to
     * identify this specific gripper among the set of individual grippers
     * available in a specific multi-gripper device.
     * </p>
     *
     * Note that this id is not "globally" unique, but only unique for the
     * individual grippers belonging to a specific multi-gripper device.
     *
     * @return The unique identifier of this gripper.
     * \endenglish
     */
    virtual std::string getId() = 0;
 
    /**
     * \chinese
     * <p>
     * AuboScope UI中显示的夹爪名称，例如在夹爪工具栏和程序节点中。
     * </p>
     * <b>注意：</b>此名称不应用于唯一标识特定的单个夹爪，因为名称可能会被翻译
     * （取决于AuboScope中选择的语言）或在添加夹爪的AuboCap版本之间发生更改。
     * @return 此夹爪在AuboScope中显示的名称。
     * \endchinese
     * \english
     * <p>
     * The name of the gripper displayed in the AuboScope UI, e.g. in the
     * Gripper toolbar and program node.
     * </p>
     *
     * <b>Note:</b> This name must not be used to uniquely identify a specific
     * individual gripper, since the name might be translated (depending on the
     * selected language in AuboScope) or be changed between versions of the
     * AuboCap that added the gripper.
     *
     * @return The name of this gripper displayed in AuboScope.
     * \endenglish
     */
    virtual std::string getDisplayName() = 0;
 
    /**
     * \chinese
     * 设备无法保证始终存在于AuboScope中。如果添加设备的AuboCap未安装，设备将不可用。
     * 此方法用于判断设备是否可用。
     * @return 如果此夹爪设备存在于AuboScope中返回<code>true</code>，否则返回
     * <code>false</code>。
     * \endchinese
     * \english
     * A device cannot be guaranteed to be present in AuboScope. A device will
     * not be present if the AuboCap that added the device is not installed.
     * This method can be used to determine, if the device is present.
     *
     * @return <code>true</code> if this gripper device is present in AuboScope,
     * otherwise <code>false</code>.
     * \endenglish
     */
    virtual bool isResolvable() = 0;
};
} // namespace aubo_scope
} // namespace arcs