vacuum_gripper_state.h

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// Copyright (c) 2023 Franka Robotics GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#pragma once
 
#include <cstdint>
#include <ostream>
#include <string>
 
#include <franka/duration.h>

 
namespace franka {

enum class VacuumGripperDeviceStatus : uint8_t {
  kGreen,  
  kYellow, 
  kOrange, 
  kRed     
};

struct VacuumGripperState {
  bool in_control_range{};

  bool part_detached{};

  bool part_present{};

  VacuumGripperDeviceStatus device_status{};

  uint16_t actual_power{};

  uint16_t vacuum{};

  Duration time{};
};

std::ostream& operator<<(std::ostream& ostream,
                         const franka::VacuumGripperState& vacuum_gripper_state);
 
}  // namespace franka