RbDynamixelUSB.h

// RbDynamixelUSB.h: interface for the RbDynamixelUSB class.
//

#pragma once

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotIOControls
                {
                        namespace DynamixelUSB
                        {

class ROBOTICS_PORT RbDynamixelUSB : public AnimatSim::Robotics::RobotIOControl
{
protected:
        int m_iPortNumber;
        int m_iBaudRate;

        virtual void ProcessIO();
        virtual bool OpenIO();
        virtual void CloseIO();

public:
        CStdPtrArray<RbDynamixelMotorUpdateData> m_aryMotorData;

        RbDynamixelUSB();
        virtual ~RbDynamixelUSB();

        virtual void PortNumber(int iPort);
        virtual int PortNumber();

        virtual void BaudRate(int iRate);
        virtual int BaudRate();

        virtual bool SendSynchronousMoveCommand();
                        
        virtual void SetRegister(unsigned char iServo, unsigned char reg, unsigned char length, unsigned int value);
        virtual int GetRegister(unsigned char iServo, unsigned char reg, unsigned char length);

        virtual std::string GetErrorCode();
        virtual std::string GetCommStatus(int CommStatus);

#pragma region DataAccesMethods

        virtual float *GetDataPointer(const std::string &strDataType);
        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);

#pragma endregion

        virtual void Load(StdUtils::CStdXml &oXml);
};

                        }       //DynamixelUSB
                }               //RobotIOControls
        }                       // Robotics
}                               //RoboticsAnimatSim