HiC884Controller.cpp

// HiC884Controller.cpp: implementation of the HiC884Controller class.
//

#include "StdAfx.h"
#include <stdarg.h>
#include "HiC884Controller.h"
#include "HiM110Actuator.h"

namespace HybridInterfaceSim
{
        namespace Robotics
        {

// Construction/Destruction

HiC884Controller::HiC884Controller() 
{
        m_iPortNumber = 3;
}

HiC884Controller::~HiC884Controller()
{
        try
        {
        }
        catch(...)
        {Std_TraceMsg(0, "Caught Error in desctructor of HiC884Controller\r\n", "", -1, false, true);}
}

void HiC884Controller::PortNumber(int iPort)
{
        Std_IsAboveMin((int) 0, iPort, true, "PortNumber", true);
        m_iPortNumber = iPort;
}

int HiC884Controller::PortNumber() {return m_iPortNumber;}

#pragma region DataAccesMethods

float *HiC884Controller::GetDataPointer(const std::string &strDataType)
{
        std::string strType = Std_CheckString(strDataType);

        return RobotIOControl::GetDataPointer(strDataType);
}

bool HiC884Controller::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        std::string strType = Std_CheckString(strDataType);
        
        if(RobotIOControl::SetData(strDataType, strValue, false))
                return true;

        if(strType == "PORTNUMBER")
        {
                PortNumber((int) atoi(strValue.c_str()));
                return true;
        }

        //If it was not one of those above then we have a problem.
        if(bThrowError)
                THROW_PARAM_ERROR(Al_Err_lInvalidDataType, Al_Err_strInvalidDataType, "Data Type", strDataType);

        return false;
}

void HiC884Controller::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        RobotIOControl::QueryProperties(aryProperties);

        aryProperties.Add(new TypeProperty("PortNumber", AnimatPropertyType::Integer, AnimatPropertyDirection::Set));
}

#pragma endregion

void HiC884Controller::Initialize()
{
        OpenIO();

        StartIOThread();

        RobotIOControl::Initialize();
}

bool HiC884Controller::OpenIO()
{
        //Open acuator communications ports here
        return true;
}

void HiC884Controller::CloseIO()
{
        //Close acuator communications ports here
}

void HiC884Controller::Load(StdUtils::CStdXml &oXml)
{
        RobotIOControl::Load(oXml);

        oXml.IntoElem();
        PortNumber(oXml.GetChildInt("PortNumber", m_iPortNumber));
        oXml.OutOfElem();
}


        }                       // Robotics
}                               //HybridInterfaceSim