HiM110Actuator.cpp

// HiM110Actuator.cpp: implementation of the HiM110Actuator class.
//

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

namespace HybridInterfaceSim
{
        namespace Robotics
        {

// Construction/Destruction

HiM110Actuator::HiM110Actuator() 
{
}

HiM110Actuator::~HiM110Actuator()
{
        try
        {
        }
        catch(...)
        {Std_TraceMsg(0, "Caught Error in desctructor of HiM110Actuator\r\n", "", -1, false, true);}
}

#pragma region DataAccesMethods

float *HiM110Actuator::GetDataPointer(const std::string &strDataType)
{
        std::string strType = Std_CheckString(strDataType);

        //if(strType == "READPARAMTIME")
        //      return &m_fltReadParamTime;
        //else
                return RobotPartInterface::GetDataPointer(strDataType);
}

bool HiM110Actuator::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        std::string strType = Std_CheckString(strDataType);
        
        if(RobotPartInterface::SetData(strDataType, strValue, false))
                return true;

        if(strType == "SERVOID")
        {
                //ServoID((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 HiM110Actuator::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        RobotPartInterface::QueryProperties(aryProperties);

        aryProperties.Add(new TypeProperty("ReadParamTime", AnimatPropertyType::Float, AnimatPropertyDirection::Get));

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

#pragma endregion


void HiM110Actuator::Initialize()
{
        RobotPartInterface::Initialize();

        //m_lpHinge = dynamic_cast<Hinge *>(m_lpPart);
        m_lpParentC884 = dynamic_cast<HiC884Controller *>(m_lpParentIOControl);
}

void HiM110Actuator::SetupIO()
{
        //Put setup code here if needed.
}

void HiM110Actuator::StepIO(int iPartIdx)
{       
        //Send actual move commands here.
}

void HiM110Actuator::ShutdownIO()
{
        //If you need to do motor specific shutdown it goes here.
}

void HiM110Actuator::StepSimulation()
{
        RobotPartInterface::StepSimulation();

        //Transfer data from the motor back to the sim and 
        //sim data that will go to the motor here.
}

void HiM110Actuator::ResetSimulation()
{
        AnimatSim::Robotics::RobotPartInterface::ResetSimulation();
}

void HiM110Actuator::Load(StdUtils::CStdXml &oXml)
{
        RobotPartInterface::Load(oXml);

        oXml.IntoElem();

        oXml.OutOfElem();
}

        }                       // Robotics
}                               //HybridInterfaceSim