RbFirmataController.h

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

#pragma once

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotIOControls
                {
                        namespace Firmata
                        {

class ROBOTICS_PORT RbFirmataController : public AnimatSim::Robotics::RobotIOControl, public ofArduino
{
protected:
        std::string m_strComPort;

        //Baud rate for the connection to the Arduino
        int m_iBaudRate;

        float m_fltMotorSendTime;

        unsigned long long m_lMotorSendStart;

        boost::signals2::connection m_EInitializedConnection;
        boost::signals2::connection m_EDigitalPinChanged;
        boost::signals2::connection m_EAnalogPinChanged;

        virtual void digitalPinChanged(const int & pinNum);
        virtual void analogPinChanged(const int & pinNum);
        virtual void setupArduino(const int & version);
        virtual void ProcessIO();
        virtual bool OpenIO();
        virtual void CloseIO();

public:
        RbFirmataController();
        virtual ~RbFirmataController();

        virtual void ComPort(std::string strPort);
        virtual std::string ComPort();

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

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

                        }       //Firmata
                }               //RobotIOControls
        }                       // Robotics
}                               //RoboticsAnimatSim