RbXBeeCommander.h

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

#pragma once

/* bitmasks for buttons array */
#define BUT_R1      0x01
#define BUT_R2      0x02
#define BUT_R3      0x04
#define BUT_L4      0x08
#define BUT_L5      0x10
#define BUT_L6      0x20
#define BUT_RT      0x40
#define BUT_LT      0x80

#define BUT_ID_WALKV    0
#define BUT_ID_WALKH    1
#define BUT_ID_LOOKV    2
#define BUT_ID_LOOKH    3
#define BUT_ID_PAN              4
#define BUT_ID_TILT             5
#define BUT_ID_R1               6
#define BUT_ID_R2               7
#define BUT_ID_R3               8
#define BUT_ID_L4               9
#define BUT_ID_L5               10
#define BUT_ID_L6               11
#define BUT_ID_RT               12
#define BUT_ID_LT               13
#define BUT_ID_TOTAL    14

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotIOControls
                {

class ROBOTICS_PORT RbXBeeCommander : public AnimatSim::Robotics::RemoteControl
{
protected:
        std::string m_strPort;

        int m_iBaudRate;

    unsigned char m_iButtons;  // 
    unsigned char m_iExt;      // Extended function set

        ofSerial m_Port;

    // internal variables used for reading messages
    unsigned char vals[7];  // temporary values, moved after we confirm checksum
    int index;              // -1 = waiting for new packet
    int checksum;
    unsigned char status; 

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

        virtual void ResetData();
        virtual void WaitForThreadNotifyReady();

        virtual void CreateDataIDMap();

public:
        RbXBeeCommander();
        virtual ~RbXBeeCommander();

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

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

#pragma region DataAccesMethods

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

#pragma endregion

        virtual void SimStarting();

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

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