RobotPartInterface.h

#pragma once

namespace AnimatSim
{
        namespace Robotics
        {

                class ANIMAT_PORT RobotPartInterface : public AnimatBase
                {
                protected:
                        RobotInterface *m_lpParentInterface;
                        RobotIOControl *m_lpParentIOControl;

                        BodyPart *m_lpPart;
                        std::string m_strPartID;

                        float *m_lpProperty;
                        std::string m_strPropertyName;

                        Gain *m_lpGain;

                        int m_iIOComponentID;

                        float m_fltIOValue;

                        int m_iIOValue;

                        float m_fltIOScaledValue;

                        bool m_bChanged;

                        //The time it takes to perform a step of the IO for this part.
                        float m_fltStepIODuration;

                        virtual void AddGain(std::string strXml);

                public:
                        RobotPartInterface(void);
                        virtual ~RobotPartInterface(void);
                                                
                        static RobotPartInterface *CastToDerived(AnimatBase *lpBase) {return static_cast<RobotPartInterface*>(lpBase);}

                        virtual void ParentIOControl(RobotIOControl *lpParent);
                        virtual RobotIOControl *ParentIOControl();

                        virtual int IOComponentID();
                        virtual void IOComponentID(int iID);
                        
                        virtual float IOValue();
                        virtual void IOValue(float fltVal);
                        
                        virtual int IOValueInt();
                        virtual void IOValueInt(int iVal);
                        
                        virtual float IOScaledValue();
                        virtual void IOScaledValue(float fltVal);
                        
                        virtual bool Changed();
                        virtual void Changed(bool bVal);

                        virtual void LinkedPartID(std::string strID);
                        virtual std::string LinkedPartID();
                        
                        virtual void PropertyName(std::string strName);
                        virtual std::string PropertyName();

                        virtual bool IsMotorControl();
                        virtual bool IncludeInPartsCycle() {return false;}

                        virtual float QuantizeServoPosition(float fltPos);
                        virtual float QuantizeServoVelocity(float fltVel);

                        virtual Gain *GetGain();
                        virtual void SetGain(Gain *lpGain);

                        virtual float StepIODuration();

#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 SetupIO();
                        virtual void StepIO(int iPartIdx);
                        virtual void ShutdownIO();

                        virtual void Initialize();
                        virtual void ResetSimulation();
                        virtual void Load(CStdXml &oXml);
                };

        }
}