HiSpike2.cpp

// HiSpike2.cpp: implementation of the HiSpike2 class.
//

#include "StdAfx.h"
#include <stdarg.h>
#include "HiSpike2.h"

namespace HybridInterfaceSim
{
        namespace Robotics
        {

// Construction/Destruction

HiSpike2::HiSpike2() 
{
        m_iPortNumber = 3;
        m_iCounter = 0;
        m_iInternalData = 0;
        m_fltData = 0;
}

HiSpike2::~HiSpike2()
{
        try
        {
        }
        catch(...)
        {Std_TraceMsg(0, "Caught Error in desctructor of HiSpike2\r\n", "", -1, false, true);}
}

void HiSpike2::PortNumber(int iPort)
{
        Std_IsAboveMin((int) 0, iPort, true, "PortNumber", true);
        m_iPortNumber = iPort;
}

int HiSpike2::PortNumber() {return m_iPortNumber;}

#pragma region DataAccesMethods

float *HiSpike2::GetDataPointer(const std::string &strDataType)
{
        std::string strType = Std_CheckString(strDataType);

        if(strType == "DATA")
                return &m_fltData;

        return RemoteControl::GetDataPointer(strDataType);
}

bool HiSpike2::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        std::string strType = Std_CheckString(strDataType);
        
        if(RemoteControl::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 HiSpike2::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        RemoteControl::QueryProperties(aryProperties);

        aryProperties.Add(new TypeProperty("Data", AnimatPropertyType::Integer, AnimatPropertyDirection::Get));

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

#pragma endregion

void HiSpike2::Initialize()
{
        OpenIO();

        StartIOThread();

        RemoteControl::Initialize();
}

void HiSpike2::ResetSimulation()
{
        RemoteControl::ResetSimulation();

        m_iCounter = 0;
        m_iInternalData = 0;
        m_fltData = 0;
}

bool HiSpike2::OpenIO()
{
        //Open spike 2 communications ports here
        return true;
}

void HiSpike2::CloseIO()
{
        //Close spike 2 communications ports here
}

void HiSpike2::StepIO()
{
        if(m_bEnabled && !m_lpSim->Paused())
        {

                //This is just test code to demonstrate how it will only fire when m_fltData matches
                //a speicfic value. You just need to set m_fltData to the unsigned int value that you
                //get from spike 2. We are using floats here instead of ints because of the generic 
                //method I use within animatlab to get data.
                m_fltData = 0;
                m_iCounter++;

                if(m_iCounter == 10)
                {
                        m_iInternalData++;
                        m_fltData = (float) m_iInternalData;
                        m_iCounter = 0;
                }

                if(m_iInternalData == 10)
                        m_iInternalData = 0;
        }

        //Temp code to slow this down like there was real communication
        boost::this_thread::sleep(boost::posix_time::microseconds(1000));

        RemoteControl::StepIO();
}

void HiSpike2::Load(StdUtils::CStdXml &oXml)
{
        RemoteControl::Load(oXml);

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


        }                       // Robotics
}                               //HybridInterfaceSim