RbAnimatSerial.h

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

#pragma once

#define MAX_ANIMAT_BUFFER 1024

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotIOControls
                {

class ROBOTICS_PORT RbAnimatSerial : public AnimatSim::Robotics::RemoteControl
{
protected:
        union id_tag {
         unsigned char bval[2];
         unsigned short ival;
        } m_id;
        
        union value_tag {
         unsigned char bval[4];
         float fval;
        } m_value;
        
        union size_tag {
         unsigned char bval[2];
         unsigned short ival;
        } m_size;

        std::string m_strPort;

        int m_iBaudRate;

        ofSerial m_Port;

        // internal variables used for reading messages
        unsigned char m_vals[MAX_ANIMAT_BUFFER];  // temporary values, moved after we confirm checksum
    int m_index;              // -1 = waiting for new packet
    int m_checksum;
        int m_iMessageID;
        int m_iPacketSize;

    unsigned char status; 
        virtual void StepIO();
        virtual bool OpenIO();
        virtual void CloseIO();

        virtual void ResetData();
        virtual void WaitForThreadNotifyReady();
        virtual void ReadData();
        virtual void WriteData();
        virtual void WriteData(CStdArray<RemoteControlLinkage *> &aryWrites);
        virtual void WriteAllData();
        virtual void WriteResendData();

public:
        RbAnimatSerial();
        virtual ~RbAnimatSerial();

        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