RbFirmataDigitalInput.cpp

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

#include "StdAfx.h"
#include <stdarg.h>
#include "RbMovableItem.h"
#include "RbBody.h"
#include "RbJoint.h"
#include "RbMotorizedJoint.h"
#include "RbHingeLimit.h"
#include "RbHinge.h"
#include "RbRigidBody.h"
#include "RbStructure.h"
#include "RbFirmataPart.h"
#include "RbFirmataDigitalInput.h"
#include "RbFirmataController.h"

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

// Construction/Destruction

RbFirmataDigitalInput::RbFirmataDigitalInput() 
{
}

RbFirmataDigitalInput::~RbFirmataDigitalInput()
{
}

void RbFirmataDigitalInput::SetupIO()
{
        if(!m_lpSim->InSimulation() && m_lpFirmata)
                m_lpFirmata->sendDigitalPinMode(m_iIOComponentID, ARD_INPUT);
}

void RbFirmataDigitalInput::StepIO(int iPartIdx)
{
        if(!m_lpSim->InSimulation())
        {
                int iValue = m_lpFirmata->getDigital(m_iIOComponentID);

                if(iValue != -1 && iValue != m_iIOValue)
                {
                        m_bChanged = true;
                        IOValue(iValue);

                        if(iValue)
                                std::cout << "Pin " << m_iIOComponentID << " Turned ON." << "\r\n";
                        else
                                std::cout << "Pin " << m_iIOComponentID << " Turned OFF." << "\r\n";
                }
        }
}

void RbFirmataDigitalInput::StepSimulation()
{
    RobotPartInterface::StepSimulation();

        if(m_bChanged)
        {
                m_bChanged = false;

                //Calculate the gain of the IO value.
                float fltValue = m_lpGain->CalculateGain(m_fltIOValue);

                //Remove any previously added value from the param
                *m_lpProperty -= m_fltIOScaledValue;

                m_fltIOScaledValue = fltValue;

                //Add the value back.
                *m_lpProperty += m_fltIOScaledValue;
        }
}

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