RbLANWirelessInterface.cpp

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

#include "StdAfx.h"
#include <stdarg.h>
#include "RbMovableItem.h"
#include "RbBody.h"
#include "RbJoint.h"
#include "RbRigidBody.h"
#include "RbStructure.h"
#include "RbLANWirelessInterface.h"

// Defulat setting
#define DEFAULT_PORTNUM         3 // COM3
#define DEFAULT_BAUDNUM         1 // 1Mbps
#define DEFAULT_ID                      1

namespace RoboticsAnimatSim
{
        namespace Robotics
        {
                namespace RobotInterfaces
                {

// Construction/Destruction

RbLANWirelessInterface::RbLANWirelessInterface() 
{
}

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

#pragma region DataAccesMethods

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

        //if(strType == "LIMITPOS")
        //      return &m_fltLimitPos;
        //else
                THROW_TEXT_ERROR(Al_Err_lInvalidDataType, Al_Err_strInvalidDataType, "Robot Interface ID: " + STR(m_strName) + "  DataType: " + strDataType);

        return NULL;
}

bool RbLANWirelessInterface::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        std::string strType = Std_CheckString(strDataType);
        
        if(RobotInterface::SetData(strDataType, strValue, false))
                return true;

        //if(strType == "PORT")
        //{
        //      PortNumber((int) atoi(strValue.c_str()));
        //      return true;
        //}
        //else if(strType == "BAUDRATE")
        //{
        //      BaudRate((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 RbLANWirelessInterface::QueryProperties(CStdPtrArray<TypeProperty> &aryProperties)
{
        RobotInterface::QueryProperties(aryProperties);

        //aryNames.Add("ComPort");
        //aryTypes.Add("Integer");

        //aryNames.Add("BaudRate");
        //aryTypes.Add("Integer");
}

#pragma endregion


void RbLANWirelessInterface::Initialize()
{
        RobotInterface::Initialize();
}

void RbLANWirelessInterface::StepSimulation()
{
        RobotInterface::StepSimulation();
}

void RbLANWirelessInterface::Load(StdUtils::CStdXml &oXml)
{
        RobotInterface::Load(oXml);

}
                }               //RobotInterfaces
        }                       // Robotics
}                               //RoboticsAnimatSim