RobotIOControl.h

Go to the documentation of this file.

#pragma once

namespace AnimatSim
{
        namespace Robotics
        {

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

                        CStdPtrArray<RobotPartInterface> m_aryParts;

                        bool m_bIOThreadProcessing;

                        bool m_bSetupStarted;

                        bool m_bSetupComplete;

                        bool m_bStopIO;

                        bool m_bPauseIO;
                        
                        bool m_bIOPaused;

                        float m_fltStepIODuration;

                        int m_iCyclePartCount;

                        int m_iCyclePartIdx;

                        //Temporary if def to prevent this from showing up in ManagedAnimatTools. Will get rid of this
                        //once I get rid of that library.
#ifndef STD_DO_NOT_ADD_BOOST
                        boost::thread m_ioThread;

                        boost::interprocess::interprocess_mutex m_WaitForIOSetupMutex;

                        boost::interprocess::interprocess_condition  m_WaitForIOSetupCond;
#endif

                        bool m_bWaitingForThreadNotify;

                        virtual RobotPartInterface *LoadPartInterface(CStdXml &oXml);
                        virtual RobotPartInterface *AddPartInterface(std::string strXml);
                        virtual void RemovePartInterface(std::string strID, bool bThrowError = true);
                        virtual int FindChildListPos(std::string strID, bool bThrowError = true);

                        virtual void StartIOThread();
                        virtual void ProcessIO();
                        virtual void ExitIOThread();
                        virtual bool OpenIO() = 0;
                        virtual void CloseIO() = 0;

                        virtual void WaitWhilePaused();
                        virtual void WaitTillPaused();
                        virtual void WaitForThreadNotifyReady();
                        virtual void StartPause();
                        virtual void ExitPause();

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

                        virtual void ParentInterface(RobotInterface *lpParent);
                        virtual RobotInterface *ParentInterface();

                        virtual CStdPtrArray<RobotPartInterface>* Parts();
                        
                        virtual void PauseIO(bool bVal);
                        virtual bool PauseIO();
                        virtual bool IOPaused();

                        virtual float StepIODuration();

                        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);
                        virtual bool AddItem(const std::string &strItemType, const std::string &strXml, bool bThrowError = true, bool bDoNotInit = false);
                        virtual bool RemoveItem(const std::string &strItemType, const std::string &strID, bool bThrowError = true);

                        virtual void SetupIO();
                        virtual void StepIO();
                        virtual void ShutdownIO();

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

        }
}