controller.h

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#ifndef CONTROLLER_H
#define CONTROLLER_H

#include "motoPlus.h"


namespace motoman
{
namespace controller
{


#define MP_DRAM_DEV_DOS "MPRAM1:"  //This macro is supposed to be defined in motoPlus.h

//* Controller
class Controller
{
public:

 Controller();
 
 ~Controller();
 
int getInteger(int index);


void setInteger(int index, int value);

 void setDigitalOut(int bit_offset, bool value);
 
 void waitDigitalIn(int bit_offset, bool wait_value);
 
 
bool isMotionEnabled(void) {return motionEnabled;};

bool isJobStarted(void) {return jobStarted;};
  
void enableMotion(void);

void disableMotion(void);

void startMotionJob(char* job_name);
        
void stopMotionJob(char* job_name);

void delayTicks(int ticks) { mpTaskDelay(ticks);};

 bool writeJob(char* path, char* job);
 
 bool loadJob(char* path, char * job);
 
 double getVelocityLimit()
    {return (double) this->getInteger(VELOCITY_LIMIT_INDEX);};

 
protected:

static const int VELOCITY_LIMIT_INDEX = 94;
\
                
                
 static const int MP_ERROR = -1;
 
 static const int MP_OK = 0;

 static const int VAR_POLL_DELAY_ = 10; //ms
 static const int UNIV_IN_DATA_START_ = 10;
 static const int UNIV_OUT_DATA_START_ = 10010;
 static const int UNIV_IO_DATA_SIZE_ = 2048;
 
 // Servo power variables
MP_SERVO_POWER_SEND_DATA servo_power_data;
MP_STD_RSP_DATA servo_power_error;

// Job variables
MP_START_JOB_SEND_DATA job_start_data;
MP_DELETE_JOB_SEND_DATA job_delete_data;
MP_STD_RSP_DATA job_error;


// Hold variables
MP_HOLD_SEND_DATA hold_data;
MP_STD_RSP_DATA hold_error;
 
 //TODO: motion and job flags are just internal state variables, we may
 //want to make them query the appropriate motoplus API calls instead.
 bool motionEnabled;
 
 bool jobStarted;
 
 
};



} //controller
} //motoman

#endif //CONTROLLER_H