MotorControlProSVC_impl.cpp

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// -*-C++-*-
#include "MotorControlProSVC_impl.h"
//--- add --------------------------
#include <rtm/CORBA_SeqUtil.h>
#include <iostream>
//----------------------------------

/*
 * Example implementational code for IDL interface Motor
 */
MotorSVC_impl::MotorSVC_impl()
:rtclog("MotorSVC_impl")
{
        m_GainFlag = m_StartFlag = m_FinishFlag = m_ClearFlag = m_StopFlag= false;  //service port Flag (if data were inputed)
        m_PGainL = m_PGainR = m_DGainL = m_DGainR = 0.0;   // service port data values  
}


MotorSVC_impl::~MotorSVC_impl()
{
  // Please add extra destructor code here.
}


/*
 * Methods corresponding to IDL attributes and operations
 */
void MotorSVC_impl::setPDGain(CORBA::Double PGainL, CORBA::Double PGainR, CORBA::Double DGainL, CORBA::Double DGainR)
{
        RTC_INFO(("[GainControlSVC_impl::ChangeGain] called"));
        //std::cout << "[GainControlSVC_impl::ChangeGain] called "  << std::endl;
 
        //set ServicePort's Data for using in Controll Side 
        m_PGainL = PGainL;
        m_PGainR = PGainR;
        m_DGainL = DGainL;
        m_DGainR = DGainR;
        //TODO:check the datas whether balid or invalid. if OK -> set FLAG
        m_GainFlag = true; // set FLAG after inserting data from servicePort

        return;
}

void MotorSVC_impl::Start()
{
        RTC_INFO(("[MotorSVC_impl::Start] called "));
        //std::cout << "[MotorSVC_impl::Start] called "  << std::endl;

        // set FLAG 
        m_StartFlag = true;

        return;
}

void MotorSVC_impl::Finish()
{
        RTC_INFO(("[MotorSVC_impl::Finish] called "));
        //std::cout << "[MotorSVC_impl::Finish] called "  << std::endl;

        // set FLAG 
        m_FinishFlag = true;

        return;
}

void MotorSVC_impl::Clear()
{
        RTC_INFO(("[MotorSVC_impl::Clear] called "));
        //std::cout << "[MotorSVC_impl::Clear] called "  << std::endl;

        // set FLAG 
        m_ClearFlag = true;

        return;
}

void MotorSVC_impl::Stop()
{
        RTC_INFO(("[MotorSVC_impl::Stop] called "));
        //std::cout << "[MotorSVC_impl::Stop] called "  << std::endl;

        // set FLAG 
        m_StopFlag = true;

        return;
}



// End of example implementational code