kinton_arm.cpp

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#include "kinton_arm.h"

using namespace std;

KintonArmDriver::KintonArmDriver(void)
{
  //setDriverId(driver string id);
}

bool KintonArmDriver::openDriver(void)
{
  //setDriverId(driver string id);

  // Set Arduino port known with >> dmesg//
  const char *portname = "/dev/ttyUSB0";
  int baudrate = B9600;  // default
  this->kinton_arm_driver_.open_driver(portname, baudrate);

  return true;
}

bool KintonArmDriver::closeDriver(void)
{

  return true;
}

bool KintonArmDriver::startDriver(void)
{
  return true;
}

bool KintonArmDriver::stopDriver(void)
{
  return true;
}

void KintonArmDriver::set_init_position()
{
  this->kinton_arm_driver_.set_init_position();
}


void KintonArmDriver::set_new_positions(const vector<int>& new_pos)
{
  this->kinton_arm_driver_.set_new_positions(new_pos);
}



void KintonArmDriver::config_update(Config& new_cfg, uint32_t level)
{
  this->lock();

  // depending on current state
  // update driver with new_cfg data
  switch(this->getState())
  {
    case KintonArmDriver::CLOSED:
      break;

    case KintonArmDriver::OPENED:
      break;

    case KintonArmDriver::RUNNING:
      break;
  }

  this->config_=new_cfg;

  this->unlock();
}

KintonArmDriver::~KintonArmDriver(void)
{

}