SerialControlledRobot.h

#ifndef SERIAL_CONTROLLED_ROBOT_H
#define SERIAL_CONTROLLED_ROBOT_H

#include "ControlledRobot.h"
#include <KrisLibrary/utils/AsyncIO.h>

namespace Klampt {

class SerialControlledRobot : public ControlledRobot
{
 public:
  SerialControlledRobot(const char* host,double timeout=Inf);
  virtual ~SerialControlledRobot();
  virtual bool Init(RobotModel* robot,RobotController* controller);
  bool Process(double timeout);
  bool Run();
  void Stop();
  //for multi-threaded applications -- this mutex locks access to the command / sensors / klamptController structures
  void SetMutex(Mutex* controllerMutex);
  virtual void ReadSensorData(RobotSensors& sensors);
  virtual void WriteCommandData(const RobotMotorCommand& command);
 
  string host;
  shared_ptr<SocketPipeWorker> controllerPipe;
  Real robotTime;
  Real timeStep;
  int numOverruns;
  bool stopFlag;
  Mutex* controllerMutex;
};

} //namespace Klampt

#endif