SerialController.h

#ifndef SERIAL_CONTROLLER_H
#define SERIAL_CONTROLLER_H

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

class AnyCollection;

namespace Klampt {

class SerialController : public RobotController
{
public:
  SerialController(RobotModel& robot,const string& servAddr="",Real writeRate=10);
  virtual ~SerialController() {}
  virtual const char* Type() const { return "SerialController"; }
  virtual void Update(Real dt);
  virtual void Reset();
  virtual map<string,string> Settings() const;
  virtual bool GetSetting(const string& name,string& str) const;
  virtual bool SetSetting(const string& name,const string& str);

  bool OpenConnection(const string& servaddr);
  bool CloseConnection();
  void PackSensorData(AnyCollection& data);

  string servAddr;
  Real writeRate;
  Real lastWriteTime;
  shared_ptr<SocketPipeWorker> controllerPipe;

  //for fixed-velocity commands, these are an accumulator that processes
  //the linearly increasing configuration
  Config vcmd;
  Real endVCmdTime;
};

} // namespace Klampt

#endif