ImplementAxisInfo.cpp

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include "yarp/dev/ImplementAxisInfo.h"
#include <yarp/dev/ControlBoardHelper.h>
 
#include <cstdio>
using namespace yarp::dev;
 
// Encoder Interface Timed Implementation
ImplementAxisInfo::ImplementAxisInfo(yarp::dev::IAxisInfoRaw *y)
{
    iinfo=y;
    helper = nullptr;
}
 
ImplementAxisInfo::~ImplementAxisInfo()
{
    uninitialize();
}
 
bool ImplementAxisInfo::initialize(int size, const int *amap)
{
    if (helper != nullptr) {
        return false;
    }
 
    helper=(void *)(new ControlBoardHelper(size, amap));
    yAssert (helper != nullptr);
 
    return true;
}
 
bool ImplementAxisInfo::uninitialize()
{
    if (helper!=nullptr)
    {
        delete castToMapper(helper);
        helper=nullptr;
    }
 
 
 
    return true;
}
 
bool ImplementAxisInfo::getAxes(int* ax)
{
    bool ret=true;
    (*ax) = castToMapper(helper)->axes();
    return ret;
}
 
bool ImplementAxisInfo::getAxisName(int axis, std::string& name)
{
    bool ret;
    int k = castToMapper(helper)->toHw(axis);
    ret = iinfo->getAxisNameRaw(k, name);
    return ret;
}
 
bool ImplementAxisInfo::getJointType(int axis, yarp::dev::JointTypeEnum& type)
{
    bool ret;
    int k = castToMapper(helper)->toHw(axis);
    ret = iinfo->getJointTypeRaw(k, type);
    return ret;
}
 
bool ret;