src/FastResearchInterfaceLibrary/SetRobotStatusData.cpp

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#include <FastResearchInterface.h>
#include <pthread.h>
#include <friComm.h>


// ****************************************************************
// SetKRLBoolValues()
//
void FastResearchInterface::SetKRLBoolValues(const bool *KRLBoolValues)
{
    unsigned int        i   =   0;

    pthread_mutex_lock(&(this->MutexForControlData));
    for (i = 0; i < FRI_USER_SIZE; i++)
    {
        if (KRLBoolValues[i])
        {
            this->CommandData.krl.boolData |= (1 << i);
        }
        else
        {
            this->CommandData.krl.boolData &= ( ~( 1 << i) );
        }
    }
    pthread_mutex_unlock(&(this->MutexForControlData));

    return;
}


// ****************************************************************
// SetKRLIntValues()
//
void FastResearchInterface::SetKRLIntValues(const int *KRLIntValues)
{
    unsigned int        i   =   0;

    pthread_mutex_lock(&(this->MutexForControlData));
    for (i = 0; i < FRI_USER_SIZE; i++)
    {
        this->CommandData.krl.intData[i]    =   KRLIntValues[i];
    }
    pthread_mutex_unlock(&(this->MutexForControlData));

    return;
}


// ****************************************************************
// SetKRLFloatValues()
//
void FastResearchInterface::SetKRLFloatValues(const float *KRLFloatValues)
{
    unsigned int        i   =   0;

    pthread_mutex_lock(&(this->MutexForControlData));
    for (i = 0; i < FRI_USER_SIZE; i++)
    {
        this->CommandData.krl.realData[i]   =   KRLFloatValues[i];
    }
    pthread_mutex_unlock(&(this->MutexForControlData));

    return;
}


// ****************************************************************
// SetKRLBoolValue()
//
void FastResearchInterface::SetKRLBoolValue(    const unsigned int  &Index
                                            ,   const bool          &Value  )
{
    pthread_mutex_lock(&(this->MutexForControlData));
    if (Value)
    {
        this->CommandData.krl.boolData |= (1 << Index);
    }
    else
    {
        this->CommandData.krl.boolData &= ( ~( 1 << Index) );
    }
    pthread_mutex_unlock(&(this->MutexForControlData));
    return;
}


// ****************************************************************
// SetKRLIntValue()
//
void FastResearchInterface::SetKRLIntValue(     const unsigned int  &Index
                                            ,   const int           &Value  )
{
    pthread_mutex_lock(&(this->MutexForControlData));
    this->CommandData.krl.intData[Index]    =   Value;
    pthread_mutex_unlock(&(this->MutexForControlData));
    return;
}


// ****************************************************************
// SetKRLFloatValue()
//
void FastResearchInterface::SetKRLFloatValue(   const unsigned int  &Index
                                             ,  const float         &Value  )
{
    pthread_mutex_lock(&(this->MutexForControlData));
    this->CommandData.krl.realData[Index]   =   Value;
    pthread_mutex_unlock(&(this->MutexForControlData));
    return;
}