Comm.h

00001 #ifndef Comm_h
00002 #define Comm_h
00003 
00004 #include "json.h"
00005 #include "CommDelegate.h"  
00006 #include "mbed_rpc.h" 
00007 
00008 
00009 class Comm{
00010     
00011     public:
00012     
00013         Comm(CommDelegate *controls);
00014         
00015         void openGripper1(Arguments* input, Reply* output);
00016         void closeGripper1(Arguments* input, Reply* output);
00017         void printGripper1State(bool state);
00018         void openGripper2(Arguments* input, Reply* output);
00019         void closeGripper2(Arguments* input, Reply* output);
00020         void printGripper2State(bool state);
00021         
00022         void setSwingUpK(Arguments* input, Reply* output);
00023         void setSwingUpD(Arguments* input, Reply* output);
00024         void setDesiredThetaP(Arguments* input, Reply* output);
00025         void setSoftLimitsP(Arguments* input, Reply* output);
00026         void printGains();
00027         
00028         void setTargetingK(Arguments* input, Reply* output);
00029         void setTargetingD(Arguments* input, Reply* output);
00030         
00031         void setTarget(Arguments* input, Reply* output);
00032         void printTarget();
00033         
00034         void setTheta(Arguments * input, Reply * output);
00035         
00036         void printPosition();
00037         void printVelocity();
00038         
00039         void check();
00040         
00041         Serial* getPC();
00042             
00043     private:
00044     
00045         Serial _pc;
00046     
00047         void throwNotEnoughArgsError();
00048         
00049         char buf[256], outbuf[256];
00050         
00051         JSON _json;
00052         CommDelegate *_controls;
00053 //        volatile bool newline_detected = false;
00054  
00055 };
00056 
00057 #endif