Add haptic actuator set and update IWearActuatorsWrapper

robotology · Jan 18, 2021 · 7622ad6 · 7622ad6
1 parent e772a1b
commit 7622ad6
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Showing 2 changed files with 10 additions and 1 deletion.
diff --git a/interfaces/IWear/include/Wearable/IWear/Actuators/IHaptic.h b/interfaces/IWear/include/Wearable/IWear/Actuators/IHaptic.h
@@ -31,7 +31,7 @@ class wearable::actuator::IHaptic : public wearable::actuator::IActuator
 
     inline static const std::string getPrefix();
 
-    //TODO: Update set and get methods
+    virtual bool setHapticCommand(double& value) const = 0;
 };
 
 inline const std::string wearable::actuator::IHaptic::getPrefix()

diff --git a/wrappers/IWearActuators/src/IWearActuatorsWrapper.cpp b/wrappers/IWearActuators/src/IWearActuatorsWrapper.cpp
@@ -104,6 +104,15 @@ void IWearActuatorsWrapper::onRead(msg::WearableActuatorCommand& wearableActuato
 
    wearable::actuator::ActuatorType aType = pImpl->actuatorsMap[info.name]->getActuatorType();
    switch (aType) {
+    case wearable::actuator::ActuatorType::Haptic: {
+
+       if(info.type == wearable::msg::ActuatorType::HAPTIC)
+       {
+           wearable::ElementPtr<const wearable::actuator::IHaptic> castActuator = std::static_pointer_cast<const wearable::actuator::IHaptic>(pImpl->actuatorsMap[info.name]);
+           castActuator->setHapticCommand(wearableActuatorCommand.value);
+       }
+
+    }
     case wearable::actuator::ActuatorType::Motor: {
 
        // Check if the actuator type in the command is correct