#include <stdio.h>
#include "SensorProvider.h"


SensorProvider::SensorProvider(Channel *chan, btHingeConstraint *joint, int orient)
: XProvider(chan)
{
	m_joint = joint;
	m_orient = orient;
}

SensorProvider::~SensorProvider()
{
}

btHingeConstraint *SensorProvider::getConstraint()
{
	return m_joint;
}

int SensorProvider::getOrient()
{
	return m_orient;
}

void SensorProvider::updatePre()
{
	float angle = m_joint->getHingeAngle();
	m_chan->write(&angle, MPI_FLOAT, 1);
}

void SensorProvider::packData(channelData *data, int id)
{
	data->angle = m_joint->getHingeAngle();
	data->maxAngle = m_joint->getUpperLimit();
	data->minAngle = m_joint->getLowerLimit();
	data->orient = m_orient;
	data->type = SENSOR;
}