Merge remote-tracking branch 'origin/api-v2.0.2-cxx-dev' into develop…

…ment
Lipotam · Aug 30, 2017 · 5e3db33 · 5e3db33
2 parents fd28679 + 6db1d2a
commit 5e3db33
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Showing 4 changed files with 6 additions and 3 deletions.
diff --git a/code/c++/cxx-api/CommandsEnum.h b/code/c++/cxx-api/CommandsEnum.h
@@ -56,6 +56,7 @@ enum CommunicationCommands {
  */
 enum StartCommands {
 	startBasicAPI = 1,							//default API v1
+	APIWithAnswer = 2					//API v2
 };
 
 #endif /* _COMMANDS_ENUM_H_ */
diff --git a/code/c++/cxx-api/TCPIP_Connector.cpp b/code/c++/cxx-api/TCPIP_Connector.cpp
@@ -218,5 +218,4 @@ TCPIP_Connector::~TCPIP_Connector()
 #ifdef _WIN32
 	WSACleanup();
 #endif
-}
-
+}
diff --git a/code/c++/cxx-api/TrackPlatform_BasicConnector.cpp b/code/c++/cxx-api/TrackPlatform_BasicConnector.cpp
@@ -14,7 +14,7 @@ const std::string TrackPlatform_BasicConnector::connectedAnswer = "OK";
 
 void TrackPlatform_BasicConnector::sendStartCommand()
 {
-    std::string command = std::string() + static_cast<char>(communicationControllerID) + static_cast<char>(startCommunicationCommand) + static_cast<char>(startBasicAPI);
+    std::string command = std::string() + static_cast<char>(communicationControllerID) + static_cast<char>(startCommunicationCommand) + static_cast<char>(APIWithAnswer);
 	isConnectedToArduino = true;
 	for (auto i = 0; i < timesToAutoreconnect; ++i)
 	{

diff --git a/code/c++/cxx-api/TrackPlatform_BasicManagement.cpp b/code/c++/cxx-api/TrackPlatform_BasicManagement.cpp
@@ -4,20 +4,23 @@ void TrackPlatform_BasicManagement::sendMove(const std::string& additionalInfo)
 {
 	readWriteAtomicMutex.lock();
 	connector->sendOneCommand(static_cast<char>(movementControllerID) + additionalInfo);
+	auto answer = connector->readOneAnswer();
 	readWriteAtomicMutex.unlock();
 }
 
 void TrackPlatform_BasicManagement::sendSensors(const std::string& additionalInfo)
 {
 	readWriteAtomicMutex.lock();
 	connector->sendOneCommand(static_cast<char>(sensorsControllerID) + additionalInfo);
+	auto answer = connector->readOneAnswer();
 	readWriteAtomicMutex.unlock();
 }
 
 void TrackPlatform_BasicManagement::sendServo(const std::string& additionalInfo)
 {
 	readWriteAtomicMutex.lock();
 	connector->sendOneCommand(static_cast<char>(servoControllerID) + additionalInfo);
+	auto answer = connector->readOneAnswer();
 	readWriteAtomicMutex.unlock();
 }