// Copyright 1996-2023 Cyberbotics Ltd.

//

// Licensed under the Apache License, Version 2.0 (the "License");

// you may not use this file except in compliance with the License.

// You may obtain a copy of the License at

//

// https://www.apache.org/licenses/LICENSE-2.0

//

// Unless required by applicable law or agreed to in writing, software

// distributed under the License is distributed on an "AS IS" BASIS,

// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

// See the License for the specific language governing permissions and

// limitations under the License.

#define WB_ALLOW_MIXING_C_AND_CPP_API

#include <webots/device.h>

#include <webots/position_sensor.h>

#include <webots/Brake.hpp>

#include <webots/Motor.hpp>

#include <webots/PositionSensor.hpp>

#include <webots/Robot.hpp>

using namespace webots;

void PositionSensor::enable(int sampling_period) {

wb_position_sensor_enable(getTag(), sampling_period);

}

void PositionSensor::disable() {

wb_position_sensor_disable(getTag());

}

int PositionSensor::getSamplingPeriod() const {

return wb_position_sensor_get_sampling_period(getTag());

}

double PositionSensor::getValue() const {

return wb_position_sensor_get_value(getTag());

}

PositionSensor::Type PositionSensor::getType() const {

return Type(wb_position_sensor_get_type(getTag()));

}

Brake *PositionSensor::getBrake() {

if (brake == NULL)

brake = dynamic_cast<Brake *>(Robot::getDeviceFromTag(getBrakeTag()));

return brake;

}

int PositionSensor::getBrakeTag() const {

return wb_position_sensor_get_brake(getTag());

}

Motor *PositionSensor::getMotor() {

if (motor == NULL)

motor = dynamic_cast<Motor *>(Robot::getDeviceFromTag(getMotorTag()));

return motor;

}

int PositionSensor::getMotorTag() const {

return wb_position_sensor_get_motor(getTag());

}