bool PlaylistDAO::appendTracksToPlaylist(const QList<int>& trackIds, const int playlistId) {
// qDebug() << "PlaylistDAO::appendTracksToPlaylist"
// << QThread::currentThread() << m_database.connectionName();
// Start the transaction
ScopedTransaction transaction(m_database);
int position = getMaxPosition(playlistId);
// Append after the last song. If no songs or a failed query then 0 becomes 1.
++position;
//Insert the song into the PlaylistTracks table
QSqlQuery query(m_database);
query.prepare("INSERT INTO PlaylistTracks (playlist_id, track_id, position, pl_datetime_added)"
"VALUES (:playlist_id, :track_id, :position, CURRENT_TIMESTAMP)");
query.bindValue(":playlist_id", playlistId);
int insertPosition = position;
foreach (int trackId, trackIds) {
query.bindValue(":track_id", trackId);
query.bindValue(":position", insertPosition++);
if (!query.exec()) {
LOG_FAILED_QUERY(query);
return false;
}
}
///Initialize motor params
foreach( Servo *s, motors )
{
Servo::TMotorData &data = s->data;
RoboCompJointMotor::MotorParams ¶ms = s->params;
std::cout << "JointMotor::Dynamixel::Dynamixel - Configuration data of motor " << params.name << std::endl;
///Set Status return level to 1. Level 0: no response ; Level 1: only for reading commands. Default ; Level 2: always
int level = 1;
setStatusReturnLevel(params.busId, level);
getStatusReturnLevel(params.busId, level);
qDebug() << " Status return level: " << level;
///Return delay time
int rt = 50;
if (setReturnDelayTime( params.busId, rt) == true and getReturnDelayTime( params.busId, rt) == true)
{
qDebug() << " Return delay time: " << rt;
}
else
qDebug() << "Error setting delay time";
///Control params
int m;
if (getPunch( params.busId, m ) == true)
{
qDebug() << " Punch: " << m;
}
else
qDebug() << "Error reading Punch";
if (getCCWComplianceMargin( params.busId, m ) == true)
{
qDebug() << " CCWComplianceMargin: " << m;
}
else
qDebug() << "Error reading CCWComplianceMargin";
if (getCWComplianceMargin( params.busId, m ) == true)
{
qDebug() << " CWComplianceMargin: " << m;
}
else
qDebug() << "Error reading CWComplianceMargin";
if (getCCWComplianceSlope( params.busId, m ) == true)
{
qDebug() << " CCWComplianceSlope: " << m;
}
else
qDebug() << "Error reading CCWComplianceSlope";
if (getCWComplianceSlope( params.busId, m ) == true)
{
qDebug() << " CWComplianceSlope: " << m;
}
else
qDebug() << "Error reading CWComplianceSlope";
///Read current position
int p;
getPosition(params.busId, p );
data.currentPos = p;
data.antPos = p;
data.currentPosRads = s->steps2Rads(p);
qDebug() << " Current position (steps): " << data.currentPos;
qDebug() << " Current position (rads): " << data.currentPosRads;
///Set limits
setMaxPosition(params.busId, MAXSTEPSPOSITION);
setMinPosition(params.busId, MINSTEPSPOSITION);
getMaxPosition( params.busId, p);
qDebug() << " Max position (steps): " << params.maxPos << p;
getMinPosition( params.busId, p);
qDebug() << " Min position (steps): " << params.minPos << p;
///set servos to maximum speed
setVelocity( params.busId, params.maxVelocity);
qDebug() << " Max velocity " << params.maxVelocity;
setBothComplianceMargins(params.busId, 2);
setBothComplianceSlopes(params.busId, 120);
// setPunch(params.busId, 50);
}