From fbef2e2c8878acec949c2323f53a1ced2c56d19d Mon Sep 17 00:00:00 2001
From: jacobperron <jacobmperron@gmail.com>
Date: Mon, 28 Mar 2016 22:31:23 -0700
Subject: [PATCH] Implement 'getMode'

---
 include/create/types.h |  5 +++--
 src/create.cpp         | 10 ++++++++++
 src/data.cpp           |  2 +-
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/include/create/types.h b/include/create/types.h
index 3fcb3b1..9e65c08 100644
--- a/include/create/types.h
+++ b/include/create/types.h
@@ -80,7 +80,7 @@ namespace create {
     ID_UNUSED_2 = 32,
     ID_UNUSED_3 = 33,
     ID_CHARGE_SOURCE = 34,
-    ID_IO_MODE = 35,
+    ID_OI_MODE = 35,
     ID_SONG_NUM = 36,
     ID_PLAYING = 37,
     ID_NUM_STREAM_PACKETS = 38,
@@ -156,7 +156,8 @@ namespace create {
     MODE_OFF = OC_POWER,
     MODE_PASSIVE = OC_START,
     MODE_SAFE = OC_SAFE,
-    MODE_FULL = OC_FULL
+    MODE_FULL = OC_FULL,
+    MODE_UNAVAILABLE = -1
   };
 
   enum CleanMode {
diff --git a/src/create.cpp b/src/create.cpp
index 5456751..3c12fdb 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -687,6 +687,16 @@ namespace create {
     }
   }
 
+  create::CreateMode Create::getMode() const {
+    if (data->isValidPacketID(ID_OI_MODE)) {
+      return (create::CreateMode) GET_DATA(ID_OI_MODE);
+    }
+    else {
+      CERR("[create::Create] ", "Querying Mode not supported!");
+      return create::MODE_UNAVAILABLE;
+    }
+  }
+
   const Pose& Create::getPose() const {
     return pose;
   }
diff --git a/src/data.cpp b/src/data.cpp
index 25616c9..fe6dc29 100644
--- a/src/data.cpp
+++ b/src/data.cpp
@@ -25,6 +25,7 @@ namespace create {
     ADD_PACKET(ID_CHARGE , 2, "battery_charge");
     ADD_PACKET(ID_CAPACITY, 2, "battery_capacity");
     ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall");
+    ADD_PACKET(ID_OI_MODE, 1, "oi_mode");
 
     if (model == CREATE_1) {
       ADD_PACKET(ID_DISTANCE, 2, "distance");
@@ -42,7 +43,6 @@ namespace create {
       //ADD_PACKET(ID_UNUSED_2, 1, "unused 2");
       //ADD_PACKET(ID_UNUSED_3, 2, "unused 3");
       //ADD_PACKET(ID_CHARGE_SOURCE, 1, "charger_available");
-      //ADD_PACKET(ID_IO_MODE, 1, "oi_mode");
       //ADD_PACKET(ID_SONG_NUM, 1, "song_number");
       //ADD_PACKET(ID_PLAYING, 1, "song_playing");
       //ADD_PACKET(ID_NUM_STREAM_PACKETS, 1, "oi_stream_num_packets");