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106<div class="header">
107 <div class="headertitle">
108<div class="title">Controller.h</div> </div>
109</div><!--header-->
110<div class="contents">
111<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// %flair:license{</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// This file is part of the Flair framework distributed under the</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// CECILL-C License, Version 1.0.</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// %flair:license}</span></div>
115<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">// created: 2015/05/27</span></div>
116<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// filename: Controller.h</span></div>
117<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">//</span></div>
118<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">// author: Gildas Bayard</span></div>
119<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// Copyright Heudiasyc UMR UTC/CNRS 7253</span></div>
120<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">//</span></div>
121<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">// version: $Id: $</span></div>
122<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">//</span></div>
123<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">// purpose: Utility classes for controllers</span></div>
124<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">//</span></div>
125<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">//</span></div>
126<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">/*********************************************************************/</span></div>
127<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;</div>
128<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="preprocessor">#ifndef CONTROLLER_H</span></div>
129<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#define CONTROLLER_H</span></div>
130<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;</div>
131<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_object_8h.html">Object.h</a>&gt;</span></div>
132<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="preprocessor">#include &lt;string.h&gt;</span></div>
133<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;</div>
134<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
135<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="keyword">namespace </span>core {</div>
136<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="keyword">class </span>Message;</div>
137<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;}</div>
138<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;}</div>
139<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div>
140<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
141<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">namespace </span>sensor {</div>
142<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;</div>
143<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">enum class</span> ControllerAction { SetLedOn, SetLedOff, Rumble, FlashLed, Exit };</div>
144<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;</div>
145<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_rumble_message.html"> 35</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_rumble_message.html">RumbleMessage</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> {</div>
146<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="keyword">public</span>:</div>
147<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_rumble_message.html">RumbleMessage</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftForce, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftTimeout,</div>
148<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightForce, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightTimeout);</div>
149<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetLeftForce() <span class="keyword">const</span>;</div>
150<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetLeftTimeout() <span class="keyword">const</span>;</div>
151<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetRightForce() <span class="keyword">const</span>;</div>
152<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetRightTimeout() <span class="keyword">const</span>;</div>
153<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; <span class="keywordtype">void</span> SetLeftForce(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftForce);</div>
154<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; <span class="keywordtype">void</span> SetLeftTimeout(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftTimeout);</div>
155<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; <span class="keywordtype">void</span> SetRightForce(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightForce);</div>
156<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">void</span> SetRightTimeout(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightTimeout);</div>
157<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;</div>
158<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160;<span class="keyword">private</span>:</div>
159<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftForceOffset = <span class="keyword">sizeof</span>(ControllerAction);</div>
160<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> leftTimeoutOffset =</div>
161<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keyword">sizeof</span>(ControllerAction) + <span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
162<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightForceOffset =</div>
163<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keyword">sizeof</span>(ControllerAction) + 2 * <span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
164<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rightTimeoutOffset =</div>
165<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keyword">sizeof</span>(ControllerAction) + 3 * <span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
166<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;};</div>
167<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160;</div>
168<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_switch_led_message.html"> 58</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_switch_led_message.html">SwitchLedMessage</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> {</div>
169<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160;<span class="keyword">public</span>:</div>
170<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_switch_led_message.html">SwitchLedMessage</a>(<span class="keywordtype">bool</span> isOn, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId);</div>
171<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; <span class="keywordtype">bool</span> IsOn() <span class="keyword">const</span>;</div>
172<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetLedId() <span class="keyword">const</span>;</div>
173<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="keywordtype">void</span> SetOn();</div>
174<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keywordtype">void</span> SetOff();</div>
175<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">void</span> SetLedId(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId);</div>
176<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;</div>
177<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;<span class="keyword">private</span>:</div>
178<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> isOnOffset = <span class="keyword">sizeof</span>(ControllerAction);</div>
179<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledIdOffset =</div>
180<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keyword">sizeof</span>(ControllerAction) + <span class="keyword">sizeof</span>(<span class="keywordtype">bool</span>);</div>
181<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;};</div>
182<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160;</div>
183<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_flash_led_message.html"> 73</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_flash_led_message.html">FlashLedMessage</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> {</div>
184<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;<span class="keyword">public</span>:</div>
185<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_flash_led_message.html">FlashLedMessage</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> onTime,</div>
186<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offTime);</div>
187<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetLedId() <span class="keyword">const</span>;</div>
188<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetOnTime() <span class="keyword">const</span>;</div>
189<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetOffTime() <span class="keyword">const</span>;</div>
190<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; <span class="keywordtype">void</span> SetLedId(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId);</div>
191<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; <span class="keywordtype">void</span> SetOnTime(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> onTime);</div>
192<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <span class="keywordtype">void</span> SetOffTime(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offTime);</div>
193<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;</div>
194<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160;<span class="keyword">private</span>:</div>
195<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledIdOffset = <span class="keyword">sizeof</span>(ControllerAction);</div>
196<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> onTimeOffset =</div>
197<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <span class="keyword">sizeof</span>(ControllerAction) + <span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
198<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> offTimeOffset =</div>
199<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <span class="keyword">sizeof</span>(ControllerAction) + 2 * <span class="keyword">sizeof</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>);</div>
200<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;};</div>
201<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160;}</div>
202<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160;}</div>
203<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160;</div>
204<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160;<span class="preprocessor">#endif // CONTROLLER_H</span></div>
205<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
206<div class="ttc" id="classflair_1_1sensor_1_1_switch_led_message_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_switch_led_message.html">flair::sensor::SwitchLedMessage</a></div><div class="ttdef"><b>Definition:</b> Controller.h:58</div></div>
207<div class="ttc" id="_object_8h_html"><div class="ttname"><a href="_object_8h.html">Object.h</a></div><div class="ttdoc">Base class for all Framework&#39;s classes. </div></div>
208<div class="ttc" id="classflair_1_1sensor_1_1_flash_led_message_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_flash_led_message.html">flair::sensor::FlashLedMessage</a></div><div class="ttdef"><b>Definition:</b> Controller.h:73</div></div>
209<div class="ttc" id="classflair_1_1core_1_1_message_html"><div class="ttname"><a href="classflair_1_1core_1_1_message.html">flair::core::Message</a></div><div class="ttdef"><b>Definition:</b> Object.h:35</div></div>
210<div class="ttc" id="classflair_1_1sensor_1_1_rumble_message_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_rumble_message.html">flair::sensor::RumbleMessage</a></div><div class="ttdef"><b>Definition:</b> Controller.h:35</div></div>
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