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108<div class="title">EmulatedController.h</div> </div>
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110<div class="contents">
111<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">// created: 2015/04/14</span></div>
112<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// filename: EmulatedController.h</span></div>
113<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">//</span></div>
114<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// author: Gildas Bayard</span></div>
115<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">// Copyright Heudiasyc UMR UTC/CNRS 7253</span></div>
116<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">//</span></div>
117<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">// version: $Id: $</span></div>
118<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">//</span></div>
119<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// purpose: class that emulate a remote control.</span></div>
120<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">// Typical use case: run a demo without any reliable communication channel</span></div>
121<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">//</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">/*********************************************************************/</span></div>
124<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;</div>
125<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="preprocessor">#ifndef EMULATEDCONTROLLER_H</span></div>
126<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="preprocessor">#define EMULATEDCONTROLLER_H</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">#include &lt;TargetController.h&gt;</span></div>
129<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#include &lt;list&gt;</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="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
132<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; <span class="keyword">namespace </span>core {</div>
133<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160; <span class="keyword">class </span>FrameworkManager;</div>
134<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; <span class="keyword">class </span>cvmatrix;</div>
135<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160; }</div>
136<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160; <span class="keyword">namespace </span>gui {</div>
137<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; <span class="keyword">class </span>Tab;</div>
138<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="keyword">class </span>TabWidget;</div>
139<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; <span class="keyword">class </span>DataPlot1D;</div>
140<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160; }</div>
141<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;}</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">namespace </span><a class="code" href="namespaceflair.html">flair</a> { <span class="keyword">namespace </span>sensor {</div>
144<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_emulated_controller.html"> 39</a></span>&#160; <span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_emulated_controller.html">EmulatedController</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">TargetController</a> {</div>
145<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; <span class="keyword">public</span>:</div>
146<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_emulated_controller.html">EmulatedController</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_framework_manager.html">core::FrameworkManager</a>* parent,std::string name,uint8_t priority=0);</div>
147<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; ~<a class="code" href="classflair_1_1sensor_1_1_emulated_controller.html">EmulatedController</a>();</div>
148<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160; <span class="keyword">enum class</span> ButtonType : uint16_t {</div>
149<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; start=0x0001,select=0x0002,square=0x0004,triangle=0x0008,</div>
150<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; circle=0x0010,cross=0x0020,left1=0x0040,left2=0x0080,</div>
151<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; left3=0x0100,right1=0x0200,right2=0x0400,right3=0x0800,</div>
152<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160; up=0x1000,down=0x2000,left=0x4000,right=0x8000</div>
153<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; };</div>
154<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160; <span class="keywordtype">void</span> AddStep(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> durationMs,std::string description,uint16_t buttonPressed, <span class="keywordtype">float</span> leftAxisX, <span class="keywordtype">float</span> leftAxisY, <span class="keywordtype">float</span> rightAxisX, <span class="keywordtype">float</span> rightAxisY);</div>
155<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keyword">protected</span> :</div>
156<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <span class="keywordtype">bool</span> IsConnected() <span class="keyword">const</span>;</div>
157<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <span class="comment">//controller state stuff</span></div>
158<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; <span class="keywordtype">bool</span> ProcessMessage(<a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> *msg);</div>
159<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keywordtype">bool</span> IsDataFrameReady();</div>
160<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keywordtype">void</span> AcquireAxisData(<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;axis); <span class="comment">//responsible for getting the axis data from the hardware</span></div>
161<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keywordtype">void</span> AcquireButtonData(<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;button); <span class="comment">//responsible for getting the button data from the hardware</span></div>
162<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordtype">bool</span> ControllerInitialization();</div>
163<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160;</div>
164<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="keyword">private</span>:</div>
165<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="keyword">enum class</span> DataType { axis,button };</div>
166<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; <span class="keywordtype">void</span> ComputeControllerData(DataType dataType, <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;data);</div>
167<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keywordtype">void</span> fillVectorNoMutex(<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;vector,T data[],<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size);</div>
168<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="keywordtype">void</span> fillVectorNoMutex(<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;destination,<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;source,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size);</div>
169<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keyword">struct </span>StepData {</div>
170<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> durationMs; <span class="comment">//milliseconds</span></div>
171<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *axisData;</div>
172<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *buttonData;</div>
173<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; std::string description;</div>
174<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; <span class="keywordtype">void</span> Print();</div>
175<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; };</div>
176<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; std::list&lt;StepData&gt; steps;</div>
177<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; };</div>
178<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;</div>
179<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160;}}</div>
180<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160;</div>
181<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160;<span class="preprocessor">#endif // EMULATEDCONTROLLER_H</span></div>
182<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>
183<div class="ttc" id="classflair_1_1core_1_1cvmatrix_html"><div class="ttname"><a href="classflair_1_1core_1_1cvmatrix.html">flair::core::cvmatrix</a></div><div class="ttdoc">Class defining a matrix of kind CvMat. </div><div class="ttdef"><b>Definition:</b> cvmatrix.h:33</div></div>
184<div class="ttc" id="classflair_1_1sensor_1_1_target_controller_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_target_controller.html">flair::sensor::TargetController</a></div><div class="ttdoc">Base Class for target side remote controls. </div><div class="ttdef"><b>Definition:</b> TargetController.h:49</div></div>
185<div class="ttc" id="classflair_1_1core_1_1_framework_manager_html"><div class="ttname"><a href="classflair_1_1core_1_1_framework_manager.html">flair::core::FrameworkManager</a></div><div class="ttdoc">Main class of the Framework library. </div><div class="ttdef"><b>Definition:</b> FrameworkManager.h:45</div></div>
186<div class="ttc" id="classflair_1_1sensor_1_1_emulated_controller_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_emulated_controller.html">flair::sensor::EmulatedController</a></div><div class="ttdoc">Emulated remote control. </div><div class="ttdef"><b>Definition:</b> EmulatedController.h:39</div></div>
187<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>
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