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107  <div class="headertitle">
108<div class="title">HostEthController.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:    2015/03/30</span></div>
116<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//  filename:   HostEthController.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:    Base class for host side remote controls that talks to target</span></div>
124<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//  side through ethernet connection</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;<span class="comment">/*********************************************************************/</span></div>
128<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
129<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#ifndef HOSTETHCONTROLLER_H</span></div>
130<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#define HOSTETHCONTROLLER_H</span></div>
131<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div>
132<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
133<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_thread_8h.html">Thread.h</a>&gt;</span></div>
134<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></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><a class="code" href="namespaceflair.html">flair</a> {</div>
137<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span>core {</div>
138<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="keyword">class </span>FrameworkManager;</div>
139<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="keyword">class </span>cvmatrix;</div>
140<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">class </span>TcpSocket;</div>
141<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">class </span>Socket;</div>
142<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">class </span>Mutex;</div>
143<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;}</div>
144<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">namespace </span>gui {</div>
145<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">class </span>Tab;</div>
146<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">class </span>TabWidget;</div>
147<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">class </span>DataPlot1D;</div>
148<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;}</div>
149<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div>
150<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div>
151<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
152<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>sensor {</div>
153<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">enum class</span> ControllerAction;</div>
154<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div>
155<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_host_eth_controller.html">   56</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_host_eth_controller.html">HostEthController</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_thread.html">core::Thread</a>, <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> {</div>
156<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">public</span>:</div>
157<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_host_eth_controller.html">HostEthController</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,</div>
158<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                    std::string address, <span class="keywordtype">int</span> port, uint32_t period = 10,</div>
159<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                    uint32_t _bitsPerAxis = 7, uint8_t priority = 0);</div>
160<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  ~<a class="code" href="classflair_1_1sensor_1_1_host_eth_controller.html">HostEthController</a>();</div>
161<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordtype">void</span> DrawUserInterface();</div>
162<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div>
163<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">protected</span>:</div>
164<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  std::string controllerName;</div>
165<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="classflair_1_1core_1_1_tcp_socket.html">core::TcpSocket</a> *controlSocket; <span class="comment">// connection to the target</span></div>
166<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="classflair_1_1core_1_1_socket.html">core::Socket</a> *dataSocket;</div>
167<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  std::string targetAddress;</div>
168<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">int</span> targetPort;</div>
169<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *tab;</div>
170<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab_widget.html">gui::TabWidget</a> *tabWidget;</div>
171<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> IsDataFrameReady() { <span class="keywordflow">return</span> <span class="keyword">true</span>; };</div>
172<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> CompleteDataFrameGrab(){};</div>
173<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">//        int8_t *datas;</span></div>
174<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">//        uint8_t dataSize;</span></div>
175<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordtype">char</span> *dataFrameBuffer;</div>
176<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">size_t</span> dataFrameSize;</div>
177<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ProcessMessage(<a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> *controllerAction){};</div>
178<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
179<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">virtual</span> std::string GetAxisDescription(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> axis);</div>
180<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
181<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  GetAxisData() = 0; <span class="comment">// responsible for getting the axis data from the hardware</span></div>
182<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> axisNumber;</div>
183<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *axis;</div>
184<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_data_plot1_d.html">gui::DataPlot1D</a> **axisPlot;</div>
185<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  uint32_t bitsPerAxis;</div>
186<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  uint32_t nativeBitsPerAxis;</div>
187<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div>
188<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keyword">virtual</span> std::string GetButtonDescription(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> button);</div>
189<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> GetButtonData() = 0; <span class="comment">// responsible for getting the button data</span></div>
190<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                    <span class="comment">// from the hardware</span></div>
191<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> buttonNumber;</div>
192<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *button;</div>
193<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  uint8_t buttonOffset;</div>
194<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">bool</span> meaningfulDataAvailable;</div>
195<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div>
196<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keyword">private</span>:</div>
197<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">class </span>DataSender : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_thread.html">core::Thread</a> {</div>
198<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">public</span>:</div>
199<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    DataSender(<a class="code" href="classflair_1_1core_1_1_object.html#aec92383fd5bf68d9df10414862b7e95c">Object</a> *parent, <a class="code" href="classflair_1_1sensor_1_1_host_eth_controller.html">HostEthController</a> *hostEthController,</div>
200<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;               std::string name, uint8_t priority = 0);</div>
201<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">void</span> Run();</div>
202<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div>
203<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">private</span>:</div>
204<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <a class="code" href="classflair_1_1sensor_1_1_host_eth_controller.html">HostEthController</a> *hostEthController;</div>
205<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  };</div>
206<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  DataSender *dataSender;</div>
207<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div>
208<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">bool</span> ControllerInitialization();</div>
209<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">bool</span> ConnectedWithTarget();</div>
210<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordtype">void</span> SendControllerInfo();</div>
211<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">void</span> Run();</div>
212<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordtype">void</span> BuildDataFrame();</div>
213<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">bool</span> writeBits(uint16_t value, uint8_t valueSizeInBits, <span class="keywordtype">char</span> *buffer,</div>
214<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                 uint8_t offsetInBits);</div>
215<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="classflair_1_1core_1_1_mutex.html">core::Mutex</a> *connectionEstablishedMutex;</div>
216<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;};</div>
217<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}</div>
218<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;}</div>
219<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div>
220<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="preprocessor">#endif // HOSTETHCONTROLLER_H</span></div>
221<div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:44</div></div>
222<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>
223<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>
224<div class="ttc" id="classflair_1_1core_1_1_mutex_html"><div class="ttname"><a href="classflair_1_1core_1_1_mutex.html">flair::core::Mutex</a></div><div class="ttdoc">Class defining a mutex. </div><div class="ttdef"><b>Definition:</b> Mutex.h:29</div></div>
225<div class="ttc" id="classflair_1_1core_1_1_tcp_socket_html"><div class="ttname"><a href="classflair_1_1core_1_1_tcp_socket.html">flair::core::TcpSocket</a></div><div class="ttdoc">Class encapsulating a TCP socket. </div><div class="ttdef"><b>Definition:</b> TcpSocket.h:25</div></div>
226<div class="ttc" id="classflair_1_1core_1_1_socket_html"><div class="ttname"><a href="classflair_1_1core_1_1_socket.html">flair::core::Socket</a></div><div class="ttdoc">Class encapsulating a UDP socket. It assumes packets are coming from only one distant host on a given...</div><div class="ttdef"><b>Definition:</b> Socket.h:31</div></div>
227<div class="ttc" id="_i_o_device_8h_html"><div class="ttname"><a href="_i_o_device_8h.html">IODevice.h</a></div><div class="ttdoc">Abstract class for input/ouput system. </div></div>
228<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>
229<div class="ttc" id="classflair_1_1gui_1_1_tab_widget_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab_widget.html">flair::gui::TabWidget</a></div><div class="ttdoc">Class displaying a QTabWidget on the ground station. </div><div class="ttdef"><b>Definition:</b> TabWidget.h:29</div></div>
230<div class="ttc" id="_thread_8h_html"><div class="ttname"><a href="_thread_8h.html">Thread.h</a></div><div class="ttdoc">Abstract class for a thread. </div></div>
231<div class="ttc" id="classflair_1_1sensor_1_1_host_eth_controller_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_host_eth_controller.html">flair::sensor::HostEthController</a></div><div class="ttdoc">Base Class for host side remote controls that talks to target side through ethernet connection...</div><div class="ttdef"><b>Definition:</b> HostEthController.h:56</div></div>
232<div class="ttc" id="classflair_1_1core_1_1_thread_html"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html">flair::core::Thread</a></div><div class="ttdoc">Abstract class for a thread. </div><div class="ttdef"><b>Definition:</b> Thread.h:38</div></div>
233<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>
234<div class="ttc" id="classflair_1_1gui_1_1_data_plot1_d_html"><div class="ttname"><a href="classflair_1_1gui_1_1_data_plot1_d.html">flair::gui::DataPlot1D</a></div><div class="ttdoc">Class displaying a 1D plot on the ground station. </div><div class="ttdef"><b>Definition:</b> DataPlot1D.h:33</div></div>
235<div class="ttc" id="classflair_1_1gui_1_1_tab_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a></div><div class="ttdoc">Class displaying a QTab on the ground station. </div><div class="ttdef"><b>Definition:</b> Tab.h:29</div></div>
236<div class="ttc" id="classflair_1_1core_1_1_object_html_aec92383fd5bf68d9df10414862b7e95c"><div class="ttname"><a href="classflair_1_1core_1_1_object.html#aec92383fd5bf68d9df10414862b7e95c">flair::core::Object::Object</a></div><div class="ttdeci">Object(const Object *parent=NULL, std::string name=&quot;&quot;, std::string type=&quot;&quot;)</div><div class="ttdoc">Constructor. </div></div>
237</div><!-- fragment --></div><!-- contents -->
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241  <ul>
242    <li class="navelem"><a class="el" href="dir_33c2ee9b1665499374b4225c427cf176.html">igep</a></li><li class="navelem"><a class="el" href="dir_f1fe274389177bd7e17de7949c4ffada.html">flair-src</a></li><li class="navelem"><a class="el" href="dir_3ef62148cf94871b4b6ee5d6e3a989c1.html">lib</a></li><li class="navelem"><a class="el" href="dir_6e0f9c50eed172896c55a6e61952176b.html">FlairSensorActuator</a></li><li class="navelem"><a class="el" href="dir_c5d95abdcafe7d1171548eb561d7ce37.html">src</a></li><li class="navelem"><b>HostEthController.h</b></li>
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