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106<div class="header">
107 <div class="headertitle">
108<div class="title">TargetController.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: 2015/04/14</span></div>
116<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// filename: TargetController.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 target side remote controls</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 TARGETCONTROLLER_H</span></div>
129<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="preprocessor">#define TARGETCONTROLLER_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="_i_o_device_8h.html">IODevice.h</a>&gt;</span></div>
132<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="_thread_8h.html">Thread.h</a>&gt;</span></div>
133<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
134<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="preprocessor">#include &lt;queue&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>Socket;</div>
141<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">class </span>io_data;</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>gui {</div>
144<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="keyword">class </span>Tab;</div>
145<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="keyword">class </span>TabWidget;</div>
146<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;<span class="keyword">class </span>DataPlot1D;</div>
147<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;}</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;<span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
151<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">namespace </span>sensor {</div>
152<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;<span class="keyword">enum class</span> ControllerAction;</div>
153<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;</div>
154<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_target_controller.html"> 49</a></span>&#160;<span class="keyword">class </span><a class="code" href="classflair_1_1sensor_1_1_target_controller.html">TargetController</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>
155<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160;<span class="keyword">public</span>:</div>
156<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">TargetController</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>
157<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; uint8_t priority = 0);</div>
158<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; ~<a class="code" href="classflair_1_1sensor_1_1_target_controller.html">TargetController</a>();</div>
159<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="comment">// void DrawUserInterface();</span></div>
160<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> IsConnected() <span class="keyword">const</span> = 0;</div>
161<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> IsDataFrameReady() = 0;</div>
162<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="comment">// axis stuff</span></div>
163<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetAxisNumber() <span class="keyword">const</span>;</div>
164<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="keyword">virtual</span> std::string GetAxisName(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> axisId) <span class="keyword">const</span>;</div>
165<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="keywordtype">float</span></div>
166<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; GetAxisValue(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> axisId) <span class="keyword">const</span>; <span class="comment">// always in the range [-1.0,1.0]</span></div>
167<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <span class="comment">// button stuff</span></div>
168<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> GetButtonNumber() <span class="keyword">const</span>;</div>
169<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160; <span class="keywordtype">bool</span> IsButtonPressed(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> buttonId) <span class="keyword">const</span>;</div>
170<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keyword">virtual</span> std::string GetButtonName(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> axisId) <span class="keyword">const</span>;</div>
171<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="comment">// controller state stuff</span></div>
172<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> IsControllerActionSupported(ControllerAction action)<span class="keyword"> const </span>{</div>
173<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
174<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; };</div>
175<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keywordtype">bool</span> SetLedOn(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId);</div>
176<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; <span class="keywordtype">bool</span> SetLedOff(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId);</div>
177<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keywordtype">bool</span> Rumble(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> left_force, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> left_timeout,</div>
178<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> right_force, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> right_timeout);</div>
179<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <span class="keywordtype">bool</span> FlashLed(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledId, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> on_timeout,</div>
180<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> off_timeout);</div>
181<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classflair_1_1sensor_1_1_target_controller.html#a1e883144c9ebf38961b7bce349fd8da3"> 76</a></span>&#160; <span class="keywordtype">void</span> <a class="code" href="classflair_1_1sensor_1_1_target_controller.html#a1e883144c9ebf38961b7bce349fd8da3">UpdateFrom</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data){}; <span class="comment">// TODO</span></div>
182<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *GetTab(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
183<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160;</div>
184<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;<span class="keyword">protected</span>:</div>
185<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> ProcessMessage(<a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> *msg) = 0;</div>
186<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; <span class="keywordtype">void</span> QueueMessage(<a class="code" href="classflair_1_1core_1_1_message.html">core::Message</a> msg);</div>
187<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> ControllerInitialization() = 0; <span class="comment">// {return true;};</span></div>
188<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160; <span class="comment">// axis stuff</span></div>
189<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> axisNumber;</div>
190<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> *axis = NULL;</div>
191<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> AcquireAxisData(<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;axis) = 0; <span class="comment">// responsible for</span></div>
192<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; <span class="comment">// getting the axis</span></div>
193<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; <span class="comment">// data from the</span></div>
194<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; <span class="comment">// hardware</span></div>
195<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160; uint16_t bitsPerAxis;</div>
196<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="comment">// button stuff</span></div>
197<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>
198<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 = NULL;</div>
199<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> AcquireButtonData(<a class="code" href="classflair_1_1core_1_1cvmatrix.html">core::cvmatrix</a> &amp;button) = 0; <span class="comment">// responsible for</span></div>
200<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; <span class="comment">// getting the</span></div>
201<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160; <span class="comment">// button data</span></div>
202<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="comment">// from the</span></div>
203<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <span class="comment">// hardware</span></div>
204<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <span class="comment">// controller state stuff</span></div>
205<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ledNumber;</div>
206<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160;</div>
207<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;<span class="keyword">private</span>:</div>
208<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; <span class="keywordtype">void</span> Run();</div>
209<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; std::queue&lt;core::Message *&gt; changeStateQueue;</div>
210<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a> *main_tab;</div>
211<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; <a class="code" href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a> *setup_tab;</div>
212<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160;};</div>
213<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160;}</div>
214<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160;}</div>
215<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160;</div>
216<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160;<span class="preprocessor">#endif // TARGETCONTROLLER_H</span></div>
217<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:77</div></div>
218<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>
219<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>
220<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>
221<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>
222<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>
223<div class="ttc" id="classflair_1_1sensor_1_1_target_controller_html_a1e883144c9ebf38961b7bce349fd8da3"><div class="ttname"><a href="classflair_1_1sensor_1_1_target_controller.html#a1e883144c9ebf38961b7bce349fd8da3">flair::sensor::TargetController::UpdateFrom</a></div><div class="ttdeci">void UpdateFrom(const core::io_data *data)</div><div class="ttdoc">Update using provided datas. </div><div class="ttdef"><b>Definition:</b> TargetController.h:76</div></div>
224<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>
225<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>
226<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>
227<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>
228<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>
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