source: flair-dev/trunk/include/FlairMeta/MetaDualShock3.h @ 25

Last change on this file since 25 was 25, checked in by Bayard Gildas, 4 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file MetaDualShock3.h
7 * \brief Classe intégrant la manette DualShock3 et les consignes joystick
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2014/01/14
10 * \version 3.4
11 */
12
13#ifndef METADUALSHOCK3_H
14#define METADUALSHOCK3_H
15
16#include <TargetController.h>
17#include <IODevice.h>
18
19namespace flair {
20namespace core {
21class AhrsData;
22class Quaternion;
23}
24namespace filter {
25class Ahrs;
26}
27}
28
29class MetaDualShock3_impl;
30
31namespace flair {
32namespace meta {
33
34/*! \class MetaDualShock3
35*
36* \brief Classe intégrant la manette MetaDualShock3
37*/
38class MetaDualShock3 : public core::IODevice {
39  friend class ::MetaDualShock3_impl;
40
41public:
42  MetaDualShock3(core::FrameworkManager *parent, std::string name,
43                 sensor::TargetController *controller);
44  ~MetaDualShock3();
45  core::AhrsData *GetReferenceOrientation(void) const;
46  float ZRef(void) const;
47  float DzRef(void) const;
48  void SetYawRef(float value);
49  /*!
50  * \brief Set yaw reference
51  *
52  * Yaw part of the output quaternion is obtained by integrating the wz desired
53  *angular speed.\n
54  * This method reset the yaw.
55  *
56  * \param value value, only the yaw part of the quaternion is used
57  */
58  void SetYawRef(core::Quaternion const &value);
59  void SetZRef(float value);
60  float RollTrim(void) const;
61  float PitchTrim(void) const;
62  void ErrorNotify(void);
63  void Rumble(uint8_t left_force, uint8_t left_timeout = 20,
64              uint8_t right_force = 0, uint8_t right_timeout = 0);
65  void SetLedON(unsigned int ledId);
66  void SetLedOFF(unsigned int ledId);
67  void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout);
68
69        private:
70            class MetaDualShock3_impl* pimpl_;
71            void UpdateFrom(const flair::core::io_data *data);
72            sensor::TargetController *controller;
73    };
74} // end namespace meta
75} // end namespace flair
76#endif // METADUALSHOCK3_H
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