| 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2015/05/27
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| 6 | // filename: Controller.h
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| 7 | //
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| 8 | // author: Gildas Bayard
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: Utility classes for controllers
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #ifndef CONTROLLER_H
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| 19 | #define CONTROLLER_H
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| 20 |
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| 21 | #include <Object.h>
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| 22 | #include <string.h>
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| 23 |
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| 24 | namespace flair {
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| 25 | namespace core {
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| 26 | class Message;
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| 27 | }
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| 28 | }
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| 29 |
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| 30 | namespace flair { namespace sensor {
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| 31 |
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| 32 | enum class ControllerAction {
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| 33 | SetLedOn,
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| 34 | SetLedOff,
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| 35 | Rumble,
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| 36 | FlashLed,
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| 37 | Exit
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| 38 | };
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| 39 |
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| 40 | class RumbleMessage: public core::Message {
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| 41 | public:
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| 42 | RumbleMessage(unsigned int leftForce,unsigned int leftTimeout,unsigned int rightForce,unsigned int rightTimeout);
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| 43 | unsigned int GetLeftForce() const;
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| 44 | unsigned int GetLeftTimeout() const;
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| 45 | unsigned int GetRightForce() const;
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| 46 | unsigned int GetRightTimeout() const;
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| 47 | void SetLeftForce(unsigned int leftForce);
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| 48 | void SetLeftTimeout(unsigned int leftTimeout);
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| 49 | void SetRightForce(unsigned int rightForce);
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| 50 | void SetRightTimeout(unsigned int rightTimeout);
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| 51 | private:
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| 52 | static const unsigned int leftForceOffset=sizeof(ControllerAction);
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| 53 | static const unsigned int leftTimeoutOffset=sizeof(ControllerAction)+sizeof(unsigned int);
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| 54 | static const unsigned int rightForceOffset=sizeof(ControllerAction)+2*sizeof(unsigned int);
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| 55 | static const unsigned int rightTimeoutOffset=sizeof(ControllerAction)+3*sizeof(unsigned int);
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| 56 | };
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| 57 |
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| 58 | class SwitchLedMessage: public core::Message {
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| 59 | public:
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| 60 | SwitchLedMessage(bool isOn,unsigned int ledId);
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| 61 | bool IsOn() const;
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| 62 | unsigned int GetLedId() const;
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| 63 | void SetOn();
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| 64 | void SetOff();
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| 65 | void SetLedId(unsigned int ledId);
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| 66 | private:
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| 67 | static const unsigned int isOnOffset=sizeof(ControllerAction);
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| 68 | static const unsigned int ledIdOffset=sizeof(ControllerAction)+sizeof(bool);
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| 69 | };
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| 70 |
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| 71 | class FlashLedMessage: public core::Message {
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| 72 | public:
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| 73 | FlashLedMessage(unsigned int ledId,unsigned int onTime,unsigned int offTime);
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| 74 | unsigned int GetLedId() const;
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| 75 | unsigned int GetOnTime() const;
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| 76 | unsigned int GetOffTime() const;
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| 77 | void SetLedId(unsigned int ledId);
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| 78 | void SetOnTime(unsigned int onTime);
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| 79 | void SetOffTime(unsigned int offTime);
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| 80 | private:
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| 81 | static const unsigned int ledIdOffset=sizeof(ControllerAction);
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| 82 | static const unsigned int onTimeOffset=sizeof(ControllerAction)+sizeof(unsigned int);
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| 83 | static const unsigned int offTimeOffset=sizeof(ControllerAction)+2*sizeof(unsigned int);
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| 84 | };
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| 85 |
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| 86 | }}
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| 87 |
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| 88 | #endif // CONTROLLER_H
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