source: flair-dev/trunk/include/FlairSensorActuator/Controller.h @ 4

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2015/05/27
//  filename:   Controller.h
//
//  author:     Gildas Bayard
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Utility classes for controllers
//
//
/*********************************************************************/

#ifndef CONTROLLER_H
#define CONTROLLER_H

#include <Object.h>
#include <string.h>

namespace flair {
    namespace core {
        class Message;
    }
}

namespace flair { namespace sensor {

    enum class ControllerAction {
        SetLedOn,
        SetLedOff,
        Rumble,
        FlashLed,
        Exit
    };

    class RumbleMessage: public core::Message {
    public:
        RumbleMessage(unsigned int leftForce,unsigned int leftTimeout,unsigned int rightForce,unsigned int rightTimeout);
        unsigned int GetLeftForce() const;
        unsigned int GetLeftTimeout() const;
        unsigned int GetRightForce() const;
        unsigned int GetRightTimeout() const;
        void SetLeftForce(unsigned int leftForce);
        void SetLeftTimeout(unsigned int leftTimeout);
        void SetRightForce(unsigned int rightForce);
        void SetRightTimeout(unsigned int rightTimeout);
    private:
        static const unsigned int leftForceOffset=sizeof(ControllerAction);
        static const unsigned int leftTimeoutOffset=sizeof(ControllerAction)+sizeof(unsigned int);
        static const unsigned int rightForceOffset=sizeof(ControllerAction)+2*sizeof(unsigned int);
        static const unsigned int rightTimeoutOffset=sizeof(ControllerAction)+3*sizeof(unsigned int);
    };

    class SwitchLedMessage: public core::Message {
    public:
        SwitchLedMessage(bool isOn,unsigned int ledId);
        bool IsOn() const;
        unsigned int GetLedId() const;
        void SetOn();
        void SetOff();
        void SetLedId(unsigned int ledId);
    private:
        static const unsigned int isOnOffset=sizeof(ControllerAction);
        static const unsigned int ledIdOffset=sizeof(ControllerAction)+sizeof(bool);
    };

    class FlashLedMessage: public core::Message {
    public:
        FlashLedMessage(unsigned int ledId,unsigned int onTime,unsigned int offTime);
        unsigned int GetLedId() const;
        unsigned int GetOnTime() const;
        unsigned int GetOffTime() const;
        void SetLedId(unsigned int ledId);
        void SetOnTime(unsigned int onTime);
        void SetOffTime(unsigned int offTime);
    private:
        static const unsigned int ledIdOffset=sizeof(ControllerAction);
        static const unsigned int onTimeOffset=sizeof(ControllerAction)+sizeof(unsigned int);
        static const unsigned int offTimeOffset=sizeof(ControllerAction)+2*sizeof(unsigned int);
    };

}}

#endif // CONTROLLER_H