source: flair-dev/trunk/include/FlairSensorActuator/EmulatedController.h @ 68

Last change on this file since 68 was 68, checked in by Sanahuja Guillaume, 3 years ago

maj for armv5te

File size: 2.5 KB
Line 
1//  created:    2015/04/14
2//  filename:   EmulatedController.h
3//
4//  author:     Gildas Bayard
5//              Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7//  version:    $Id: $
8//
9//  purpose:    class that emulate a remote control.
10//              Typical use case: run a demo without any reliable communication channel
11//
12//
13/*********************************************************************/
14
15#ifndef EMULATEDCONTROLLER_H
16#define EMULATEDCONTROLLER_H
17
18#include <TargetController.h>
19#include <list>
20
21namespace flair {
22    namespace core {
23        class Matrix;
24    }
25    namespace gui {
26        class Tab;
27        class TabWidget;
28        class DataPlot1D;
29    }
30}
31
32namespace flair { namespace sensor {
33    /*! \class EmulatedController
34    *
35    * \brief Emulated remote control
36    *
37    */
38    class EmulatedController : public TargetController {
39    public:
40        EmulatedController(std::string name,uint8_t priority=0);
41        ~EmulatedController();
42        enum class ButtonType : uint16_t {
43            start=0x0001,select=0x0002,square=0x0004,triangle=0x0008,
44            circle=0x0010,cross=0x0020,left1=0x0040,left2=0x0080,
45            left3=0x0100,right1=0x0200,right2=0x0400,right3=0x0800,
46            up=0x1000,down=0x2000,left=0x4000,right=0x8000
47        };
48        void AddStep(unsigned int durationMs,std::string description,uint16_t buttonPressed, float leftAxisX, float leftAxisY, float rightAxisX, float rightAxisY);
49    protected :
50        bool IsConnected() const;
51        //controller state stuff
52        bool ProcessMessage(core::Message *msg);
53        bool IsDataFrameReady();
54        void AcquireAxisData(core::Matrix &axis); //responsible for getting the axis data from the hardware
55        void AcquireButtonData(core::Matrix &button); //responsible for getting the button data from the hardware
56        bool ControllerInitialization();
57
58    private:
59        enum class DataType { axis,button };
60        void ComputeControllerData(DataType dataType, core::Matrix &data);
61        template<typename T> void fillVectorNoMutex(core::Matrix &vector,T data[],unsigned int size);
62        void fillVectorNoMutex(core::Matrix &destination,core::Matrix &source,unsigned int size);
63        struct StepData {
64            unsigned int durationMs; //milliseconds
65            core::Matrix *axisData;
66            core::Matrix *buttonData;
67            std::string description;
68            void Print();
69        };
70        std::list<StepData> steps;
71    };
72
73}}
74
75#endif // EMULATEDCONTROLLER_H
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