source: flair-dev/trunk/include/FlairSensorActuator/HostEthController.h@ 12

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2015/03/30
//  filename:   HostEthController.h
//
//  author:     Gildas Bayard
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Base class for host side remote controls that talks to target side through ethernet connection
//
//
/*********************************************************************/

#ifndef HOSTETHCONTROLLER_H
#define HOSTETHCONTROLLER_H

#include <IODevice.h>
#include <Thread.h>
#include <stdint.h>

namespace flair {
    namespace core {
        class FrameworkManager;
        class cvmatrix;
        class TcpSocket;
        class Socket;
        class Mutex;
    }
    namespace gui {
        class Tab;
        class TabWidget;
        class DataPlot1D;
    }
}

namespace flair { namespace sensor {
    enum class ControllerAction;

    /*! \class HostEthController
    *
    * \brief Base Class for host side remote controls that talks to target side through ethernet connection
    *
    * There are 2 communication channels:
    *   - 1 connection with the ground station to display the values. Output for analog sticks is normalized in the range [-1, 1] (float values)
    *   - 1 connection with the target to send the controller values (and receive controller state modification requests)
    */
    class HostEthController : public core::Thread, public core::IODevice {
    public:
        HostEthController(const core::FrameworkManager* parent,std::string name,std::string address,int port,uint32_t period=10,uint32_t _bitsPerAxis=7,uint8_t priority=0);
        ~HostEthController();
        void DrawUserInterface();
    protected:
        std::string controllerName;
        core::TcpSocket *controlSocket; //connection to the target
        core::Socket *dataSocket;
        std::string targetAddress;
        int targetPort;
        gui::Tab *tab;
        gui::TabWidget *tabWidget;
        virtual bool IsDataFrameReady() { return true;};
        virtual void CompleteDataFrameGrab() {};
//        int8_t *datas;
//        uint8_t dataSize;
        char *dataFrameBuffer;
        size_t dataFrameSize;
        virtual void ProcessMessage(core::Message *controllerAction) {};

        virtual std::string GetAxisDescription(unsigned int axis);
        virtual void GetAxisData()=0; //responsible for getting the axis data from the hardware
        unsigned int axisNumber;
        core::cvmatrix* axis;
        gui::DataPlot1D **axisPlot;
        uint32_t bitsPerAxis;
        uint32_t nativeBitsPerAxis;

        virtual std::string GetButtonDescription(unsigned int button);
        virtual void GetButtonData()=0; //responsible for getting the button data from the hardware
        unsigned int buttonNumber;
        core::cvmatrix* button;
        uint8_t buttonOffset;
        bool meaningfulDataAvailable;

    private:
        class DataSender : public core::Thread {
        public:
            DataSender(Object* parent,HostEthController* hostEthController,std::string name,uint8_t priority=0);
            void Run();
        private:
            HostEthController* hostEthController;
        };
        DataSender *dataSender;

        bool ControllerInitialization();
        bool ConnectedWithTarget();
        void SendControllerInfo();
        void Run();
        void BuildDataFrame();
        bool writeBits(uint16_t value,uint8_t valueSizeInBits,char *buffer,uint8_t offsetInBits);
        core::Mutex *connectionEstablishedMutex;
    };

}}

#endif // HOSTETHCONTROLLER_H