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: 2015/03/30 |
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6 | // filename: HostEthController.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: Base class for host side remote controls that talks to target |
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14 | // side through ethernet connection |
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15 | // |
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16 | // |
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17 | /*********************************************************************/ |
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18 | |
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19 | #ifndef HOSTETHCONTROLLER_H |
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20 | #define HOSTETHCONTROLLER_H |
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21 | |
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22 | #include <IODevice.h> |
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23 | #include <Thread.h> |
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24 | #include <stdint.h> |
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25 | |
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26 | namespace flair { |
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27 | namespace core { |
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28 | class FrameworkManager; |
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29 | class cvmatrix; |
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30 | class TcpSocket; |
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31 | class Socket; |
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32 | class Mutex; |
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33 | } |
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34 | namespace gui { |
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35 | class Tab; |
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36 | class TabWidget; |
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37 | class DataPlot1D; |
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38 | } |
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39 | } |
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40 | |
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41 | namespace flair { |
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42 | namespace sensor { |
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43 | enum class ControllerAction; |
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44 | |
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45 | /*! \class HostEthController |
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46 | * |
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47 | * \brief Base Class for host side remote controls that talks to target side |
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48 | *through ethernet connection |
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49 | * |
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50 | * There are 2 communication channels: |
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51 | * - 1 connection with the ground station to display the values. Output for |
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52 | *analog sticks is normalized in the range [-1, 1] (float values) |
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53 | * - 1 connection with the target to send the controller values (and receive |
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54 | *controller state modification requests) |
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55 | */ |
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56 | class HostEthController : public core::Thread, public core::IODevice { |
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57 | public: |
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58 | HostEthController(const core::FrameworkManager *parent, std::string name, |
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59 | std::string address, int port, uint32_t period = 10, |
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60 | uint32_t _bitsPerAxis = 7, uint8_t priority = 0); |
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61 | ~HostEthController(); |
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62 | void DrawUserInterface(); |
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63 | |
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64 | protected: |
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65 | std::string controllerName; |
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66 | core::TcpSocket *controlSocket; // connection to the target |
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67 | core::Socket *dataSocket; |
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68 | std::string targetAddress; |
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69 | int targetPort; |
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70 | gui::Tab *tab; |
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71 | gui::TabWidget *tabWidget; |
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72 | virtual bool IsDataFrameReady() { return true; }; |
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73 | virtual void CompleteDataFrameGrab(){}; |
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74 | // int8_t *datas; |
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75 | // uint8_t dataSize; |
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76 | char *dataFrameBuffer; |
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77 | size_t dataFrameSize; |
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78 | virtual void ProcessMessage(core::Message *controllerAction){}; |
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79 | |
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80 | virtual std::string GetAxisDescription(unsigned int axis); |
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81 | virtual void |
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82 | GetAxisData() = 0; // responsible for getting the axis data from the hardware |
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83 | unsigned int axisNumber; |
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84 | core::cvmatrix *axis; |
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85 | gui::DataPlot1D **axisPlot; |
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86 | uint32_t bitsPerAxis; |
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87 | uint32_t nativeBitsPerAxis; |
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88 | |
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89 | virtual std::string GetButtonDescription(unsigned int button); |
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90 | virtual void GetButtonData() = 0; // responsible for getting the button data |
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91 | // from the hardware |
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92 | unsigned int buttonNumber; |
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93 | core::cvmatrix *button; |
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94 | uint8_t buttonOffset; |
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95 | bool meaningfulDataAvailable; |
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96 | |
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97 | private: |
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98 | class DataSender : public core::Thread { |
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99 | public: |
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100 | DataSender(Object *parent, HostEthController *hostEthController, |
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101 | std::string name, uint8_t priority = 0); |
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102 | void Run(); |
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103 | |
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104 | private: |
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105 | HostEthController *hostEthController; |
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106 | }; |
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107 | DataSender *dataSender; |
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108 | |
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109 | bool ControllerInitialization(); |
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110 | bool ConnectedWithTarget(); |
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111 | void SendControllerInfo(); |
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112 | void Run(); |
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113 | void BuildDataFrame(); |
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114 | bool writeBits(uint16_t value, uint8_t valueSizeInBits, char *buffer, |
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115 | uint8_t offsetInBits); |
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116 | core::Mutex *connectionEstablishedMutex; |
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117 | }; |
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118 | } |
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119 | } |
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120 | |
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121 | #endif // HOSTETHCONTROLLER_H |
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