source: flair-dev/trunk/include/FlairSensorActuator/HostEthController.h@ 50

Last change on this file since 50 was 50, checked in by Sanahuja Guillaume, 6 years ago

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File size: 3.3 KB
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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2015/03/30
6// filename: HostEthController.h
7//
8// author: Gildas Bayard
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Base class for host side remote controls that talks to target
14// side through ethernet connection
15//
16//
17/*********************************************************************/
18
19#ifndef HOSTETHCONTROLLER_H
20#define HOSTETHCONTROLLER_H
21
22#include <IODevice.h>
23#include <Thread.h>
24#include <stdint.h>
25
26namespace flair {
27namespace core {
28class cvmatrix;
29class TcpSocket;
30class UdpSocket;
31class Mutex;
32}
33namespace gui {
34class Tab;
35class TabWidget;
36class DataPlot1D;
37}
38}
39
40namespace flair {
41namespace sensor {
42enum class ControllerAction;
43
44/*! \class HostEthController
45*
46* \brief Base Class for host side remote controls that talks to target side
47*through ethernet connection
48*
49* There are 2 communication channels:
50* - 1 connection with the ground station to display the values. Output for
51*analog sticks is normalized in the range [-1, 1] (float values)
52* - 1 connection with the target to send the controller values (and receive
53*controller state modification requests)
54*/
55class HostEthController : public core::Thread, public core::IODevice {
56public:
57 HostEthController(std::string name,
58 std::string address, int port, uint32_t period = 10,
59 uint32_t _bitsPerAxis = 7, uint8_t priority = 0);
60 ~HostEthController();
61 void DrawUserInterface();
62
63protected:
64 std::string controllerName;
65 core::TcpSocket *controlSocket; // connection to the target
66 core::UdpSocket *dataSocket;
67 std::string targetAddress;
68 int targetPort;
69 gui::Tab *tab;
70 gui::TabWidget *tabWidget;
71 virtual bool IsDataFrameReady() { return true; };
72 virtual void CompleteDataFrameGrab(){};
73 // int8_t *datas;
74 // uint8_t dataSize;
75 char *dataFrameBuffer;
76 size_t dataFrameSize;
77 virtual void ProcessMessage(core::Message *controllerAction){};
78
79 virtual std::string GetAxisDescription(unsigned int axis);
80 virtual void
81 GetAxisData() = 0; // responsible for getting the axis data from the hardware
82 unsigned int axisNumber;
83 core::cvmatrix *axis;
84 gui::DataPlot1D **axisPlot;
85 uint32_t bitsPerAxis;
86 uint32_t nativeBitsPerAxis;
87
88 virtual std::string GetButtonDescription(unsigned int button);
89 virtual void GetButtonData() = 0; // responsible for getting the button data
90 // from the hardware
91 unsigned int buttonNumber;
92 core::cvmatrix *button;
93 uint8_t buttonOffset;
94 bool meaningfulDataAvailable;
95
96private:
97 class DataSender : public core::Thread {
98 public:
99 DataSender(Object *parent, HostEthController *hostEthController,
100 std::string name, uint8_t priority = 0);
101 void Run();
102
103 private:
104 HostEthController *hostEthController;
105 };
106 DataSender *dataSender;
107
108 bool ControllerInitialization();
109 bool ConnectedWithTarget();
110 void SendControllerInfo();
111 void Run();
112 void BuildDataFrame();
113 bool writeBits(uint16_t value, uint8_t valueSizeInBits, char *buffer,
114 uint8_t offsetInBits);
115 core::Mutex *connectionEstablishedMutex;
116};
117}
118}
119
120#endif // HOSTETHCONTROLLER_H
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