| 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: 2015/04/14
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| 6 | // filename: TargetController.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 target side remote controls
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #ifndef TARGETCONTROLLER_H
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| 19 | #define TARGETCONTROLLER_H
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| 20 |
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| 21 | #include <IODevice.h>
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| 22 | #include <Thread.h>
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| 23 | #include <stdint.h>
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| 24 | #include <queue>
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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 Socket;
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| 31 | class io_data;
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| 32 | }
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| 33 | namespace gui {
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| 34 | class Tab;
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| 35 | class TabWidget;
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| 36 | class DataPlot1D;
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| 37 | }
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| 38 | }
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| 39 |
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| 40 | namespace flair { namespace sensor {
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| 41 | enum class ControllerAction;
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| 42 |
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| 43 | /*! \class TargetController
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| 44 | *
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| 45 | * \brief Base Class for target side remote controls
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| 46 | *
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| 47 | */
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| 48 | class TargetController : public core::Thread, public core::IODevice {
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| 49 | public:
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| 50 | TargetController(const core::FrameworkManager* parent,std::string name,uint8_t priority=0);
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| 51 | ~TargetController();
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| 52 | //void DrawUserInterface();
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| 53 | virtual bool IsConnected() const=0;
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| 54 | virtual bool IsDataFrameReady()=0;
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| 55 | //axis stuff
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| 56 | unsigned int GetAxisNumber() const;
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| 57 | virtual std::string GetAxisName(unsigned int axisId) const;
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| 58 | float GetAxisValue(unsigned int axisId) const;// always in the range [-1.0,1.0]
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| 59 | //button stuff
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| 60 | unsigned int GetButtonNumber() const;
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| 61 | bool IsButtonPressed(unsigned int buttonId) const;
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| 62 | virtual std::string GetButtonName(unsigned int axisId) const;
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| 63 | //controller state stuff
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| 64 | virtual bool IsControllerActionSupported(ControllerAction action) const {return false;};
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| 65 | bool SetLedOn(unsigned int ledId);
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| 66 | bool SetLedOff(unsigned int ledId);
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| 67 | bool Rumble(unsigned int left_force,unsigned int left_timeout,unsigned int right_force,unsigned int right_timeout);
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| 68 | bool FlashLed(unsigned int ledId,unsigned int on_timeout,unsigned int off_timeout);
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| 69 | void UpdateFrom(const core::io_data *data){}; //TODO
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| 70 | gui::Tab* GetTab(void) const;
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| 71 |
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| 72 | protected:
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| 73 | virtual bool ProcessMessage(core::Message *msg)=0;
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| 74 | void QueueMessage(core::Message msg);
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| 75 | virtual bool ControllerInitialization()=0;// {return true;};
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| 76 | //axis stuff
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| 77 | unsigned int axisNumber;
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| 78 | core::cvmatrix* axis=NULL;
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| 79 | virtual void AcquireAxisData(core::cvmatrix &axis)=0; //responsible for getting the axis data from the hardware
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| 80 | uint16_t bitsPerAxis;
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| 81 | //button stuff
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| 82 | unsigned int buttonNumber;
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| 83 | core::cvmatrix* button=NULL;
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| 84 | virtual void AcquireButtonData(core::cvmatrix &button)=0; //responsible for getting the button data from the hardware
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| 85 | //controller state stuff
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| 86 | unsigned int ledNumber;
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| 87 | private:
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| 88 | void Run();
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| 89 | std::queue<core::Message *> changeStateQueue;
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| 90 | flair::gui::Tab* main_tab;
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| 91 | flair::gui::Tab* setup_tab;
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| 92 | };
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| 93 |
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| 94 | }}
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| 95 |
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| 96 | #endif // TARGETCONTROLLER_H
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