[4] | 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: TargetEthController.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: class that gets remote controls through an ethernet connection.
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| 14 | // Typical use case: a remote control is plugged in a workstation and sends remote control
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| 15 | // data to a distant target (this class) through Wifi
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| 16 | //
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| 17 | //
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| 18 | /*********************************************************************/
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| 19 |
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| 20 | #ifndef TARGETETHCONTROLLER_H
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| 21 | #define TARGETETHCONTROLLER_H
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| 22 |
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| 23 | #include "TargetController.h"
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| 24 |
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| 25 | namespace flair {
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| 26 | namespace core {
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| 27 | class FrameworkManager;
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| 28 | class cvmatrix;
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| 29 | class TcpSocket;
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| 30 | class Socket;
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| 31 | }
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| 32 | namespace gui {
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| 33 | class Tab;
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| 34 | class TabWidget;
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| 35 | class DataPlot1D;
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| 36 | }
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| 37 | }
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| 38 |
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| 39 | namespace flair { namespace sensor {
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| 40 | /*! \class TargetController
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| 41 | *
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| 42 | * \brief Base Class for target side remote controls
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| 43 | *
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| 44 | */
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| 45 | class TargetEthController : public TargetController {
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| 46 | public:
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| 47 | TargetEthController(const core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority=0);
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| 48 | ~TargetEthController();
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| 49 | //void DrawUserInterface();
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| 50 | protected:
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| 51 | bool IsConnected() const;
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| 52 | //axis stuff
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| 53 | std::string GetAxisName(unsigned int axisId) const;
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| 54 | //button stuff
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| 55 | std::string GetButtonName(unsigned int axisId) const;
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| 56 | //controller state stuff
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| 57 | bool ProcessMessage(core::Message *msg);
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| 58 | bool IsControllerActionSupported(ControllerAction action) const;
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| 59 |
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| 60 | bool IsDataFrameReady();
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| 61 | void AcquireAxisData(core::cvmatrix &axis); //responsible for getting the axis data from the hardware
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| 62 | void AcquireButtonData(core::cvmatrix &button); //responsible for getting the button data from the hardware
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| 63 |
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| 64 | bool ControllerInitialization();
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| 65 |
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| 66 | private:
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| 67 | uint16_t readBits(uint8_t offsetInBits,uint8_t valueSizeInBits,char *buffer,size_t bufferSize);
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| 68 | uint8_t getByteOrNull(char *buffer,int byte,size_t bufferSize);
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| 69 | uint32_t charBufferToUint32(char *buffer, size_t bufferSize);
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| 70 | core::TcpSocket *listeningSocket;
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| 71 | int listeningPort;
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| 72 | core::TcpSocket *controlSocket=NULL;
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| 73 | core::Socket *dataSocket;
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| 74 | std::string *axisName=NULL;
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| 75 | std::string *buttonName=NULL;
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| 76 | size_t dataFrameSize;
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| 77 | char *dataFrameBuffer;
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| 78 | char *receiveFrameBuffer;
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| 79 | size_t receiveCurrentPosition;
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| 80 | uint8_t buttonOffset;
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| 81 | };
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| 82 |
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| 83 | }}
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| 84 |
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| 85 | #endif // TARGETCONTROLLER_H
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