source: flair-dev/trunk/include/FlairSensorActuator/TargetEthController.h@ 11

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2015/04/14
//  filename:   TargetEthController.h
//
//  author:     Gildas Bayard
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    class that gets remote controls through an ethernet connection.
//              Typical use case: a remote control is plugged in a workstation and sends remote control
//              data to a distant target (this class) through Wifi
//
//
/*********************************************************************/

#ifndef TARGETETHCONTROLLER_H
#define TARGETETHCONTROLLER_H

#include "TargetController.h"

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

namespace flair { namespace sensor {
    /*! \class TargetController
    *
    * \brief Base Class for target side remote controls
    *
    */
    class TargetEthController : public TargetController {
    public:
        TargetEthController(const core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority=0);
        ~TargetEthController();
        //void DrawUserInterface();
    protected:
        bool IsConnected() const;
        //axis stuff
        std::string GetAxisName(unsigned int axisId) const;
        //button stuff
        std::string GetButtonName(unsigned int axisId) const;
        //controller state stuff
        bool ProcessMessage(core::Message *msg);
        bool IsControllerActionSupported(ControllerAction action) const;

        bool IsDataFrameReady();
        void AcquireAxisData(core::cvmatrix &axis); //responsible for getting the axis data from the hardware
        void AcquireButtonData(core::cvmatrix &button); //responsible for getting the button data from the hardware

        bool ControllerInitialization();

    private:
        uint16_t readBits(uint8_t offsetInBits,uint8_t valueSizeInBits,char *buffer,size_t bufferSize);
        uint8_t getByteOrNull(char *buffer,int byte,size_t bufferSize);
        uint32_t charBufferToUint32(char *buffer, size_t bufferSize);
        core::TcpSocket *listeningSocket;
        int listeningPort;
        core::TcpSocket *controlSocket=NULL;
        core::Socket *dataSocket;
        std::string *axisName=NULL;
        std::string *buttonName=NULL;
        size_t dataFrameSize;
        char *dataFrameBuffer;
        char *receiveFrameBuffer;
        size_t receiveCurrentPosition;
        uint8_t buttonOffset;
    };

}}

#endif // TARGETCONTROLLER_H