| 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: 2015/05/27
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| 6 | // filename: Controller.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: Utility classes for controllers
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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 CONTROLLER_H
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| 19 | #define CONTROLLER_H
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| 20 |
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| 21 | #include <Object.h>
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| 22 | #include <string.h>
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| 23 |
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| 24 | namespace flair {
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| 25 | namespace core {
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| 26 | class Message;
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| 27 | }
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| 28 | }
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| 29 |
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| 30 | namespace flair {
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| 31 | namespace sensor {
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| 32 |
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| 33 | enum class ControllerAction { SetLedOn, SetLedOff, Rumble, FlashLed, Exit };
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| 34 |
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| 35 | class RumbleMessage : public core::Message {
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| 36 | public:
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| 37 | RumbleMessage(unsigned int leftForce, unsigned int leftTimeout,
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| 38 | unsigned int rightForce, unsigned int rightTimeout);
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| 39 | unsigned int GetLeftForce() const;
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| 40 | unsigned int GetLeftTimeout() const;
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| 41 | unsigned int GetRightForce() const;
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| 42 | unsigned int GetRightTimeout() const;
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| 43 | void SetLeftForce(unsigned int leftForce);
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| 44 | void SetLeftTimeout(unsigned int leftTimeout);
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| 45 | void SetRightForce(unsigned int rightForce);
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| 46 | void SetRightTimeout(unsigned int rightTimeout);
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| 47 |
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| 48 | private:
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| 49 | static const unsigned int leftForceOffset = sizeof(ControllerAction);
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| 50 | static const unsigned int leftTimeoutOffset =
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| 51 | sizeof(ControllerAction) + sizeof(unsigned int);
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| 52 | static const unsigned int rightForceOffset =
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| 53 | sizeof(ControllerAction) + 2 * sizeof(unsigned int);
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| 54 | static const unsigned int rightTimeoutOffset =
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| 55 | sizeof(ControllerAction) + 3 * sizeof(unsigned int);
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| 56 | };
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| 57 |
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| 58 | class SwitchLedMessage : public core::Message {
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| 59 | public:
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| 60 | SwitchLedMessage(bool isOn, unsigned int ledId);
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| 61 | bool IsOn() const;
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| 62 | unsigned int GetLedId() const;
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| 63 | void SetOn();
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| 64 | void SetOff();
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| 65 | void SetLedId(unsigned int ledId);
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| 66 |
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| 67 | private:
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| 68 | static const unsigned int isOnOffset = sizeof(ControllerAction);
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| 69 | static const unsigned int ledIdOffset =
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| 70 | sizeof(ControllerAction) + sizeof(bool);
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| 71 | };
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| 72 |
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| 73 | class FlashLedMessage : public core::Message {
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| 74 | public:
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| 75 | FlashLedMessage(unsigned int ledId, unsigned int onTime,
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| 76 | unsigned int offTime);
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| 77 | unsigned int GetLedId() const;
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| 78 | unsigned int GetOnTime() const;
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| 79 | unsigned int GetOffTime() const;
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| 80 | void SetLedId(unsigned int ledId);
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| 81 | void SetOnTime(unsigned int onTime);
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| 82 | void SetOffTime(unsigned int offTime);
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| 83 |
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| 84 | private:
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| 85 | static const unsigned int ledIdOffset = sizeof(ControllerAction);
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| 86 | static const unsigned int onTimeOffset =
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| 87 | sizeof(ControllerAction) + sizeof(unsigned int);
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| 88 | static const unsigned int offTimeOffset =
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| 89 | sizeof(ControllerAction) + 2 * sizeof(unsigned int);
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| 90 | };
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| 91 | }
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| 92 | }
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| 93 |
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| 94 | #endif // CONTROLLER_H
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