[324] | 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: 2015/03/30
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| 6 | // filename: TargetController.cpp
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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 | #include "TargetController.h"
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| 18 | #include "Controller.h"
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| 19 | #include <TabWidget.h>
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| 20 | #include <Tab.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <Matrix.h>
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| 23 |
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| 24 | #include <cstring>
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| 25 | #include <string>
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| 26 |
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| 27 | using namespace flair::core;
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| 28 | using namespace flair::gui;
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| 29 | using std::string;
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| 30 |
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| 31 | namespace flair {
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| 32 | namespace sensor {
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| 33 |
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| 34 | TargetController::TargetController(string name,uint8_t priority) :
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| 35 | Thread(getFrameworkManager(),name,priority),IODevice(getFrameworkManager(),name) {
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| 36 | main_tab=new Tab(getFrameworkManager()->GetTabWidget(),name);
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| 37 | TabWidget* tab=new TabWidget(main_tab->NewRow(),name);
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| 38 | setup_tab=new Tab(tab,"Reglages");
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| 39 | }
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| 40 |
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| 41 | TargetController::~TargetController() {
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| 42 | SafeStop();
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| 43 | Join();
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| 44 | }
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| 45 |
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| 46 | std::string TargetController::GetAxisName(unsigned int axisId) const {
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| 47 | return string("axis") + std::to_string(axisId);
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| 48 | }
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| 49 |
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| 50 | std::string TargetController::GetButtonName(unsigned int buttonId) const {
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| 51 | return string("button") + std::to_string(buttonId);
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| 52 | }
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| 53 |
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| 54 | bool TargetController::SetLedOn(unsigned int ledId) {
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| 55 | if (!IsControllerActionSupported(ControllerAction::SetLedOn))
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| 56 | return false;
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| 57 | SwitchLedMessage *msgLed = new SwitchLedMessage(true, ledId);
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| 58 | changeStateQueue.push(msgLed);
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| 59 | return true;
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| 60 | }
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| 61 |
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| 62 | bool TargetController::SetLedOff(unsigned int ledId) {
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| 63 | if (!IsControllerActionSupported(ControllerAction::SetLedOn))
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| 64 | return false;
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| 65 | SwitchLedMessage *msgLed = new SwitchLedMessage(false, ledId);
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| 66 | changeStateQueue.push(msgLed);
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| 67 | return true;
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| 68 | }
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| 69 |
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| 70 | bool TargetController::Rumble(unsigned int leftForce, unsigned int leftTimeout,
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| 71 | unsigned int rightForce,
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| 72 | unsigned int rightTimeout) {
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| 73 | if (!IsControllerActionSupported(ControllerAction::Rumble))
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| 74 | return false;
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| 75 | RumbleMessage *msgRumble =
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| 76 | new RumbleMessage(leftForce, leftTimeout, rightForce, rightTimeout);
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| 77 | changeStateQueue.push(msgRumble);
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| 78 | return true;
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| 79 | }
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| 80 |
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| 81 | bool TargetController::FlashLed(unsigned int ledId, unsigned int onTimeout,
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| 82 | unsigned int offTimeout) {
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| 83 | if (!IsControllerActionSupported(ControllerAction::FlashLed))
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| 84 | return false;
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| 85 | FlashLedMessage *msgFlashLed =
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| 86 | new FlashLedMessage(ledId, onTimeout, offTimeout);
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| 87 | changeStateQueue.push(msgFlashLed);
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| 88 | return true;
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| 89 | }
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| 90 |
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| 91 | float TargetController::GetAxisValue(unsigned int axisId) const {
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| 92 | // TODO we'd better throw an exception here
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| 93 | if (axis == NULL)
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| 94 | return 0;
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| 95 |
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| 96 | axis->GetMutex();
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| 97 | float axisValue = axis->Value(axisId, 0);
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| 98 | axis->ReleaseMutex();
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| 99 | return axisValue;
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| 100 | }
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| 101 |
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| 102 | bool TargetController::IsButtonPressed(unsigned int buttonId) const {
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| 103 | // TODO we'd better throw an exception here
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| 104 | if (button == NULL)
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| 105 | return false;
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| 106 |
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| 107 | button->GetMutex();
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| 108 | bool buttonValue = button->Value(buttonId, 0);
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| 109 | button->ReleaseMutex();
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| 110 | return buttonValue;
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| 111 | }
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| 112 |
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| 113 | void TargetController::Run() {
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| 114 |
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| 115 | Message *message;
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| 116 |
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| 117 | //if (getFrameworkManager()->ErrorOccured() || !ControllerInitialization()) {
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| 118 | if (!ControllerInitialization()) {
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| 119 | // SafeStop();
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| 120 | Thread::Err("An error occured, we don't proceed with the loop.\n");
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| 121 | } else {
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| 122 | axis = new Matrix((IODevice *)this, axisNumber, 1, floatType);
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| 123 | button =
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| 124 | new Matrix((IODevice *)this, buttonNumber, 1, SignedIntegerType(8));
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| 125 |
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| 126 | SetPeriodMS(20); //50Hz
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| 127 | while (!ToBeStopped()) {
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| 128 | // Thread::Info("Debug: entering acquisition loop\n");
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| 129 | if (IsDataFrameReady()) {
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| 130 | // Thread::Info("Debug: data frame is ready\n");
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| 131 |
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| 132 | AcquireAxisData(*axis);
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| 133 | AcquireButtonData(*button);
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| 134 |
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| 135 | // send the data
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| 136 | axis->SetDataTime(GetTime());
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| 137 | ProcessUpdate(axis);
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| 138 |
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| 139 | // send pending controller state change request(s)
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| 140 | while (changeStateQueue.size() != 0) {
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| 141 | message = changeStateQueue.front();
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| 142 | if (ProcessMessage(message)) {
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| 143 | changeStateQueue.pop();
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| 144 | delete message;
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| 145 | }
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| 146 | }
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| 147 | }
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| 148 | WaitPeriod();
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| 149 | }
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| 150 | }
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| 151 | }
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| 152 |
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| 153 | Tab *TargetController::GetTab() const { return setup_tab; }
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| 154 |
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| 155 | } // end namespace sensor
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| 156 | } // end namespace flair
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