source: flair-src/trunk/lib/FlairMeta/src/MetaDualShock3.cpp@ 7

//  created:    2014/01/14

//  filename:   MetaDualShock3.cpp

//

//  author:     Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    objet integrant la manette DualShock3 et les consignes joystick

//

//

/*********************************************************************/



#include "MetaDualShock3.h"

#include "MetaDualShock3_impl.h"

#include "JoyReference.h"

#include <Tab.h>

#include <FrameworkManager.h>

#include <cvmatrix.h>

#include <Ahrs.h>

#include <AhrsData.h>

#include <DataPlot1D.h>



using std::string;

using namespace flair::core;

using namespace flair::filter;

using namespace flair::gui;



namespace flair { namespace meta {



MetaDualShock3::MetaDualShock3(FrameworkManager* parent,string name,uint16_t port,uint8_t priority) : TargetEthController(parent,name,port,priority) {

    pimpl_=new MetaDualShock3_impl(this,name);

    parent->AddDeviceToLog(pimpl_->joy_ref);

    Start();

}



MetaDualShock3::~MetaDualShock3() {

    delete pimpl_;

}



AhrsData* MetaDualShock3::GetReferenceOrientation(void) const {

    return pimpl_->joy_ref->GetReferenceOrientation();

}



void MetaDualShock3::ErrorNotify(void) {

    TargetEthController::FlashLed(4,10,0);

    TargetEthController::Rumble(0xff,20,0,0);

}



void MetaDualShock3::Rumble(uint8_t left_force,uint8_t left_timeout,uint8_t right_force,uint8_t right_timeout) {

    TargetEthController::Rumble(left_force,left_timeout,right_force,right_timeout);

}



void MetaDualShock3::SetLedON(unsigned int ledId) {

    TargetEthController::SetLedOn(ledId);

}



void MetaDualShock3::SetLedOFF(unsigned int ledId) {

    TargetEthController::SetLedOff(ledId);

}



void MetaDualShock3::FlashLed(unsigned int ledId,uint8_t on_timeout,uint8_t off_timeout) {

    TargetEthController::FlashLed(ledId,on_timeout,off_timeout);

}



float MetaDualShock3::ZRef(void) const {

    return pimpl_->joy_ref->ZRef();

}



float MetaDualShock3::DzRef(void) const {

    return pimpl_->joy_ref->DzRef();

}



void MetaDualShock3::SetYawRef(float value) {

    pimpl_->joy_ref->SetYawRef(value);

}



void MetaDualShock3::SetYawRef(Quaternion const &value) {

    pimpl_->joy_ref->SetYawRef(value);

}



void MetaDualShock3::SetZRef(float value) {

    pimpl_->joy_ref->SetZRef(value);

}



float MetaDualShock3::RollTrim(void) const {

    return pimpl_->joy_ref->RollTrim();

}



float MetaDualShock3::PitchTrim(void) const {

    return pimpl_->joy_ref->PitchTrim();

}



} // end namespace meta

} // end namespace flair