[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2015/05/27
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| 6 | // filename: Controller.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: Utility classes for controllers
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "Controller.h"
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| 18 |
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| 19 | using namespace flair::core;
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| 20 |
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[15] | 21 | namespace flair {
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| 22 | namespace sensor {
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[3] | 23 |
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[15] | 24 | RumbleMessage::RumbleMessage(unsigned int leftForce, unsigned int leftTimeout,
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| 25 | unsigned int rightForce, unsigned int rightTimeout)
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| 26 | : Message(sizeof(ControllerAction) + sizeof(leftForce) +
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| 27 | sizeof(leftTimeout) + sizeof(rightForce) + sizeof(rightTimeout)) {
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| 28 | SetLeftForce(leftForce);
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| 29 | SetLeftTimeout(leftTimeout);
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| 30 | SetRightForce(rightForce);
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| 31 | SetRightTimeout(rightTimeout);
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| 32 | buffer[0] = (char)ControllerAction::Rumble;
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[3] | 33 | }
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| 34 |
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| 35 | unsigned int RumbleMessage::GetLeftForce() const {
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[15] | 36 | unsigned int leftForce;
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| 37 | memcpy(&leftForce, buffer + leftForceOffset, sizeof(leftForce));
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| 38 | return leftForce;
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[3] | 39 | }
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| 40 |
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| 41 | unsigned int RumbleMessage::GetLeftTimeout() const {
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[15] | 42 | unsigned int leftTimeout;
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| 43 | memcpy(&leftTimeout, buffer + leftTimeoutOffset, sizeof(leftTimeout));
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| 44 | return leftTimeout;
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[3] | 45 | }
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| 46 |
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| 47 | unsigned int RumbleMessage::GetRightForce() const {
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[15] | 48 | unsigned int rightForce;
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| 49 | memcpy(&rightForce, buffer + rightForceOffset, sizeof(rightForce));
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| 50 | return rightForce;
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[3] | 51 | }
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| 52 |
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| 53 | unsigned int RumbleMessage::GetRightTimeout() const {
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[15] | 54 | unsigned int rightTimeout;
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| 55 | memcpy(&rightTimeout, buffer + rightTimeoutOffset, sizeof(rightTimeout));
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| 56 | return rightTimeout;
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[3] | 57 | }
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| 58 |
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| 59 | void RumbleMessage::SetLeftForce(unsigned int leftForce) {
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[15] | 60 | memcpy(buffer + leftForceOffset, &leftForce, sizeof(leftForce));
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[3] | 61 | }
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| 62 |
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| 63 | void RumbleMessage::SetLeftTimeout(unsigned int leftTimeout) {
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[15] | 64 | memcpy(buffer + leftTimeoutOffset, &leftTimeout, sizeof(leftTimeout));
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[3] | 65 | }
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| 66 |
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| 67 | void RumbleMessage::SetRightForce(unsigned int rightForce) {
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[15] | 68 | memcpy(buffer + rightForceOffset, &rightForce, sizeof(rightForce));
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[3] | 69 | }
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| 70 |
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[15] | 71 | void RumbleMessage::SetRightTimeout(unsigned int rightTimeout) {
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| 72 | memcpy(buffer + rightTimeoutOffset, &rightTimeout, sizeof(rightTimeout));
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[3] | 73 | }
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| 74 |
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[15] | 75 | SwitchLedMessage::SwitchLedMessage(bool isOn, unsigned int ledId)
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| 76 | : Message(sizeof(ControllerAction) + sizeof(isOn) + sizeof(ledId)) {
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| 77 | if (isOn)
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| 78 | SetOn();
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| 79 | else
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| 80 | SetOff();
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| 81 | SetLedId(ledId);
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[3] | 82 | }
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| 83 |
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| 84 | bool SwitchLedMessage::IsOn() const {
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[15] | 85 | bool isOn;
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| 86 | memcpy(&isOn, buffer + isOnOffset, sizeof(isOn));
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| 87 | return isOn;
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[3] | 88 | }
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| 89 |
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| 90 | unsigned int SwitchLedMessage::GetLedId() const {
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[15] | 91 | unsigned int ledId;
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| 92 | memcpy(&ledId, buffer + ledIdOffset, sizeof(ledId));
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| 93 | return ledId;
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[3] | 94 | }
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| 95 |
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| 96 | void SwitchLedMessage::SetOn() {
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[15] | 97 | bool isOn = true;
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| 98 | memcpy(buffer + isOnOffset, &isOn, sizeof(isOn));
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[3] | 99 | }
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| 100 |
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| 101 | void SwitchLedMessage::SetOff() {
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[15] | 102 | bool isOn = false;
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| 103 | memcpy(buffer + isOnOffset, &isOn, sizeof(isOn));
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[3] | 104 | }
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| 105 |
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| 106 | void SwitchLedMessage::SetLedId(unsigned int ledId) {
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[15] | 107 | memcpy(buffer + ledIdOffset, &ledId, sizeof(ledId));
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[3] | 108 | }
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| 109 |
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[15] | 110 | FlashLedMessage::FlashLedMessage(unsigned int ledId, unsigned int onTime,
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| 111 | unsigned int offTime)
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| 112 | : Message(sizeof(ControllerAction) + sizeof(ledId) + sizeof(onTime) +
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| 113 | sizeof(offTime)) {
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| 114 | SetLedId(ledId);
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| 115 | SetOnTime(onTime);
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| 116 | SetOffTime(offTime);
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[3] | 117 | }
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| 118 |
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| 119 | unsigned int FlashLedMessage::GetLedId() const {
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[15] | 120 | unsigned int ledId;
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| 121 | memcpy(&ledId, buffer + ledIdOffset, sizeof(ledId));
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| 122 | return ledId;
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[3] | 123 | }
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| 124 |
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| 125 | unsigned int FlashLedMessage::GetOnTime() const {
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[15] | 126 | unsigned int onTime;
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| 127 | memcpy(&onTime, buffer + onTimeOffset, sizeof(onTime));
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| 128 | return onTime;
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[3] | 129 | }
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| 130 |
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| 131 | unsigned int FlashLedMessage::GetOffTime() const {
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[15] | 132 | unsigned int offTime;
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| 133 | memcpy(&offTime, buffer + offTimeOffset, sizeof(offTime));
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| 134 | return offTime;
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[3] | 135 | }
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| 136 |
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| 137 | void FlashLedMessage::SetLedId(unsigned int ledId) {
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[15] | 138 | memcpy(buffer + ledIdOffset, &ledId, sizeof(ledId));
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[3] | 139 | }
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| 140 |
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| 141 | void FlashLedMessage::SetOnTime(unsigned int onTime) {
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[15] | 142 | memcpy(buffer + onTimeOffset, &onTime, sizeof(onTime));
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[3] | 143 | }
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| 144 |
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| 145 | void FlashLedMessage::SetOffTime(unsigned int offTime) {
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[15] | 146 | memcpy(buffer + offTimeOffset, &offTime, sizeof(offTime));
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[3] | 147 | }
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| 148 |
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| 149 | } // end namespace sensor
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| 150 | } // end namespace flair
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