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