source: flair-src/trunk/lib/FlairSensorActuator/src/Controller.cpp@ 9

// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2015/05/27
//  filename:   Controller.cpp
//
//  author:     Gildas Bayard
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Utility classes for controllers
//
//
/*********************************************************************/
#include "Controller.h"

using namespace flair::core;

namespace flair { namespace sensor {

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)) {
    SetLeftForce(leftForce);
    SetLeftTimeout(leftTimeout);
    SetRightForce(rightForce);
    SetRightTimeout(rightTimeout);
    buffer[0]=(char)ControllerAction::Rumble;
}

unsigned int RumbleMessage::GetLeftForce() const {
    unsigned int leftForce;
    memcpy(&leftForce,buffer+leftForceOffset,sizeof(leftForce));
    return leftForce;
}

unsigned int RumbleMessage::GetLeftTimeout() const {
    unsigned int leftTimeout;
    memcpy(&leftTimeout,buffer+leftTimeoutOffset,sizeof(leftTimeout));
    return leftTimeout;
}

unsigned int RumbleMessage::GetRightForce() const {
    unsigned int rightForce;
    memcpy(&rightForce,buffer+rightForceOffset,sizeof(rightForce));
    return rightForce;
}

unsigned int RumbleMessage::GetRightTimeout() const {
    unsigned int rightTimeout;
    memcpy(&rightTimeout,buffer+rightTimeoutOffset,sizeof(rightTimeout));
    return rightTimeout;
}

void RumbleMessage::SetLeftForce(unsigned int leftForce) {
    memcpy(buffer+leftForceOffset,&leftForce,sizeof(leftForce));
}

void RumbleMessage::SetLeftTimeout(unsigned int leftTimeout) {
    memcpy(buffer+leftTimeoutOffset,&leftTimeout,sizeof(leftTimeout));
}

void RumbleMessage::SetRightForce(unsigned int rightForce) {
    memcpy(buffer+rightForceOffset,&rightForce,sizeof(rightForce));
}

void RumbleMessage::SetRightTimeout(unsigned int rightTimeout){
    memcpy(buffer+rightTimeoutOffset,&rightTimeout,sizeof(rightTimeout));
}

SwitchLedMessage::SwitchLedMessage(bool isOn, unsigned int ledId):Message(sizeof(ControllerAction)+sizeof(isOn)+sizeof(ledId)) {
    if (isOn) SetOn(); else SetOff();
    SetLedId(ledId);
}

bool SwitchLedMessage::IsOn() const {
    bool isOn;
    memcpy(&isOn,buffer+isOnOffset,sizeof(isOn));
    return isOn;
}

unsigned int SwitchLedMessage::GetLedId() const {
    unsigned int ledId;
    memcpy(&ledId,buffer+ledIdOffset,sizeof(ledId));
    return ledId;
}

void SwitchLedMessage::SetOn() {
    bool isOn=true;
    memcpy(buffer+isOnOffset,&isOn,sizeof(isOn));
}

void SwitchLedMessage::SetOff() {
    bool isOn=false;
    memcpy(buffer+isOnOffset,&isOn,sizeof(isOn));
}

void SwitchLedMessage::SetLedId(unsigned int ledId) {
    memcpy(buffer+ledIdOffset,&ledId,sizeof(ledId));
}

FlashLedMessage::FlashLedMessage(unsigned int ledId,unsigned int onTime,unsigned int offTime):Message(sizeof(ControllerAction)+sizeof(ledId)+sizeof(onTime)+sizeof(offTime)) {
    SetLedId(ledId);
    SetOnTime(onTime);
    SetOffTime(offTime);
}

unsigned int FlashLedMessage::GetLedId() const {
    unsigned int ledId;
    memcpy(&ledId,buffer+ledIdOffset,sizeof(ledId));
    return ledId;
}

unsigned int FlashLedMessage::GetOnTime() const {
    unsigned int onTime;
    memcpy(&onTime,buffer+onTimeOffset,sizeof(onTime));
    return onTime;
}

unsigned int FlashLedMessage::GetOffTime() const {
    unsigned int offTime;
    memcpy(&offTime,buffer+offTimeOffset,sizeof(offTime));
    return offTime;
}

void FlashLedMessage::SetLedId(unsigned int ledId) {
    memcpy(buffer+ledIdOffset,&ledId,sizeof(ledId));
}

void FlashLedMessage::SetOnTime(unsigned int onTime) {
    memcpy(buffer+onTimeOffset,&onTime,sizeof(onTime));
}

void FlashLedMessage::SetOffTime(unsigned int offTime) {
    memcpy(buffer+offTimeOffset,&offTime,sizeof(offTime));
}

} // end namespace sensor
} // end namespace flair