source: flair-src/trunk/lib/FlairSensorActuator/src/EmulatedController.cpp@ 330

Last change on this file since 330 was 214, checked in by Sanahuja Guillaume, 4 years ago

matrix

File size: 5.8 KB
Line 
1// created: 2015/03/30
2// filename: EmulatedController.cpp
3//
4// author: Gildas Bayard
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: class that emulate a remote control.
10// Typical use case: run a demo without any reliable communication channel
11//
12/*********************************************************************/
13#include "EmulatedController.h"
14#include <Controller.h>
15#include <TcpSocket.h>
16#include <UdpSocket.h>
17#include <cstring>
18#include <string>
19#include <Matrix.h>
20#include <stdexcept>
21
22using namespace flair::core;
23using namespace flair::gui;
24using std::string;
25
26namespace flair { namespace sensor {
27
28EmulatedController::EmulatedController(string name,uint8_t priority) :
29 TargetController(name,priority) {
30 SetIsReady(true);
31}
32
33EmulatedController::~EmulatedController() {
34 //TargetController calls TargetEthController methods in its run
35 //we must stop the thread now
36 SafeStop();
37 Join();
38}
39
40bool EmulatedController::IsConnected() const {
41 return true;
42}
43
44bool EmulatedController::IsDataFrameReady(){
45 return true;
46}
47
48template<typename T> void EmulatedController::fillVectorNoMutex(Matrix &vector,T data[],unsigned int size) {
49 for (unsigned int i=0; i<size; i++) {
50 vector.SetValueNoMutex(i,0,data[i]);
51 }
52}
53
54void EmulatedController::fillVectorNoMutex(Matrix &destination,Matrix &source,unsigned int size) {
55 for (unsigned int i=0; i<size; i++) {
56 destination.SetValueNoMutex(i,0,source.Value(i,0));
57 }
58}
59
60void EmulatedController::StepData::Print() {
61 Printf("<StepData %s, duration=%d, axisData={%f,%f,%f,%f}, buttonData={%c,%c,%c,%c,%c,%c,%c,%c,%c,%c,%c,%c,%c,%c,%c,%c} />\n",description.c_str(),durationMs,
62 axisData->Value(0,0),axisData->Value(1,0),axisData->Value(2,0),axisData->Value(3,0),
63 buttonData->Value(0,0)?'X':'-',buttonData->Value(1,0)?'X':'-',buttonData->Value(2,0)?'X':'-',buttonData->Value(3,0)?'X':'-',
64 buttonData->Value(4,0)?'X':'-',buttonData->Value(5,0)?'X':'-',buttonData->Value(6,0)?'X':'-',buttonData->Value(7,0)?'X':'-',
65 buttonData->Value(8,0)?'X':'-',buttonData->Value(9,0)?'X':'-',buttonData->Value(10,0)?'X':'-',buttonData->Value(11,0)?'X':'-',
66 buttonData->Value(12,0)?'X':'-',buttonData->Value(13,0)?'X':'-',buttonData->Value(14,0)?'X':'-',buttonData->Value(15,0)?'X':'-'
67 );
68}
69
70void EmulatedController::AddStep(unsigned int durationMs,string description,uint16_t buttonPressed, float leftAxisX, float leftAxisY, float rightAxisX, float rightAxisY) {
71 Matrix *axisMatrix=new Matrix((IODevice *)this,4,1,floatType);
72 axisMatrix->SetValueNoMutex(0,0,leftAxisX);
73 axisMatrix->SetValueNoMutex(1,0,leftAxisY);
74 axisMatrix->SetValueNoMutex(2,0,rightAxisX);
75 axisMatrix->SetValueNoMutex(3,0,rightAxisY);
76
77 Matrix *buttonMatrix=new Matrix((IODevice *)this,16,1,SignedIntegerType(8));
78 if (buttonPressed&(uint16_t)ButtonType::start) buttonMatrix->SetValueNoMutex(0,0,1);
79 if (buttonPressed&(uint16_t)ButtonType::select) buttonMatrix->SetValueNoMutex(1,0,1);
80 if (buttonPressed&(uint16_t)ButtonType::square) buttonMatrix->SetValueNoMutex(2,0,1);
81 if (buttonPressed&(uint16_t)ButtonType::triangle) buttonMatrix->SetValueNoMutex(3,0,1);
82 if (buttonPressed&(uint16_t)ButtonType::circle) buttonMatrix->SetValueNoMutex(4,0,1);
83 if (buttonPressed&(uint16_t)ButtonType::cross) buttonMatrix->SetValueNoMutex(5,0,1);
84 if (buttonPressed&(uint16_t)ButtonType::left1) buttonMatrix->SetValueNoMutex(6,0,1);
85 if (buttonPressed&(uint16_t)ButtonType::left2) buttonMatrix->SetValueNoMutex(7,0,1);
86 if (buttonPressed&(uint16_t)ButtonType::left3) buttonMatrix->SetValueNoMutex(8,0,1);
87 if (buttonPressed&(uint16_t)ButtonType::right1) buttonMatrix->SetValueNoMutex(9,0,1);
88 if (buttonPressed&(uint16_t)ButtonType::right2) buttonMatrix->SetValueNoMutex(10,0,1);
89 if (buttonPressed&(uint16_t)ButtonType::right3) buttonMatrix->SetValueNoMutex(11,0,1);
90 if (buttonPressed&(uint16_t)ButtonType::up) buttonMatrix->SetValueNoMutex(12,0,1);
91 if (buttonPressed&(uint16_t)ButtonType::down) buttonMatrix->SetValueNoMutex(13,0,1);
92 if (buttonPressed&(uint16_t)ButtonType::left) buttonMatrix->SetValueNoMutex(14,0,1);
93 if (buttonPressed&(uint16_t)ButtonType::right) buttonMatrix->SetValueNoMutex(15,0,1);
94
95 StepData step={durationMs,axisMatrix,buttonMatrix,description};
96 //step.Print();
97 steps.push_back(step);
98}
99
100void EmulatedController::ComputeControllerData(DataType dataType, Matrix &data) {
101 static Time startStepTime=GetTime();
102
103 Time now=GetTime();
104
105 axis->GetMutex();
106 button->GetMutex();
107
108 if (steps.empty()) {
109 if (dataType==DataType::axis) {
110 float values[]={0.,0.,0.,0.};
111 fillVectorNoMutex(data,values,4);
112 }
113 if (dataType==DataType::button) {
114 int values[]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
115 fillVectorNoMutex(data,values,16);
116 }
117 } else {
118 StepData currentStep=steps.front();
119 if (dataType==DataType::axis) fillVectorNoMutex(data,*(currentStep.axisData),4);
120 if (dataType==DataType::button) fillVectorNoMutex(data,*(currentStep.buttonData),16);
121 if (now-startStepTime>(Time)currentStep.durationMs*1000*1000) {
122 Thread::Info("Step '%s' done\n",currentStep.description.c_str());
123 startStepTime=now;
124 steps.pop_front();
125 }
126 }
127
128 button->ReleaseMutex();
129 axis->ReleaseMutex();
130}
131
132void EmulatedController::AcquireAxisData(core::Matrix &axis) {
133 ComputeControllerData(DataType::axis,axis);
134}
135
136void EmulatedController::AcquireButtonData(core::Matrix &button) {
137 ComputeControllerData(DataType::button,button);
138}
139
140bool EmulatedController::ProcessMessage(Message *msg) {
141 return false;
142}
143
144bool EmulatedController::ControllerInitialization() {
145 axisNumber=4;
146 buttonNumber=16;
147 return true;
148}
149
150} // end namespace sensor
151} // end namespace flair
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