1 | // %flair:license{
|
---|
2 | // This file is part of the Flair framework distributed under the
|
---|
3 | // CECILL-C License, Version 1.0.
|
---|
4 | // %flair:license}
|
---|
5 | // created: 2015/03/30
|
---|
6 | // filename: HostEthController.h
|
---|
7 | //
|
---|
8 | // author: Gildas Bayard
|
---|
9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
10 | //
|
---|
11 | // version: $Id: $
|
---|
12 | //
|
---|
13 | // purpose: Base class for host side remote controls that talks to target side through ethernet connection
|
---|
14 | //
|
---|
15 | //
|
---|
16 | /*********************************************************************/
|
---|
17 |
|
---|
18 | #ifndef HOSTETHCONTROLLER_H
|
---|
19 | #define HOSTETHCONTROLLER_H
|
---|
20 |
|
---|
21 | #include <IODevice.h>
|
---|
22 | #include <Thread.h>
|
---|
23 | #include <stdint.h>
|
---|
24 |
|
---|
25 | namespace flair {
|
---|
26 | namespace core {
|
---|
27 | class FrameworkManager;
|
---|
28 | class cvmatrix;
|
---|
29 | class TcpSocket;
|
---|
30 | class Socket;
|
---|
31 | class Mutex;
|
---|
32 | }
|
---|
33 | namespace gui {
|
---|
34 | class Tab;
|
---|
35 | class TabWidget;
|
---|
36 | class DataPlot1D;
|
---|
37 | }
|
---|
38 | }
|
---|
39 |
|
---|
40 | namespace flair { namespace sensor {
|
---|
41 | enum class ControllerAction;
|
---|
42 |
|
---|
43 | /*! \class HostEthController
|
---|
44 | *
|
---|
45 | * \brief Base Class for host side remote controls that talks to target side through ethernet connection
|
---|
46 | *
|
---|
47 | * There are 2 communication channels:
|
---|
48 | * - 1 connection with the ground station to display the values. Output for analog sticks is normalized in the range [-1, 1] (float values)
|
---|
49 | * - 1 connection with the target to send the controller values (and receive controller state modification requests)
|
---|
50 | */
|
---|
51 | class HostEthController : public core::Thread, public core::IODevice {
|
---|
52 | public:
|
---|
53 | HostEthController(const core::FrameworkManager* parent,std::string name,std::string address,int port,uint32_t period=10,uint32_t _bitsPerAxis=7,uint8_t priority=0);
|
---|
54 | ~HostEthController();
|
---|
55 | void DrawUserInterface();
|
---|
56 | protected:
|
---|
57 | std::string controllerName;
|
---|
58 | core::TcpSocket *controlSocket; //connection to the target
|
---|
59 | core::Socket *dataSocket;
|
---|
60 | std::string targetAddress;
|
---|
61 | int targetPort;
|
---|
62 | gui::Tab *tab;
|
---|
63 | gui::TabWidget *tabWidget;
|
---|
64 | virtual bool IsDataFrameReady() { return true;};
|
---|
65 | virtual void CompleteDataFrameGrab() {};
|
---|
66 | // int8_t *datas;
|
---|
67 | // uint8_t dataSize;
|
---|
68 | char *dataFrameBuffer;
|
---|
69 | size_t dataFrameSize;
|
---|
70 | virtual void ProcessMessage(core::Message *controllerAction) {};
|
---|
71 |
|
---|
72 | virtual std::string GetAxisDescription(unsigned int axis);
|
---|
73 | virtual void GetAxisData()=0; //responsible for getting the axis data from the hardware
|
---|
74 | unsigned int axisNumber;
|
---|
75 | core::cvmatrix* axis;
|
---|
76 | gui::DataPlot1D **axisPlot;
|
---|
77 | uint32_t bitsPerAxis;
|
---|
78 | uint32_t nativeBitsPerAxis;
|
---|
79 |
|
---|
80 | virtual std::string GetButtonDescription(unsigned int button);
|
---|
81 | virtual void GetButtonData()=0; //responsible for getting the button data from the hardware
|
---|
82 | unsigned int buttonNumber;
|
---|
83 | core::cvmatrix* button;
|
---|
84 | uint8_t buttonOffset;
|
---|
85 | bool meaningfulDataAvailable;
|
---|
86 |
|
---|
87 | private:
|
---|
88 | class DataSender : public core::Thread {
|
---|
89 | public:
|
---|
90 | DataSender(Object* parent,HostEthController* hostEthController,std::string name,uint8_t priority=0);
|
---|
91 | void Run();
|
---|
92 | private:
|
---|
93 | HostEthController* hostEthController;
|
---|
94 | };
|
---|
95 | DataSender *dataSender;
|
---|
96 |
|
---|
97 | bool ControllerInitialization();
|
---|
98 | bool ConnectedWithTarget();
|
---|
99 | void SendControllerInfo();
|
---|
100 | void Run();
|
---|
101 | void BuildDataFrame();
|
---|
102 | bool writeBits(uint16_t value,uint8_t valueSizeInBits,char *buffer,uint8_t offsetInBits);
|
---|
103 | core::Mutex *connectionEstablishedMutex;
|
---|
104 | };
|
---|
105 |
|
---|
106 | }}
|
---|
107 |
|
---|
108 | #endif // HOSTETHCONTROLLER_H
|
---|