| 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: 2015/03/30
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| 6 | // filename: TargetController.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: Base class for target side remote controls
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "TargetController.h"
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| 18 | #include "Controller.h"
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| 19 | #include <TabWidget.h>
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| 20 | #include <Tab.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <cvmatrix.h>
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| 23 |
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| 24 | #include <cstring>
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| 25 | #include <string>
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| 26 |
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| 27 | #include <unistd.h> //for usleep
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| 28 |
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| 29 | using namespace flair::core;
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| 30 | using namespace flair::gui;
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| 31 | using std::string;
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| 32 |
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| 33 | namespace flair
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| 34 | {
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| 35 | namespace sensor
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| 36 | {
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| 37 |
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| 38 | TargetController::TargetController(const FrameworkManager* parent,string name,uint8_t priority) :
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| 39 | Thread(parent,name,priority),IODevice(parent,name) {
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| 40 | main_tab=new Tab(getFrameworkManager()->GetTabWidget(),name);
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| 41 | TabWidget* tab=new TabWidget(main_tab->NewRow(),name);
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| 42 | setup_tab=new Tab(tab,"Reglages");
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| 43 |
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| 44 | }
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| 45 |
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| 46 | TargetController::~TargetController() {
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| 47 | SafeStop();
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| 48 | Join();
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| 49 | }
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| 50 |
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| 51 | std::string TargetController::GetAxisName(unsigned int axisId) const {
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| 52 | return string("axis")+std::to_string(axisId);
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| 53 | }
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| 54 |
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| 55 | std::string TargetController::GetButtonName(unsigned int buttonId) const {
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| 56 | return string("button")+std::to_string(buttonId);
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| 57 | }
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| 58 |
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| 59 | bool TargetController::SetLedOn(unsigned int ledId) {
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| 60 | if (!IsControllerActionSupported(ControllerAction::SetLedOn)) return false;
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| 61 | SwitchLedMessage *msgLed=new SwitchLedMessage(true,ledId);
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| 62 | changeStateQueue.push(msgLed);
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| 63 | return true;
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| 64 | }
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| 65 |
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| 66 | bool TargetController::SetLedOff(unsigned int ledId) {
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| 67 | if (!IsControllerActionSupported(ControllerAction::SetLedOn)) return false;
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| 68 | SwitchLedMessage *msgLed=new SwitchLedMessage(false,ledId);
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| 69 | changeStateQueue.push(msgLed);
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| 70 | return true;
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| 71 | }
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| 72 |
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| 73 | bool TargetController::Rumble(unsigned int leftForce,unsigned int leftTimeout,unsigned int rightForce,unsigned int rightTimeout) {
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| 74 | if (!IsControllerActionSupported(ControllerAction::Rumble)) return false;
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| 75 | RumbleMessage *msgRumble=new RumbleMessage(leftForce,leftTimeout,rightForce,rightTimeout);
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| 76 | changeStateQueue.push(msgRumble);
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| 77 | return true;
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| 78 | }
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| 79 |
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| 80 | bool TargetController::FlashLed(unsigned int ledId,unsigned int onTimeout,unsigned int offTimeout){
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| 81 | if (!IsControllerActionSupported(ControllerAction::FlashLed)) return false;
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| 82 | FlashLedMessage *msgFlashLed=new FlashLedMessage(ledId,onTimeout,offTimeout);
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| 83 | changeStateQueue.push(msgFlashLed);
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| 84 | return true;
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| 85 | }
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| 86 |
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| 87 | float TargetController::GetAxisValue(unsigned int axisId) const{
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| 88 | //TODO we'd better throw an exception here
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| 89 | if (axis==NULL) return 0;
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| 90 |
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| 91 | axis->GetMutex();
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| 92 | float axisValue=axis->Value(axisId, 0);
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| 93 | axis->ReleaseMutex();
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| 94 | return axisValue;
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| 95 | }
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| 96 |
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| 97 | bool TargetController::IsButtonPressed(unsigned int buttonId) const{
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| 98 | //TODO we'd better throw an exception here
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| 99 | if (button==NULL) return false;
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| 100 |
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| 101 | button->GetMutex();
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| 102 | bool buttonValue=button->Value(buttonId, 0);
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| 103 | button->ReleaseMutex();
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| 104 | return buttonValue;
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| 105 | }
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| 106 |
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| 107 | void TargetController::Run() {
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| 108 | Message *message;
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| 109 |
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| 110 | if(getFrameworkManager()->ErrorOccured()||!ControllerInitialization()) {
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| 111 | SafeStop();
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| 112 | Thread::Err("An error occured, we don't proceed with the loop.\n");
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| 113 | } else {
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| 114 |
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| 115 | axis=new cvmatrix((IODevice *)this,axisNumber,1,floatType);
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| 116 | button=new cvmatrix((IODevice *)this,buttonNumber,1,SignedIntegerType(8));
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| 117 |
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| 118 | while(!ToBeStopped()) {
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| 119 | //Thread::Info("Debug: entering acquisition loop\n");
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| 120 | if(getFrameworkManager()->ConnectionLost()==true) SafeStop();
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| 121 |
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| 122 | if (IsDataFrameReady()) {
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| 123 | //Thread::Info("Debug: data frame is ready\n");
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| 124 |
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| 125 | AcquireAxisData(*axis);
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| 126 | AcquireButtonData(*button);
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| 127 |
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| 128 | //send the data
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| 129 | axis->SetDataTime(GetTime());
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| 130 | ProcessUpdate(axis);
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| 131 |
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| 132 | //send pending controller state change request(s)
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| 133 |
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| 134 | while(changeStateQueue.size()!=0) {
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| 135 | message=changeStateQueue.front();
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| 136 | if (ProcessMessage(message)) {
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| 137 | changeStateQueue.pop();
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| 138 | delete message;
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| 139 | }
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| 140 | }
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| 141 | } else {
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| 142 | //Thread::Info("Debug: relax...\n");
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| 143 | usleep(20000); //20ms
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| 144 | }
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| 145 | }
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| 146 | }
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| 147 | }
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| 148 |
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| 149 | Tab* TargetController::GetTab() const {
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| 150 | return setup_tab;
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| 151 | }
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| 152 |
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| 153 | } // end namespace sensor
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| 154 | } // end namespace flair
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