| 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 | namespace sensor {
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| 35 |
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| 36 | TargetController::TargetController(const FrameworkManager *parent, string name,
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| 37 | uint8_t priority)
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| 38 | : Thread(parent, name, priority), IODevice(parent, name) {
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| 39 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 40 | TabWidget *tab = new TabWidget(main_tab->NewRow(), name);
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| 41 | setup_tab = new Tab(tab, "Reglages");
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| 42 | }
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| 43 |
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| 44 | TargetController::~TargetController() {
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| 45 | SafeStop();
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| 46 | Join();
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| 47 | }
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| 48 |
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| 49 | std::string TargetController::GetAxisName(unsigned int axisId) const {
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| 50 | return string("axis") + std::to_string(axisId);
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| 51 | }
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| 52 |
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| 53 | std::string TargetController::GetButtonName(unsigned int buttonId) const {
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| 54 | return string("button") + std::to_string(buttonId);
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| 55 | }
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| 56 |
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| 57 | bool TargetController::SetLedOn(unsigned int ledId) {
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| 58 | if (!IsControllerActionSupported(ControllerAction::SetLedOn))
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| 59 | return false;
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| 60 | SwitchLedMessage *msgLed = new SwitchLedMessage(true, ledId);
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| 61 | changeStateQueue.push(msgLed);
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| 62 | return true;
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| 63 | }
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| 64 |
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| 65 | bool TargetController::SetLedOff(unsigned int ledId) {
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| 66 | if (!IsControllerActionSupported(ControllerAction::SetLedOn))
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| 67 | 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,
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| 74 | unsigned int rightForce,
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| 75 | unsigned int rightTimeout) {
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| 76 | if (!IsControllerActionSupported(ControllerAction::Rumble))
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| 77 | return false;
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| 78 | RumbleMessage *msgRumble =
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| 79 | new RumbleMessage(leftForce, leftTimeout, rightForce, rightTimeout);
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| 80 | changeStateQueue.push(msgRumble);
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| 81 | return true;
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| 82 | }
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| 83 |
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| 84 | bool TargetController::FlashLed(unsigned int ledId, unsigned int onTimeout,
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| 85 | unsigned int offTimeout) {
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| 86 | if (!IsControllerActionSupported(ControllerAction::FlashLed))
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| 87 | return false;
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| 88 | FlashLedMessage *msgFlashLed =
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| 89 | new FlashLedMessage(ledId, onTimeout, offTimeout);
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| 90 | changeStateQueue.push(msgFlashLed);
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| 91 | return true;
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| 92 | }
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| 93 |
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| 94 | float TargetController::GetAxisValue(unsigned int axisId) const {
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| 95 | // TODO we'd better throw an exception here
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| 96 | if (axis == NULL)
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| 97 | return 0;
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| 98 |
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| 99 | axis->GetMutex();
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| 100 | float axisValue = axis->Value(axisId, 0);
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| 101 | axis->ReleaseMutex();
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| 102 | return axisValue;
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| 103 | }
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| 104 |
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| 105 | bool TargetController::IsButtonPressed(unsigned int buttonId) const {
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| 106 | // TODO we'd better throw an exception here
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| 107 | if (button == NULL)
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| 108 | return false;
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| 109 |
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| 110 | button->GetMutex();
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| 111 | bool buttonValue = button->Value(buttonId, 0);
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| 112 | button->ReleaseMutex();
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| 113 | return buttonValue;
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| 114 | }
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| 115 |
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| 116 | void TargetController::Run() {
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| 117 | Message *message;
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| 118 |
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| 119 | if (getFrameworkManager()->ErrorOccured() || !ControllerInitialization()) {
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| 120 | SafeStop();
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| 121 | Thread::Err("An error occured, we don't proceed with the loop.\n");
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| 122 | } else {
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| 123 |
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| 124 | axis = new cvmatrix((IODevice *)this, axisNumber, 1, floatType);
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| 125 | button =
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| 126 | new cvmatrix((IODevice *)this, buttonNumber, 1, SignedIntegerType(8));
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| 127 |
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| 128 | while (!ToBeStopped()) {
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| 129 | // Thread::Info("Debug: entering acquisition loop\n");
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| 130 | if (getFrameworkManager()->ConnectionLost() == true)
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| 131 | SafeStop();
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| 132 |
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| 133 | if (IsDataFrameReady()) {
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| 134 | // Thread::Info("Debug: data frame is ready\n");
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| 135 |
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| 136 | AcquireAxisData(*axis);
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| 137 | AcquireButtonData(*button);
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| 138 |
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| 139 | // send the data
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| 140 | axis->SetDataTime(GetTime());
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| 141 | ProcessUpdate(axis);
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| 142 |
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| 143 | // send pending controller state change request(s)
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| 144 |
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| 145 | while (changeStateQueue.size() != 0) {
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| 146 | message = changeStateQueue.front();
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| 147 | if (ProcessMessage(message)) {
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| 148 | changeStateQueue.pop();
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| 149 | delete message;
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| 150 | }
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| 151 | }
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| 152 | } else {
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| 153 | // Thread::Info("Debug: relax...\n");
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| 154 | usleep(20000); // 20ms
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| 155 | }
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| 156 | }
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| 157 | }
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| 158 | }
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| 159 |
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| 160 | Tab *TargetController::GetTab() const { return setup_tab; }
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| 161 |
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| 162 | } // end namespace sensor
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| 163 | } // end namespace flair
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