source: flair-src/trunk/lib/FlairSensorActuator/src/TargetController.cpp@ 16

Last change on this file since 16 was 15, checked in by Bayard Gildas, 7 years ago

sources reformatted with flair-format-dir script

File size: 4.5 KB
Line 
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: TargetController.cpp
7//
8// author: Gildas Bayard
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: Base class for target side remote controls
14//
15//
16/*********************************************************************/
17#include "TargetController.h"
18#include "Controller.h"
19#include <TabWidget.h>
20#include <Tab.h>
21#include <FrameworkManager.h>
22#include <cvmatrix.h>
23
24#include <cstring>
25#include <string>
26
27#include <unistd.h> //for usleep
28
29using namespace flair::core;
30using namespace flair::gui;
31using std::string;
32
33namespace flair {
34namespace sensor {
35
36TargetController::TargetController(const FrameworkManager *parent, string name,
37 uint8_t priority)
38 : Thread(parent, name, priority), IODevice(parent, name) {
39 main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
40 TabWidget *tab = new TabWidget(main_tab->NewRow(), name);
41 setup_tab = new Tab(tab, "Reglages");
42}
43
44TargetController::~TargetController() {
45 SafeStop();
46 Join();
47}
48
49std::string TargetController::GetAxisName(unsigned int axisId) const {
50 return string("axis") + std::to_string(axisId);
51}
52
53std::string TargetController::GetButtonName(unsigned int buttonId) const {
54 return string("button") + std::to_string(buttonId);
55}
56
57bool TargetController::SetLedOn(unsigned int ledId) {
58 if (!IsControllerActionSupported(ControllerAction::SetLedOn))
59 return false;
60 SwitchLedMessage *msgLed = new SwitchLedMessage(true, ledId);
61 changeStateQueue.push(msgLed);
62 return true;
63}
64
65bool TargetController::SetLedOff(unsigned int ledId) {
66 if (!IsControllerActionSupported(ControllerAction::SetLedOn))
67 return false;
68 SwitchLedMessage *msgLed = new SwitchLedMessage(false, ledId);
69 changeStateQueue.push(msgLed);
70 return true;
71}
72
73bool TargetController::Rumble(unsigned int leftForce, unsigned int leftTimeout,
74 unsigned int rightForce,
75 unsigned int rightTimeout) {
76 if (!IsControllerActionSupported(ControllerAction::Rumble))
77 return false;
78 RumbleMessage *msgRumble =
79 new RumbleMessage(leftForce, leftTimeout, rightForce, rightTimeout);
80 changeStateQueue.push(msgRumble);
81 return true;
82}
83
84bool TargetController::FlashLed(unsigned int ledId, unsigned int onTimeout,
85 unsigned int offTimeout) {
86 if (!IsControllerActionSupported(ControllerAction::FlashLed))
87 return false;
88 FlashLedMessage *msgFlashLed =
89 new FlashLedMessage(ledId, onTimeout, offTimeout);
90 changeStateQueue.push(msgFlashLed);
91 return true;
92}
93
94float TargetController::GetAxisValue(unsigned int axisId) const {
95 // TODO we'd better throw an exception here
96 if (axis == NULL)
97 return 0;
98
99 axis->GetMutex();
100 float axisValue = axis->Value(axisId, 0);
101 axis->ReleaseMutex();
102 return axisValue;
103}
104
105bool TargetController::IsButtonPressed(unsigned int buttonId) const {
106 // TODO we'd better throw an exception here
107 if (button == NULL)
108 return false;
109
110 button->GetMutex();
111 bool buttonValue = button->Value(buttonId, 0);
112 button->ReleaseMutex();
113 return buttonValue;
114}
115
116void TargetController::Run() {
117 Message *message;
118
119 if (getFrameworkManager()->ErrorOccured() || !ControllerInitialization()) {
120 SafeStop();
121 Thread::Err("An error occured, we don't proceed with the loop.\n");
122 } else {
123
124 axis = new cvmatrix((IODevice *)this, axisNumber, 1, floatType);
125 button =
126 new cvmatrix((IODevice *)this, buttonNumber, 1, SignedIntegerType(8));
127
128 while (!ToBeStopped()) {
129 // Thread::Info("Debug: entering acquisition loop\n");
130 if (getFrameworkManager()->ConnectionLost() == true)
131 SafeStop();
132
133 if (IsDataFrameReady()) {
134 // Thread::Info("Debug: data frame is ready\n");
135
136 AcquireAxisData(*axis);
137 AcquireButtonData(*button);
138
139 // send the data
140 axis->SetDataTime(GetTime());
141 ProcessUpdate(axis);
142
143 // send pending controller state change request(s)
144
145 while (changeStateQueue.size() != 0) {
146 message = changeStateQueue.front();
147 if (ProcessMessage(message)) {
148 changeStateQueue.pop();
149 delete message;
150 }
151 }
152 } else {
153 // Thread::Info("Debug: relax...\n");
154 usleep(20000); // 20ms
155 }
156 }
157 }
158}
159
160Tab *TargetController::GetTab() const { return setup_tab; }
161
162} // end namespace sensor
163} // end namespace flair
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