source: flair-src/trunk/lib/FlairSensorActuator/src/TargetController.cpp@ 4

Last change on this file since 4 was 3, checked in by Sanahuja Guillaume, 6 years ago

sensoractuator

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