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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