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

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

sensoractuator

File size: 3.1 KB
RevLine 
[3]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: 2015/04/14
6// filename: TargetController.h
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
18#ifndef TARGETCONTROLLER_H
19#define TARGETCONTROLLER_H
20
21#include <IODevice.h>
22#include <Thread.h>
23#include <stdint.h>
24#include <queue>
25
26namespace flair {
27 namespace core {
28 class FrameworkManager;
29 class cvmatrix;
30 class Socket;
31 class io_data;
32 }
33 namespace gui {
34 class Tab;
35 class TabWidget;
36 class DataPlot1D;
37 }
38}
39
40namespace flair { namespace sensor {
41 enum class ControllerAction;
42
43 /*! \class TargetController
44 *
45 * \brief Base Class for target side remote controls
46 *
47 */
48 class TargetController : public core::Thread, public core::IODevice {
49 public:
50 TargetController(const core::FrameworkManager* parent,std::string name,uint8_t priority=0);
51 ~TargetController();
52 //void DrawUserInterface();
53 virtual bool IsConnected() const=0;
54 virtual bool IsDataFrameReady()=0;
55 //axis stuff
56 unsigned int GetAxisNumber() const;
57 virtual std::string GetAxisName(unsigned int axisId) const;
58 float GetAxisValue(unsigned int axisId) const;// always in the range [-1.0,1.0]
59 //button stuff
60 unsigned int GetButtonNumber() const;
61 bool IsButtonPressed(unsigned int buttonId) const;
62 virtual std::string GetButtonName(unsigned int axisId) const;
63 //controller state stuff
64 virtual bool IsControllerActionSupported(ControllerAction action) const {return false;};
65 bool SetLedOn(unsigned int ledId);
66 bool SetLedOff(unsigned int ledId);
67 bool Rumble(unsigned int left_force,unsigned int left_timeout,unsigned int right_force,unsigned int right_timeout);
68 bool FlashLed(unsigned int ledId,unsigned int on_timeout,unsigned int off_timeout);
69 void UpdateFrom(const core::io_data *data){}; //TODO
70 gui::Tab* GetTab(void) const;
71
72 protected:
73 virtual bool ProcessMessage(core::Message *msg)=0;
74 void QueueMessage(core::Message msg);
75 virtual bool ControllerInitialization()=0;// {return true;};
76 //axis stuff
77 unsigned int axisNumber;
78 core::cvmatrix* axis=NULL;
79 virtual void AcquireAxisData(core::cvmatrix &axis)=0; //responsible for getting the axis data from the hardware
80 uint16_t bitsPerAxis;
81 //button stuff
82 unsigned int buttonNumber;
83 core::cvmatrix* button=NULL;
84 virtual void AcquireButtonData(core::cvmatrix &button)=0; //responsible for getting the button data from the hardware
85 //controller state stuff
86 unsigned int ledNumber;
87 private:
88 void Run();
89 std::queue<core::Message *> changeStateQueue;
90 flair::gui::Tab* main_tab;
91 flair::gui::Tab* setup_tab;
92 };
93
94}}
95
96#endif // TARGETCONTROLLER_H
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