| 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 |
|
|---|
| 26 | namespace 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 |
|
|---|
| 40 | namespace flair {
|
|---|
| 41 | namespace sensor {
|
|---|
| 42 | enum class ControllerAction;
|
|---|
| 43 |
|
|---|
| 44 | /*! \class TargetController
|
|---|
| 45 | *
|
|---|
| 46 | * \brief Base Class for target side remote controls
|
|---|
| 47 | *
|
|---|
| 48 | */
|
|---|
| 49 | class TargetController : public core::Thread, public core::IODevice {
|
|---|
| 50 | public:
|
|---|
| 51 | TargetController(const core::FrameworkManager *parent, std::string name,
|
|---|
| 52 | uint8_t priority = 0);
|
|---|
| 53 | ~TargetController();
|
|---|
| 54 | // void DrawUserInterface();
|
|---|
| 55 | virtual bool IsConnected() const = 0;
|
|---|
| 56 | virtual bool IsDataFrameReady() = 0;
|
|---|
| 57 | // axis stuff
|
|---|
| 58 | unsigned int GetAxisNumber() const;
|
|---|
| 59 | virtual std::string GetAxisName(unsigned int axisId) const;
|
|---|
| 60 | float
|
|---|
| 61 | GetAxisValue(unsigned int axisId) const; // always in the range [-1.0,1.0]
|
|---|
| 62 | // button stuff
|
|---|
| 63 | unsigned int GetButtonNumber() const;
|
|---|
| 64 | bool IsButtonPressed(unsigned int buttonId) const;
|
|---|
| 65 | virtual std::string GetButtonName(unsigned int axisId) const;
|
|---|
| 66 | // controller state stuff
|
|---|
| 67 | virtual bool IsControllerActionSupported(ControllerAction action) const {
|
|---|
| 68 | return false;
|
|---|
| 69 | };
|
|---|
| 70 | bool SetLedOn(unsigned int ledId);
|
|---|
| 71 | bool SetLedOff(unsigned int ledId);
|
|---|
| 72 | bool Rumble(unsigned int left_force, unsigned int left_timeout,
|
|---|
| 73 | unsigned int right_force, unsigned int right_timeout);
|
|---|
| 74 | bool FlashLed(unsigned int ledId, unsigned int on_timeout,
|
|---|
| 75 | unsigned int off_timeout);
|
|---|
| 76 | void UpdateFrom(const core::io_data *data){}; // TODO
|
|---|
| 77 | gui::Tab *GetTab(void) const;
|
|---|
| 78 |
|
|---|
| 79 | protected:
|
|---|
| 80 | virtual bool ProcessMessage(core::Message *msg) = 0;
|
|---|
| 81 | void QueueMessage(core::Message msg);
|
|---|
| 82 | virtual bool ControllerInitialization() = 0; // {return true;};
|
|---|
| 83 | // axis stuff
|
|---|
| 84 | unsigned int axisNumber;
|
|---|
| 85 | core::cvmatrix *axis = NULL;
|
|---|
| 86 | virtual void AcquireAxisData(core::cvmatrix &axis) = 0; // responsible for
|
|---|
| 87 | // getting the axis
|
|---|
| 88 | // data from the
|
|---|
| 89 | // hardware
|
|---|
| 90 | uint16_t bitsPerAxis;
|
|---|
| 91 | // button stuff
|
|---|
| 92 | unsigned int buttonNumber;
|
|---|
| 93 | core::cvmatrix *button = NULL;
|
|---|
| 94 | virtual void AcquireButtonData(core::cvmatrix &button) = 0; // responsible for
|
|---|
| 95 | // getting the
|
|---|
| 96 | // button data
|
|---|
| 97 | // from the
|
|---|
| 98 | // hardware
|
|---|
| 99 | // controller state stuff
|
|---|
| 100 | unsigned int ledNumber;
|
|---|
| 101 |
|
|---|
| 102 | private:
|
|---|
| 103 | void Run();
|
|---|
| 104 | std::queue<core::Message *> changeStateQueue;
|
|---|
| 105 | flair::gui::Tab *main_tab;
|
|---|
| 106 | flair::gui::Tab *setup_tab;
|
|---|
| 107 | };
|
|---|
| 108 | }
|
|---|
| 109 | }
|
|---|
| 110 |
|
|---|
| 111 | #endif // TARGETCONTROLLER_H
|
|---|
