[3] | 1 | // %flair:license{
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[15] | 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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[3] | 4 | // %flair:license}
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| 5 | // created: 2015/03/30
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| 6 | // filename: TargetEthController.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: class that gets remote controls through an ethernet connection.
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[15] | 14 | // Typical use case: a remote control is plugged in a workstation
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| 15 | // and sends remote control
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[3] | 16 | // data to a distant target (this class) through Wifi//
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| 17 | //
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| 18 | /*********************************************************************/
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| 19 | #include "TargetEthController.h"
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| 20 | #include <Controller.h>
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| 21 | #include <FrameworkManager.h>
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| 22 | #include <TcpSocket.h>
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[178] | 23 | #include <UdpSocket.h>
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[3] | 24 | #include <cstring>
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| 25 | #include <string>
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[214] | 26 | #include <Matrix.h>
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[3] | 27 | #include <stdexcept>
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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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[15] | 33 | namespace flair {
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| 34 | namespace sensor {
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[3] | 35 |
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[137] | 36 | TargetEthController::TargetEthController(string name, uint16_t _port,
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[15] | 37 | uint8_t priority)
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[137] | 38 | : TargetController(name, priority), listeningPort(_port),
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[15] | 39 | receiveCurrentPosition(0) {
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| 40 | const bool blocking = true;
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| 41 | listeningSocket =
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[137] | 42 | new TcpSocket(getFrameworkManager(), "TEC_listening_socket", blocking, blocking);
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[15] | 43 | dataSocket =
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[178] | 44 | new UdpSocket(getFrameworkManager(), "TEC_data_socket", _port + 1); // receiving side
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[3] | 45 | }
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| 46 |
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| 47 | TargetEthController::~TargetEthController() {
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[15] | 48 | // We are (currently) the server side. We must ask the client side to initiate
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| 49 | // tcp connexion closing to avoid the server socket
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| 50 | // to get stuck in TIME_WAIT state
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| 51 | Message msg(32);
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| 52 | if (controlSocket) {
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| 53 | Message cancelAcquisition(sizeof(ControllerAction));
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| 54 | ControllerAction exit = ControllerAction::Exit;
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| 55 | memcpy(cancelAcquisition.buffer, &exit, sizeof(ControllerAction));
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| 56 | controlSocket->SendMessage(cancelAcquisition.buffer,
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| 57 | cancelAcquisition.bufferSize);
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| 58 | // We don't expect any more data from the client, we're just waiting for the
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| 59 | // socket to be closed by the client
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| 60 | controlSocket->RecvMessage(msg.buffer, msg.bufferSize);
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[238] | 61 | delete controlSocket;
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[15] | 62 | }
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[3] | 63 |
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[15] | 64 | // TargetController calls TargetEthController methods in its run
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| 65 | // we must stop the thread now
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| 66 | SafeStop();
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| 67 | Join();
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[238] | 68 | delete dataSocket;
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| 69 | delete listeningSocket;
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[3] | 70 | }
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| 71 |
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| 72 | bool TargetEthController::IsConnected() const {
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[15] | 73 | // TODO
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[3] | 74 | }
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| 75 |
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[15] | 76 | bool TargetEthController::IsDataFrameReady() {
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| 77 | // read up to the last data
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| 78 | ssize_t received;
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| 79 | size_t bytesToReceive = dataFrameSize - receiveCurrentPosition;
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| 80 | bool fullDatagramReceived = false;
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[3] | 81 |
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[38] | 82 | do {
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| 83 | received=dataSocket->RecvMessage(receiveFrameBuffer+receiveCurrentPosition,bytesToReceive,TIME_NONBLOCK);
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| 84 | if (received>0) {
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| 85 | receiveCurrentPosition+=received;
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| 86 | bytesToReceive-=received;
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| 87 | if (bytesToReceive==0) {
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| 88 | //a full datagram has been read in receiveFrameBuffer
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| 89 | fullDatagramReceived=true;
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| 90 | //we swap the data and reception buffers to avoid copy
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| 91 | char *swapFrameBuffer=dataFrameBuffer;
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| 92 | dataFrameBuffer=receiveFrameBuffer;
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| 93 | receiveFrameBuffer=swapFrameBuffer;
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| 94 | receiveCurrentPosition=0;
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| 95 | bytesToReceive=dataFrameSize;
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| 96 | }
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| 97 | }
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| 98 | } while (!(received<0));
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[3] | 99 |
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[15] | 100 | return fullDatagramReceived;
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[3] | 101 | }
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| 102 |
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[15] | 103 | uint8_t TargetEthController::getByteOrNull(char *buffer, int byte,
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| 104 | size_t bufferSize) {
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| 105 | if (byte < bufferSize)
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| 106 | return buffer[byte];
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| 107 | else
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| 108 | return 0;
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[3] | 109 | }
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| 110 |
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[15] | 111 | uint32_t TargetEthController::charBufferToUint32(char *buffer,
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| 112 | size_t bufferSize) {
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| 113 | union {
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| 114 | uint32_t int32;
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| 115 | char byte[4];
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| 116 | } bitField;
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| 117 | if (!IsBigEndian()) {
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| 118 | bitField.byte[0] = getByteOrNull(buffer, 3, bufferSize);
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| 119 | bitField.byte[1] = getByteOrNull(buffer, 2, bufferSize);
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| 120 | bitField.byte[2] = getByteOrNull(buffer, 1, bufferSize);
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| 121 | bitField.byte[3] = getByteOrNull(buffer, 0, bufferSize);
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| 122 | } else {
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| 123 | bitField.byte[0] = getByteOrNull(buffer, 0, bufferSize);
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| 124 | bitField.byte[1] = getByteOrNull(buffer, 1, bufferSize);
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| 125 | bitField.byte[2] = getByteOrNull(buffer, 2, bufferSize);
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| 126 | bitField.byte[3] = getByteOrNull(buffer, 3, bufferSize);
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| 127 | }
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| 128 | return bitField.int32;
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[3] | 129 | }
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| 130 |
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[15] | 131 | // read _up_to_16_bits_ in a buffer
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| 132 | uint16_t TargetEthController::readBits(uint8_t offsetInBits,
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| 133 | uint8_t valueSizeInBits, char *buffer,
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| 134 | size_t bufferSize) {
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| 135 | // parameters check
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| 136 | if (valueSizeInBits > 16)
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| 137 | throw std::range_error("bitfield should be at max 16bits wide");
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| 138 | size_t minBufferSize = (offsetInBits + valueSizeInBits) / 8;
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| 139 | if ((offsetInBits + valueSizeInBits) % 8 != 0)
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| 140 | minBufferSize++;
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| 141 | if (bufferSize < minBufferSize)
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| 142 | throw std::range_error("buffer too small");
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| 143 | // skip first bytes
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| 144 | size_t bytesToSkip = offsetInBits / 8;
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| 145 | buffer += bytesToSkip;
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| 146 | bufferSize -= bytesToSkip;
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| 147 | offsetInBits -= bytesToSkip * 8;
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| 148 | // take care of endianness
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| 149 | uint32_t value = charBufferToUint32(buffer, bufferSize);
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| 150 | value >>= 32 - offsetInBits - valueSizeInBits;
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| 151 | value &= (1 << valueSizeInBits) - 1;
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| 152 | return (uint16_t)value;
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[3] | 153 | }
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| 154 |
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[214] | 155 | void TargetEthController::AcquireAxisData(core::Matrix &axis) {
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[15] | 156 | axis.GetMutex();
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| 157 | // char testFrameBuffer[3]={(char)0x09,(char)0x59,(char)0xB8};
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| 158 | for (unsigned int i = 0; i < axisNumber; i++) {
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| 159 | uint16_t rawAxisValue =
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| 160 | readBits(i * bitsPerAxis, bitsPerAxis, dataFrameBuffer, dataFrameSize);
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| 161 | // uint16_t
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| 162 | // rawAxisValue=readBits(i*bitsPerAxis,bitsPerAxis,testFrameBuffer);
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| 163 | uint16_t scale = 1 << (bitsPerAxis - 1);
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| 164 | // Thread::Info("RawAxisValue=%d, scale=%d => scaled rawValue=%d, float
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| 165 | // value)%f\n",rawAxisValue,scale,rawAxisValue-scale,(rawAxisValue-scale)/(float)scale);
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| 166 | axis.SetValueNoMutex(i, 0, (rawAxisValue - scale) / (float)scale);
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| 167 | }
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| 168 | axis.ReleaseMutex();
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[3] | 169 | }
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| 170 |
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[214] | 171 | void TargetEthController::AcquireButtonData(core::Matrix &button) {
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[15] | 172 | uint8_t buttonValue;
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| 173 | int currentButton = 0;
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| 174 | button.GetMutex();
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| 175 | /*
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| 176 | for (unsigned int i=0;i<buttonNumber;i++) {
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| 177 | memcpy(&buttonValue,buttonOffset+i*sizeof(bool),sizeof(bool));
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| 178 | dataSocket->NetworkToHost((char*)&buttonValue,sizeof(bool));
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| 179 | button.SetValueNoMutex(i,0,buttonValue);
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| 180 | // if (buttonValue) Thread::Info("Debug: button '%s' pressed\n",
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| 181 | GetButtonName(i).c_str());
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| 182 | }*/
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| 183 | for (unsigned int i = 0; i < buttonNumber / 8; i++) {
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| 184 | memcpy(&buttonValue, dataFrameBuffer + buttonOffset + i * sizeof(uint8_t),
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| 185 | sizeof(uint8_t));
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| 186 | // dataSocket->NetworkToHost((char*)&buttonValue,sizeof(uint8_t));
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| 187 | for (unsigned int j = 0; j < 8; j++) {
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| 188 | button.SetValueNoMutex(currentButton, 0, (buttonValue >> j) & 0x01);
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| 189 | currentButton++;
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[3] | 190 | }
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[15] | 191 | }
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| 192 | button.ReleaseMutex();
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[3] | 193 | }
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| 194 |
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[15] | 195 | string TargetEthController::GetAxisName(unsigned int axisId) const {
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| 196 | // TODO: should throw an exception if axisName==NULL or axisId>axisNumber
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| 197 | return axisName[axisId];
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[3] | 198 | }
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| 199 |
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[15] | 200 | string TargetEthController::GetButtonName(unsigned int buttonId) const {
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| 201 | // TODO: should throw an exception if buttonName==NULL or
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| 202 | // buttonId>buttonNumber
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| 203 | return buttonName[buttonId];
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[3] | 204 | }
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| 205 |
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| 206 | bool TargetEthController::ProcessMessage(Message *msg) {
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[238] | 207 | return !(controlSocket->SendMessage(msg->buffer, msg->bufferSize, TIME_INFINITE) < 0);
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[3] | 208 | }
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| 209 |
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[15] | 210 | bool TargetEthController::IsControllerActionSupported(
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| 211 | ControllerAction action) const {
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| 212 | // TODO: here we should ask the remote side (host). Probably through the
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| 213 | // control socket
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| 214 | switch (action) {
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| 215 | case ControllerAction::SetLedOn:
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| 216 | return true;
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| 217 | case ControllerAction::SetLedOff:
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| 218 | return true;
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| 219 | case ControllerAction::Rumble:
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| 220 | return true;
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| 221 | case ControllerAction::FlashLed:
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| 222 | return true;
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| 223 | default:
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| 224 | return false;
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| 225 | }
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[3] | 226 | }
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| 227 |
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| 228 | bool TargetEthController::ControllerInitialization() {
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[15] | 229 | char message[1024];
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| 230 | ssize_t received;
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| 231 | bool connected = false;
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| 232 | bool mustReadMore;
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[3] | 233 |
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[15] | 234 | listeningSocket->Listen(listeningPort);
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| 235 | Thread::Info("Debug: Listening to port %d\n", listeningPort);
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| 236 | // accept incoming connection
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[249] | 237 | while (!controlSocket) {
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[238] | 238 | try {
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| 239 | controlSocket = listeningSocket->Accept(100000000);
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| 240 | } catch (std::logic_error &e) {
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[249] | 241 | Thread::Err("%s\n",e.what());
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| 242 | if (ToBeStopped())
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| 243 | return false;
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[238] | 244 | } catch (std::runtime_error e) {
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| 245 | // timeout
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[249] | 246 | //Thread::Err("%s\n",e.what());
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[15] | 247 | if (ToBeStopped())
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| 248 | return false;
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[238] | 249 | }
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[15] | 250 | }
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| 251 | Thread::Info("Debug: Connexion accepted\n");
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[3] | 252 |
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[15] | 253 | // get axis stuff
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| 254 | bool axisNumberRead = false;
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| 255 | while (!axisNumberRead) {
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| 256 | try {
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[238] | 257 | axisNumber = controlSocket->ReadUInt32(100000000);
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[15] | 258 | // Thread::Info("Debug: axisNumber %d\n", axisNumber);
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| 259 | axisNumberRead = true;
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| 260 | } catch (std::runtime_error e) {
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| 261 | // timeout
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| 262 | if (ToBeStopped())
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| 263 | return false;
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[3] | 264 | }
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[15] | 265 | }
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| 266 | bool bitsPerAxisRead = false;
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| 267 | while (!bitsPerAxisRead) {
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| 268 | try {
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[238] | 269 | bitsPerAxis = controlSocket->ReadUInt32(100000000);
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[15] | 270 | // Thread::Info("Debug: bits per axis %d\n", bitsPerAxis);
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| 271 | bitsPerAxisRead = true;
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| 272 | } catch (std::runtime_error e) {
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| 273 | // timeout
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| 274 | if (ToBeStopped())
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| 275 | return false;
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[3] | 276 | }
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[15] | 277 | }
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| 278 | axisName = new string[axisNumber];
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| 279 | for (unsigned int i = 0; i < axisNumber; i++) {
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| 280 | // read string size
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| 281 | int stringSize;
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| 282 | bool stringSizeRead = false;
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| 283 | while (!stringSizeRead) {
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| 284 | try {
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[238] | 285 | stringSize = controlSocket->ReadUInt32(100000000);
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[15] | 286 | stringSizeRead = true;
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| 287 | } catch (std::runtime_error e) {
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| 288 | // timeout
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| 289 | if (ToBeStopped())
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| 290 | return false;
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| 291 | }
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[3] | 292 | }
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[15] | 293 | // read string
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| 294 | bool axisNameRead = false;
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| 295 | while (!axisNameRead) {
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| 296 | try {
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[238] | 297 | axisName[i] = controlSocket->ReadString(stringSize, 100000000);
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[15] | 298 | axisNameRead = true;
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| 299 | } catch (std::runtime_error e) {
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| 300 | // timeout
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| 301 | if (ToBeStopped())
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| 302 | return false;
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| 303 | }
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| 304 | }
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| 305 | // Thread::Info("Debug: axisName for axis %d %s\n", i, axisName[i].c_str());
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| 306 | }
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[3] | 307 |
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[15] | 308 | // get button stuff
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| 309 | bool buttonNumberRead = false;
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| 310 | while (!buttonNumberRead) {
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| 311 | try {
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[238] | 312 | buttonNumber = controlSocket->ReadUInt32(100000000);
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[15] | 313 | buttonNumberRead = true;
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| 314 | } catch (std::runtime_error e) {
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| 315 | // timeout
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| 316 | if (ToBeStopped())
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| 317 | return false;
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[3] | 318 | }
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[15] | 319 | }
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| 320 | // Thread::Info("Debug: buttonNumber %d\n", buttonNumber);
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| 321 | buttonName = new string[buttonNumber];
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| 322 | for (unsigned int i = 0; i < buttonNumber; i++) {
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| 323 | // read string size
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| 324 | int stringSize;
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| 325 | bool stringSizeRead = false;
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| 326 | while (!stringSizeRead) {
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| 327 | try {
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[238] | 328 | stringSize = controlSocket->ReadUInt32(100000000);
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[15] | 329 | stringSizeRead = true;
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| 330 | } catch (std::runtime_error e) {
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| 331 | // timeout
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| 332 | if (ToBeStopped())
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| 333 | return false;
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| 334 | }
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[3] | 335 | }
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[15] | 336 | // read string
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| 337 | bool buttonNameRead = false;
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| 338 | while (!buttonNameRead) {
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| 339 | try {
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[238] | 340 | buttonName[i] = controlSocket->ReadString(stringSize, 10000000);
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[15] | 341 | buttonNameRead = true;
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| 342 | } catch (std::runtime_error e) {
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| 343 | // timeout
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| 344 | if (ToBeStopped())
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| 345 | return false;
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| 346 | }
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| 347 | }
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| 348 | // Thread::Info("Debug: buttonName for button %d %s\n", i,
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| 349 | // buttonName[i].c_str());
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| 350 | }
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[3] | 351 |
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[15] | 352 | // dataFrameSize=axisNumber*sizeof(float)+buttonNumber/8*sizeof(uint8_t);
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| 353 | buttonOffset = (axisNumber * bitsPerAxis) / 8;
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| 354 | if ((axisNumber * bitsPerAxis) % 8 != 0)
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| 355 | buttonOffset++;
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| 356 | dataFrameSize = buttonOffset + (buttonNumber / 8) * sizeof(uint8_t);
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| 357 | if ((buttonNumber % 8) != 0)
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| 358 | dataFrameSize++;
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| 359 | dataFrameBuffer = new char[dataFrameSize];
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| 360 | receiveFrameBuffer = new char[dataFrameSize];
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[3] | 361 |
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[15] | 362 | Thread::Info("Controller connected with host side\n");
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| 363 | if (buttonNumber % 8 != 0)
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| 364 | Thread::Err("Button number is not multiple of 8\n");
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| 365 | return true;
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[3] | 366 | }
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| 367 |
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| 368 | } // end namespace sensor
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| 369 | } // end namespace flair
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