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: 2015/04/14
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6 | // filename: TargetEthController.h
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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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14 | // Typical use case: a remote control is plugged in a workstation and sends remote control
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15 | // data to a distant target (this class) through Wifi
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16 | //
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17 | //
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18 | /*********************************************************************/
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19 |
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20 | #ifndef TARGETETHCONTROLLER_H
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21 | #define TARGETETHCONTROLLER_H
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22 |
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23 | #include "TargetController.h"
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24 |
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25 | namespace flair {
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26 | namespace core {
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27 | class FrameworkManager;
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28 | class cvmatrix;
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29 | class TcpSocket;
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30 | class Socket;
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31 | }
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32 | namespace gui {
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33 | class Tab;
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34 | class TabWidget;
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35 | class DataPlot1D;
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36 | }
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37 | }
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38 |
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39 | namespace flair { namespace sensor {
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40 | /*! \class TargetController
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41 | *
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42 | * \brief Base Class for target side remote controls
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43 | *
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44 | */
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45 | class TargetEthController : public TargetController {
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46 | public:
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47 | TargetEthController(const core::FrameworkManager* parent,std::string name,uint16_t port,uint8_t priority=0);
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48 | ~TargetEthController();
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49 | //void DrawUserInterface();
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50 | protected:
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51 | bool IsConnected() const;
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52 | //axis stuff
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53 | std::string GetAxisName(unsigned int axisId) const;
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54 | //button stuff
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55 | std::string GetButtonName(unsigned int axisId) const;
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56 | //controller state stuff
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57 | bool ProcessMessage(core::Message *msg);
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58 | bool IsControllerActionSupported(ControllerAction action) const;
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59 |
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60 | bool IsDataFrameReady();
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61 | void AcquireAxisData(core::cvmatrix &axis); //responsible for getting the axis data from the hardware
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62 | void AcquireButtonData(core::cvmatrix &button); //responsible for getting the button data from the hardware
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63 |
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64 | bool ControllerInitialization();
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65 |
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66 | private:
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67 | uint16_t readBits(uint8_t offsetInBits,uint8_t valueSizeInBits,char *buffer,size_t bufferSize);
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68 | uint8_t getByteOrNull(char *buffer,int byte,size_t bufferSize);
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69 | uint32_t charBufferToUint32(char *buffer, size_t bufferSize);
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70 | core::TcpSocket *listeningSocket;
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71 | int listeningPort;
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72 | core::TcpSocket *controlSocket=NULL;
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73 | core::Socket *dataSocket;
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74 | std::string *axisName=NULL;
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75 | std::string *buttonName=NULL;
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76 | size_t dataFrameSize;
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77 | char *dataFrameBuffer;
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78 | char *receiveFrameBuffer;
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79 | size_t receiveCurrentPosition;
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80 | uint8_t buttonOffset;
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81 | };
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82 |
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83 | }}
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84 |
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85 | #endif // TARGETCONTROLLER_H
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