Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/TargetController.cpp

Timestamp:

04/08/16 15:40:57 (7 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSensorActuator/src/TargetController.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/TargetController.cpp

@@ -31 +31 @@
 using std::string;
 
-namespace flair
-{
-namespace sensor
-{
+namespace flair {
+namespace sensor {
 
-TargetController::TargetController(const FrameworkManager* parent,string name,uint8_t priority) :
-    Thread(parent,name,priority),IODevice(parent,name) {
-    main_tab=new Tab(getFrameworkManager()->GetTabWidget(),name);
-    TabWidget* tab=new TabWidget(main_tab->NewRow(),name);
-    setup_tab=new Tab(tab,"Reglages");
-
+TargetController::TargetController(const FrameworkManager *parent, string name,
+                                   uint8_t priority)
+    : Thread(parent, name, priority), IODevice(parent, name) {
+  main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
+  TabWidget *tab = new TabWidget(main_tab->NewRow(), name);
+  setup_tab = new Tab(tab, "Reglages");
 }
 
 TargetController::~TargetController() {
-    SafeStop();
-    Join();
+  SafeStop();
+  Join();
 }
 
 std::string TargetController::GetAxisName(unsigned int axisId) const {
-    return string("axis")+std::to_string(axisId);
+  return string("axis") + std::to_string(axisId);
 }
 
 std::string TargetController::GetButtonName(unsigned int buttonId) const {
-    return string("button")+std::to_string(buttonId);
+  return string("button") + std::to_string(buttonId);
 }
 
 bool TargetController::SetLedOn(unsigned int ledId) {
-    if (!IsControllerActionSupported(ControllerAction::SetLedOn)) return false;
-    SwitchLedMessage *msgLed=new SwitchLedMessage(true,ledId);
-    changeStateQueue.push(msgLed);
-    return true;
+  if (!IsControllerActionSupported(ControllerAction::SetLedOn))
+    return false;
+  SwitchLedMessage *msgLed = new SwitchLedMessage(true, ledId);
+  changeStateQueue.push(msgLed);
+  return true;
 }
 
 bool TargetController::SetLedOff(unsigned int ledId) {
-    if (!IsControllerActionSupported(ControllerAction::SetLedOn)) return false;
-    SwitchLedMessage *msgLed=new SwitchLedMessage(false,ledId);
-    changeStateQueue.push(msgLed);
-    return true;
+  if (!IsControllerActionSupported(ControllerAction::SetLedOn))
+    return false;
+  SwitchLedMessage *msgLed = new SwitchLedMessage(false, ledId);
+  changeStateQueue.push(msgLed);
+  return true;
 }
 
-bool TargetController::Rumble(unsigned int leftForce,unsigned int leftTimeout,unsigned int rightForce,unsigned int rightTimeout) {
-    if (!IsControllerActionSupported(ControllerAction::Rumble)) return false;
-    RumbleMessage *msgRumble=new RumbleMessage(leftForce,leftTimeout,rightForce,rightTimeout);
-    changeStateQueue.push(msgRumble);
-    return true;
+bool TargetController::Rumble(unsigned int leftForce, unsigned int leftTimeout,
+                              unsigned int rightForce,
+                              unsigned int rightTimeout) {
+  if (!IsControllerActionSupported(ControllerAction::Rumble))
+    return false;
+  RumbleMessage *msgRumble =
+      new RumbleMessage(leftForce, leftTimeout, rightForce, rightTimeout);
+  changeStateQueue.push(msgRumble);
+  return true;
 }
 
-bool TargetController::FlashLed(unsigned int ledId,unsigned int onTimeout,unsigned int offTimeout){
-    if (!IsControllerActionSupported(ControllerAction::FlashLed)) return false;
-    FlashLedMessage *msgFlashLed=new FlashLedMessage(ledId,onTimeout,offTimeout);
-    changeStateQueue.push(msgFlashLed);
-    return true;
+bool TargetController::FlashLed(unsigned int ledId, unsigned int onTimeout,
+                                unsigned int offTimeout) {
+  if (!IsControllerActionSupported(ControllerAction::FlashLed))
+    return false;
+  FlashLedMessage *msgFlashLed =
+      new FlashLedMessage(ledId, onTimeout, offTimeout);
+  changeStateQueue.push(msgFlashLed);
+  return true;
 }
 
-float TargetController::GetAxisValue(unsigned int axisId) const{
-    //TODO we'd better throw an exception here
-    if (axis==NULL) return 0;
+float TargetController::GetAxisValue(unsigned int axisId) const {
+  // TODO we'd better throw an exception here
+  if (axis == NULL)
+    return 0;
 
-    axis->GetMutex();
-    float axisValue=axis->Value(axisId, 0);
-    axis->ReleaseMutex();
-    return axisValue;
+  axis->GetMutex();
+  float axisValue = axis->Value(axisId, 0);
+  axis->ReleaseMutex();
+  return axisValue;
 }
 
-bool TargetController::IsButtonPressed(unsigned int buttonId) const{
-    //TODO we'd better throw an exception here
-    if (button==NULL) return false;
+bool TargetController::IsButtonPressed(unsigned int buttonId) const {
+  // TODO we'd better throw an exception here
+  if (button == NULL)
+    return false;
 
-    button->GetMutex();
-    bool buttonValue=button->Value(buttonId, 0);
-    button->ReleaseMutex();
-    return buttonValue;
+  button->GetMutex();
+  bool buttonValue = button->Value(buttonId, 0);
+  button->ReleaseMutex();
+  return buttonValue;
 }
 
 void TargetController::Run() {
-    Message *message;
+  Message *message;
 
-    if(getFrameworkManager()->ErrorOccured()||!ControllerInitialization()) {
+  if (getFrameworkManager()->ErrorOccured() || !ControllerInitialization()) {
+    SafeStop();
+    Thread::Err("An error occured, we don't proceed with the loop.\n");
+  } else {
+
+    axis = new cvmatrix((IODevice *)this, axisNumber, 1, floatType);
+    button =
+        new cvmatrix((IODevice *)this, buttonNumber, 1, SignedIntegerType(8));
+
+    while (!ToBeStopped()) {
+      // Thread::Info("Debug: entering acquisition loop\n");
+      if (getFrameworkManager()->ConnectionLost() == true)
         SafeStop();
-        Thread::Err("An error occured, we don't proceed with the loop.\n");
-    } else {
 
-        axis=new cvmatrix((IODevice *)this,axisNumber,1,floatType);
-        button=new cvmatrix((IODevice *)this,buttonNumber,1,SignedIntegerType(8));
+      if (IsDataFrameReady()) {
+        // Thread::Info("Debug: data frame is ready\n");
 
-        while(!ToBeStopped()) {
-            //Thread::Info("Debug: entering acquisition loop\n");
-            if(getFrameworkManager()->ConnectionLost()==true) SafeStop();
+        AcquireAxisData(*axis);
+        AcquireButtonData(*button);
 
-            if (IsDataFrameReady()) {
-                //Thread::Info("Debug: data frame is ready\n");
+        // send the data
+        axis->SetDataTime(GetTime());
+        ProcessUpdate(axis);
 
-                AcquireAxisData(*axis);
-                AcquireButtonData(*button);
+        // send pending controller state change request(s)
 
-                //send the data
-                axis->SetDataTime(GetTime());
-                ProcessUpdate(axis);
-
-                //send pending controller state change request(s)
-
-                while(changeStateQueue.size()!=0) {
-                    message=changeStateQueue.front();
-                    if (ProcessMessage(message)) {
-                        changeStateQueue.pop();
-                        delete message;
-                    }
-                }
-            } else {
-                //Thread::Info("Debug: relax...\n");
-                usleep(20000); //20ms
-            }
+        while (changeStateQueue.size() != 0) {
+          message = changeStateQueue.front();
+          if (ProcessMessage(message)) {
+            changeStateQueue.pop();
+            delete message;
+          }
         }
+      } else {
+        // Thread::Info("Debug: relax...\n");
+        usleep(20000); // 20ms
+      }
     }
+  }
 }
 
-Tab* TargetController::GetTab() const {
-    return setup_tab;
-}
+Tab *TargetController::GetTab() const { return setup_tab; }
 
 } // end namespace sensor