Changeset 25 in flair-dev for trunk/include

Timestamp:

Jun 23, 2016, 10:18:10 AM (9 years ago)

Author:

Bayard Gildas

Message:

Plop

Location:

trunk/include

Files:

• FlairCore/ConnectedSocket.h (modified) (1 diff)
• FlairCore/IODevice.h (modified) (1 diff)
• FlairMeta/MetaDualShock3.h (modified) (3 diffs)
• FlairMeta/UavStateMachine.h (modified) (4 diffs)
• FlairSensorActuator/TargetEthController.h (modified) (1 diff)

trunk/include/FlairCore/ConnectedSocket.h

@@ -100 +100 @@
 
   //!! See Socket.h for a more generic implementation of network/host endianness
-  //conversion
+  // conversion
   virtual uint16_t NetworkToHost16(uint16_t data) = 0;
   virtual uint16_t HostToNetwork16(uint16_t data) = 0;

trunk/include/FlairCore/IODevice.h

@@ -114 +114 @@
   virtual DataType const &GetOutputDataType() const;
 
-protected:
-  /*!
-  * \brief Process the childs of type IODevice, and log if needed
-  *
-  * This method must be called after computing datas;
-  * generally at the end of the reimplemented UpdateFrom or after acquiring
-  *datas in case of a sensor. \n
-  * It will call UpdateFrom methods of each child of type IODevice,
-  * and log all datas (this IODevice and its childs)
-  * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
-  * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
-  * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be
-  *resumed.
-  *
-  * \param data data to process
-  */
-  void ProcessUpdate(io_data *data);
+            Time lastUpdate;
+        protected:
+            /*!
+            * \brief Process the childs of type IODevice, and log if needed
+            *
+            * This method must be called after computing datas;
+            * generally at the end of the reimplemented UpdateFrom or after acquiring datas in case of a sensor. \n
+            * It will call UpdateFrom methods of each child of type IODevice,
+            * and log all datas (this IODevice and its childs)
+            * if logging is enabled (see SetDataToLog(), AddDeviceToLog(),
+            * FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog). \n
+            * If a thread is waiting on this IODevice (see Thread::WaitUpdate), it will be resumed.
+            *
+            * \param data data to process
+            */
+            void ProcessUpdate(io_data* data);
 
 private:

trunk/include/FlairMeta/MetaDualShock3.h

@@ -14 +14 @@
 #define METADUALSHOCK3_H
 
-#include <TargetEthController.h>
+#include <TargetController.h>
+#include <IODevice.h>
 
 namespace flair {
@@ -35 +36 @@
 * \brief Classe intégrant la manette MetaDualShock3
 */
-class MetaDualShock3 : public sensor::TargetEthController {
+class MetaDualShock3 : public core::IODevice {
   friend class ::MetaDualShock3_impl;
 
 public:
   MetaDualShock3(core::FrameworkManager *parent, std::string name,
-                 uint16_t port, uint8_t priority);
+                 sensor::TargetController *controller);
   ~MetaDualShock3();
   core::AhrsData *GetReferenceOrientation(void) const;
@@ -66 +67 @@
   void FlashLed(unsigned int ledId, uint8_t on_timeout, uint8_t off_timeout);
 
-private:
-  class MetaDualShock3_impl *pimpl_;
-};
+        private:
+            class MetaDualShock3_impl* pimpl_;
+            void UpdateFrom(const flair::core::io_data *data);
+            sensor::TargetController *controller;
+    };
 } // end namespace meta
 } // end namespace flair

trunk/include/FlairMeta/UavStateMachine.h

@@ -101 +101 @@
   };
 
-  UavStateMachine(meta::Uav *uav, uint16_t ds3Port = 20000);
-  ~UavStateMachine();
+        UavStateMachine(meta::Uav* uav, sensor::TargetController* controller);
+        ~UavStateMachine();
 
   const core::Quaternion &GetCurrentQuaternion(void) const;
@@ -110 +110 @@
   const meta::Uav *GetUav(void) const;
 
-  void Land(void);
-  void TakeOff(void);
-  void EmergencyStop(void);
-  //! Used to signal an event
-  /*!
-      \param event the event which occured
-  */
-  virtual void SignalEvent(Event_t event);
+        void Land(void);
+        void EmergencyLand(void);
+        void TakeOff(void);
+        void EmergencyStop(void);
+        //! Used to signal an event
+        /*!
+            \param event the event which occured
+        */
+        virtual void SignalEvent(Event_t event);
 
   virtual const core::AhrsData *GetOrientation(void) const;
@@ -262 +263 @@
 
   meta::Uav *uav;
+  sensor::TargetController *controller;
 
   core::Quaternion currentQuaternion;
@@ -289 +291 @@
   bool flagBatteryLow;
   bool flagConnectionLost;
+  bool flagCriticalSensorLost;
   bool flagZTrajectoryFinished;
+  bool safeToFly;
   filter::NestedSat *uRoll, *uPitch;
   filter::Pid *uYaw;

trunk/include/FlairSensorActuator/TargetEthController.h

@@ -62 +62 @@
 
   bool IsDataFrameReady();
-  void AcquireAxisData(core::cvmatrix &axis); // responsible for getting the
-                                              // axis data from the hardware
+  void AcquireAxisData(core::cvmatrix &axis);     // responsible for getting the
+                                                  // axis data from the hardware
   void AcquireButtonData(core::cvmatrix &button); // responsible for getting the
                                                   // button data from the