Changeset 38 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

Jun 23, 2016, 10:15:30 AM (9 years ago)

Author:

Bayard Gildas

Message:

Modif. pour ajour manette émulée (EmulatedController)

Location:

trunk/lib/FlairSensorActuator/src

Files:

• EmulatedController.cpp (added)
• EmulatedController.h (added)
• TargetController.cpp (modified) (2 diffs)
• TargetEthController.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/TargetController.cpp

@@ -34 +34 @@
 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");
+    SetPeriodMS(20);; //50Hz
 }
 
@@ -150 +150 @@
           }
         }
-      } else {
-        // Thread::Info("Debug: relax...\n");
-        usleep(20000); // 20ms
       }
+      WaitPeriod();
     }
   }

trunk/lib/FlairSensorActuator/src/TargetEthController.cpp

@@ -80 +80 @@
   bool fullDatagramReceived = false;
 
-  do {
-    received =
-        dataSocket->RecvMessage(receiveFrameBuffer + receiveCurrentPosition,
-                                bytesToReceive, TIME_NONBLOCK);
-    if (received > 0) {
-      bytesToReceive -= received;
-      if (bytesToReceive == 0) {
-        // a full datagram has been read in receiveFrameBuffer
-        fullDatagramReceived = true;
-        receiveCurrentPosition = 0;
-        // we swap the data and reception buffers to avoid copy
-        char *swapFrameBuffer = dataFrameBuffer;
-        dataFrameBuffer = receiveFrameBuffer;
-        receiveFrameBuffer = swapFrameBuffer;
-      }
-    }
-  } while (!received < 0);
+    do {
+        received=dataSocket->RecvMessage(receiveFrameBuffer+receiveCurrentPosition,bytesToReceive,TIME_NONBLOCK);
+        if (received>0) {
+            receiveCurrentPosition+=received;
+            bytesToReceive-=received;
+            if (bytesToReceive==0) {
+                //a full datagram has been read in receiveFrameBuffer
+                fullDatagramReceived=true;
+                //we swap the data and reception buffers to avoid copy
+                char *swapFrameBuffer=dataFrameBuffer;
+                dataFrameBuffer=receiveFrameBuffer;
+                receiveFrameBuffer=swapFrameBuffer;
+                receiveCurrentPosition=0;
+                bytesToReceive=dataFrameSize;
+            }
+        }
+    } while (!(received<0));
 
   return fullDatagramReceived;