GamepadControlUnit.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotAPI::ArmarXObjects::GamepadControlUnit
 * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
 * @date       2017
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/components/EmergencyStopInterface.h>
 
#include <RobotAPI/interface/components/RobotHealthInterface.h>
#include <RobotAPI/interface/units/GamepadUnit.h>
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h>
 
namespace armarx
{
    /**
     * @class GamepadControlUnitPropertyDefinitions
     * @brief
     */
    class GamepadControlUnitPropertyDefinitions : public armarx::ComponentPropertyDefinitions
    {
    public:
        GamepadControlUnitPropertyDefinitions(std::string prefix) :
            armarx::ComponentPropertyDefinitions(prefix)
        {
            //defineRequiredProperty<std::string>("PropertyName", "Description");
            //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
            defineOptionalProperty<std::string>(
                "PlatformUnitName", "Armar6IcePlatformUnit", "Name of the platform unit to use");
            defineOptionalProperty<std::string>(
                "GamepadTopicName", "GamepadValues", "Name of the Gamepad Topic");
            defineOptionalProperty<float>("ScaleX", 1000.0f, "scaling factor in mm per second");
            defineOptionalProperty<float>("ScaleY", 1000.0f, "scaling factor in mm per second");
            defineOptionalProperty<float>(
                "ScaleAngle", 1.0f, "scaling factor in radian per second");
        }
    };
 
    /**
     * @defgroup Component-GamepadControlUnit GamepadControlUnit
     * @ingroup RobotAPI-Components
     * A description of the component GamepadControlUnit.
     *
     * @class GamepadControlUnit
     * @ingroup Component-GamepadControlUnit
     * @brief Brief description of class GamepadControlUnit.
     *
     * Detailed description of class GamepadControlUnit.
     */
    class GamepadControlUnit : virtual public armarx::Component, virtual public GamepadUnitListener
    {
    public:
        GamepadControlUnit();
 
        /**
         * @see armarx::ManagedIceObject::getDefaultName()
         */
        std::string
        getDefaultName() const override
        {
            return "GamepadControlUnit";
        }
 
    protected:
        /**
         * @see armarx::ManagedIceObject::onInitComponent()
         */
        void onInitComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onConnectComponent()
         */
        void onConnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onDisconnectComponent()
         */
        void onDisconnectComponent() override;
 
        /**
         * @see armarx::ManagedIceObject::onExitComponent()
         */
        void onExitComponent() override;
 
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
    private:
        PlatformUnitInterfacePrx platformUnitPrx;
 
        plugins::HeartbeatComponentPlugin* heartbeatPlugin = nullptr;
 
 
        bool enableHeartBeat = false;
        float scaleX;
        float scaleY;
        float scaleRotation;
        EmergencyStopMasterInterfacePrx emergencyStop;
 
        bool leftHandOpen = true;
        bool rightHandOpen = true;
 
        long leftHandTime = 0;
        long rightHandTime = 0;
 
    public:
        void reportGamepadState(const std::string& device,
                                const std::string& name,
                                const GamepadData& data,
                                const TimestampBasePtr& timestamp,
                                const Ice::Current& c) override;
    };
} // namespace armarx