Page MenuHomec4science
Files F66734069

syncvar.h
No OneTemporary
Actions

File Metadata

Created
Wed, Jun 12, 17:20

syncvar.h
View Options

/*
* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef SYNCVAR_H
#define SYNCVAR_H
#include <stdexcept>
#include <limits>
#include <QString>
#include <QList>
#include "../../Firmware/src/definitions.h"
typedef comm_VarType VarType;
typedef comm_VarAccess VarAccess;
/**
* @addtogroup HriBoardLib
* @{
*/
/**
* @brief Variable that can be synchronized with its HRI board counterpart.
*/
class SyncVarBase
{
public:
SyncVarBase(int index, QString name, VarAccess access,
uint8_t* data, int size);
virtual ~SyncVarBase() = default;
int getIndex() const;
QString getName() const;
int getSize() const;
VarAccess getAccess() const;
QByteArray getData() const;
void setData(QByteArray newData);
bool isUpToDate() const;
void setOutOfDate();
/**
* @brief Gets the variable value, as a floating-point number.
* @return The variable value, casted to the double type.
*/
virtual double toDouble() const = 0;
/**
* @brief Gets the variable value, as text.
* @return A string with the variable value printed.
*/
virtual QString toString() const = 0;
/**
* @brief Sets the variable local value from a floating-point number.
* @param value the new value of the variable. It will be casted to the
* actual variable type.
* @remark This does not change the value of the variable on the board. For
* this you need to call HriBoard::writeRemoteVar().
*/
virtual void fromDouble(double value) = 0;
/**
* @brief Sets the variable local value from a string.
* This method tries to convert the given string to a number, then checks
* that it fits into the variable type. If the given number is invalid, or
* out-of-range, it will be ignored and the variable value will not change.
* @param text the new value of the variable. It will interpreted and
* converted to the actual variable type.
* @return true if the text represented a valid number, false otherwise.
* @remark This does not change the value of the variable on the board. For
* this you need to call HriBoard::writeRemoteVar().
*/
virtual bool fromString(QString text) = 0;
private:
int index; ///< Index of the SyncVar in the list.
QString name; ///< Name describing the SyncVar.
VarAccess access; ///< Access rights of the variable.
bool upToDate; ///< Indicates whether the local value is up-to-date or not.
uint8_t *const data;
const int size;
};
template<typename T>
class SyncVar : public SyncVarBase
{
public:
SyncVar(int index, QString name, VarAccess access, int varSize) :
SyncVarBase(index, name, access, (uint8_t*)&value, varSize)
{
}
~SyncVar() = default;
void setLocalValue(T value)
{
this->value = value;
}
T getLocalValue()
{
return value;
}
double toDouble() const override
{
return (double)value;
}
QString toString() const override
{
return QString::number(value);
}
void fromDouble(double value) override
{
this->value = (T)value;
}
bool fromString(QString text) override
{
// If the number is supposed to be integer, check that the string does
// not contain characters for floating-point numbers.
if(std::numeric_limits<T>::is_integer &&
text.contains(QRegExp("[.,eE]")))
{
return false;
}
// Convert from string to number, and check that the conversion was
// successful, and the number fits the type range.
if(std::numeric_limits<T>::is_integer)
{
if(std::numeric_limits<T>::is_signed)
{
bool ok;
int64_t tempValue = text.toInt(&ok);
if(!ok)
return false;
if(tempValue >= (signed)std::numeric_limits<T>::lowest() &&
tempValue <= (signed)std::numeric_limits<T>::max())
{
value = (T)tempValue;
return true;
}
else
return false;
}
else
{
bool ok;
uint64_t tempValue = text.toInt(&ok);
if(!ok)
return false;
if(tempValue >= (unsigned)std::numeric_limits<T>::lowest() &&
tempValue <= (unsigned)std::numeric_limits<T>::max())
{
value = (T)tempValue;
return true;
}
else
return false;
}
}
else
{
bool ok;
double tempValue = text.toDouble(&ok);
if(!ok)
return false;
if(tempValue >= std::numeric_limits<T>::lowest() &&
tempValue <= std::numeric_limits<T>::max())
{
value = (T)tempValue;
return true;
}
else
return false;
}
}
protected:
T value;
};
SyncVarBase* makeSyncVar(VarType type, int index, QString name,
VarAccess access);
/**
* @}
*/
#endif // SYNCVAR_H

Event Timeline

c4science · Help