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cellulorobotwrapper.h
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Fri, Nov 8, 05:48

cellulorobotwrapper.h
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#ifndef CELLULOROBOTWRAPPER_H
#define CELLULOROBOTWRAPPER_H
#include <QTimer>
#include <QObject>
#include "cellulo-qml-plugin/src/comm/CelluloBluetooth.h"
#include "cellulounity.h"
class CelluloRobotWrapper: public QObject
{ Q_OBJECT
Q_INVOKABLE void deinit_() {
robot->deleteLater();
}
Q_INVOKABLE void init_() {
robot = new Cellulo::CelluloBluetooth();
connect(robot, &Cellulo::CelluloBluetooth::kidnappedChanged, this, &CelluloRobotWrapper::kidnappedChanged);
qDebug() << "Object created";
}
Q_INVOKABLE void setLocalAdapterMacAddr_(QString localAdapterMacAddr) {
robot->setLocalAdapterMacAddr(localAdapterMacAddr);
}
Q_INVOKABLE void setAutoConnect_(bool autoConnect) {
robot->setAutoConnect(autoConnect);
}
Q_INVOKABLE void setMacAddr_(QString macAddr) {
robot->setMacAddr(macAddr);
}
Q_INVOKABLE void connectToServer_() {
robot->connectToServer();
}
Q_INVOKABLE void setGoalVelocity_(float vx, float vy, float w) {
robot->setGoalVelocity(vx, vy, w);
}
Q_INVOKABLE void setGoalPose_(float x, float y, float theta, float v, float w) {
robot->setGoalPose(x, y, theta, v, w);
}
Q_INVOKABLE void setGoalPosition_(float x, float y, float v) {
robot->setGoalPosition(x, y, v);
}
Q_INVOKABLE void clearTracking_() {
robot->clearTracking();
}
Q_INVOKABLE void clearHapticFeedback_() {
robot->clearHapticFeedback();
}
Q_INVOKABLE void setVisualEffect_(int effect, QColor color, int value) {
robot->setVisualEffect((Cellulo::CelluloBluetoothEnums::VisualEffect) effect, color, value);
}
Q_INVOKABLE void setCasualBackdriveAssistEnabled_(bool enabled) {
robot->setCasualBackdriveAssistEnabled(enabled);
}
Q_INVOKABLE void setHapticBackdriveAssist_(float xAssist, float yAssist, float thetaAssist) {
robot->setHapticBackdriveAssist(xAssist, yAssist, thetaAssist);
}
Q_INVOKABLE void reset_() {
robot->reset();
}
Q_INVOKABLE void simpleVibrate_(float iX, float iY, float iTheta, unsigned int period, unsigned int duration) {
robot->simpleVibrate(iX, iY, iTheta, period, duration);
}
public:
CelluloRobotWrapper();
Cellulo::CelluloBluetooth* robot;
callback_t kidnappedCallback = nullptr;
void init()
{
QMetaObject::invokeMethod(this, "init_", Qt::BlockingQueuedConnection);
}
void deinit()
{
QMetaObject::invokeMethod(this, "deinit_", Qt::BlockingQueuedConnection);
}
void setLocalAdapterMacAddr(QString localAdapterMacAddr)
{
QMetaObject::invokeMethod(this, "setLocalAdapterMacAddr_", Qt::BlockingQueuedConnection, Q_ARG(QString, localAdapterMacAddr));
}
void setAutoConnect(bool autoConnect)
{
QMetaObject::invokeMethod(this, "autoConnect_", Qt::BlockingQueuedConnection, Q_ARG(bool, autoConnect));
}
void setMacAddr(QString macAddr)
{
QMetaObject::invokeMethod(this, "setMacAddr_", Qt::BlockingQueuedConnection, Q_ARG(QString, macAddr));
}
void connectToServer()
{
QMetaObject::invokeMethod(this, "connectToServer_", Qt::BlockingQueuedConnection);
}
void setGoalVelocity(float vx, float vy, float w)
{
QMetaObject::invokeMethod(this, "setGoalVelocity_", Qt::BlockingQueuedConnection, Q_ARG(float, vx), Q_ARG(float, vy), Q_ARG(float, w));
}
void setGoalPose(float x, float y, float theta, float v, float w)
{
QMetaObject::invokeMethod(this, "setGoalPose_", Qt::BlockingQueuedConnection, Q_ARG(float, x), Q_ARG(float, y), Q_ARG(float, theta), Q_ARG(float, v), Q_ARG(float, w));
}
void setGoalPosition(float x, float y, float v)
{
QMetaObject::invokeMethod(this, "setGoalPosition_", Qt::BlockingQueuedConnection, Q_ARG(float, x), Q_ARG(float, y), Q_ARG(float, v));
}
void clearTracking()
{
QMetaObject::invokeMethod(this, "clearTracking_", Qt::BlockingQueuedConnection);
}
void clearHapticFeedback()
{
QMetaObject::invokeMethod(this, "clearHapticFeedback_", Qt::BlockingQueuedConnection);
}
void setVisualEffect(int effect, QColor color, int value)
{
QMetaObject::invokeMethod(this, "setVisualEffect_", Qt::BlockingQueuedConnection, Q_ARG(int, effect), Q_ARG(QColor, color), Q_ARG(int, value));
}
void setCasualBackdriveAssistEnabled(bool enabled)
{
QMetaObject::invokeMethod(this, "setCasualBackdriveAssistEnabled_", Qt::BlockingQueuedConnection, Q_ARG(bool, enabled));
}
void setHapticBackdriveAssist(float xAssist, float yAssist, float thetaAssist)
{
QMetaObject::invokeMethod(this, "setHapticBackdriveAssist_", Qt::BlockingQueuedConnection, Q_ARG(float, xAssist), Q_ARG(float, yAssist), Q_ARG(float, thetaAssist));
}
void reset()
{
QMetaObject::invokeMethod(this, "reset_", Qt::BlockingQueuedConnection);
}
void simpleVibrate(float iX, float iY, float iTheta, unsigned int period, unsigned int duration)
{
QMetaObject::invokeMethod(this, "simpleVibrate_", Qt::BlockingQueuedConnection, Q_ARG(float, iX), Q_ARG(float, iY), Q_ARG(float, iTheta), Q_ARG(unsigned int, period),
Q_ARG(unsigned int, duration));
}
public slots:
void kidnappedChanged();
};
#endif // CELLULOROBOTWRAPPER_H

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