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cellulounity.cpp
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Sat, Jul 5, 14:25

cellulounity.cpp
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#include "cellulounity.h"
#include "cellulothread.h"
#include "cellulorobotwrapper.h"
#include "cellulopoolclient.h"
#include <QDebug>
// thread with an event loop
CelluloThread* thread = nullptr;
// pool client wrapper
CelluloPoolClientWrapper* client = nullptr;
// number of used by Unity robots
int used_robots;
// TODO: use a less ugly way of creating thread (call at library loading)
void initialize()
{
if(thread == nullptr) {
qDebug() << "creating thread...";
thread = new CelluloThread;
qDebug() << "starting thread...";
thread->start();
}
// initializing the library again...
if(client != nullptr) {
qDebug() << "Client deinit...";
client->deinit();
qDebug() << "Deleting client...";
client->deleteLater();
qDebug() << "Setting ptr to nullptr";
client = nullptr;
}
if(client == nullptr) {
qDebug() << "creating pool...";
client = new CelluloPoolClientWrapper;
qDebug() << "moving pool to thread...";
client->moveToThread(thread);
qDebug() << "initializing pool...";
client->init();
qDebug() << "Pool OK";
// number of used by Unity robots
used_robots = 0;
}
}
int64_t newRobot()
{
if(client == nullptr) {
qDebug() << "Cannot create a new robot because initialize() was not called";
return 0; // an error message will be shown in C# code
}
if(used_robots >= client->robots_N) {
qDebug() << "Cannot create a new robot because the pool is exhausted. Connect to more and restart the app.";
return 0; // an error message will be shown in C# code
}
// obtaining a fee robot from pool
Cellulo::CelluloBluetooth* robot1 = client->getRobots().at(used_robots++);
// wrapping it
qDebug() << "Wrapping robot" << robot1;
CelluloRobotWrapper* robot = new CelluloRobotWrapper(robot1);
qDebug() << "moving robot to thread...";
robot->moveToThread(thread);
qDebug() << "initializing robot...";
robot->init();
qDebug() << "Got wrapped robot" << robot;
// TODO: use something less ugly than that
return (int64_t) robot;
}
// TODO: check if *robot is actually a robot object
void setGoalVelocity(int64_t robot, float vx, float vy, float w)
{
((CelluloRobotWrapper*) robot)->setGoalVelocity(vx, vy, w);
}
void setGoalPose(int64_t robot, float x, float y, float theta, float v, float w)
{
((CelluloRobotWrapper*) robot)->setGoalPose(x, y, theta, v, w);
}
void setGoalPosition(int64_t robot, float x, float y, float v)
{
((CelluloRobotWrapper*) robot)->setGoalPosition(x, y, v);
}
void clearTracking(int64_t robot)
{
((CelluloRobotWrapper*) robot)->clearTracking();
}
void clearHapticFeedback(int64_t robot)
{
((CelluloRobotWrapper*) robot)->clearHapticFeedback();
}
void setVisualEffect(int64_t robot, int64_t effect, int64_t r, int64_t g, int64_t b, int64_t value)
{
((CelluloRobotWrapper*) robot)->setVisualEffect(effect, QColor(r, g, b), value);
}
void setCasualBackdriveAssistEnabled(int64_t robot, int64_t enabled)
{
((CelluloRobotWrapper*) robot)->setCasualBackdriveAssistEnabled(enabled);
}
void setHapticBackdriveAssist(int64_t robot, float xAssist, float yAssist, float thetaAssist)
{
((CelluloRobotWrapper*) robot)->setHapticBackdriveAssist(xAssist, yAssist, thetaAssist);
}
void reset(int64_t robot)
{
((CelluloRobotWrapper*) robot)->reset();
}
void simpleVibrate(int64_t robot, float iX, float iY, float iTheta, int64_t period, int64_t duration)
{
((CelluloRobotWrapper*) robot)->simpleVibrate(iX, iY, iTheta, period, duration);
}
float getX(int64_t robot)
{
return ((CelluloRobotWrapper*) robot)->robot->getX();
}
float getY(int64_t robot)
{
return ((CelluloRobotWrapper*) robot)->robot->getY();
}
float getTheta(int64_t robot)
{
return ((CelluloRobotWrapper*) robot)->robot->getTheta();
}
int64_t getKidnapped(int64_t robot)
{
Cellulo::CelluloBluetooth* robot1 = (Cellulo::CelluloBluetooth*) ((CelluloRobotWrapper*) robot)->robot;
return robot1->getKidnapped();
}
void destroyRobot(int64_t robot)
{
qDebug() << "Removing callback...";
((CelluloRobotWrapper*) robot)->kidnappedCallback = nullptr;
qDebug() << "Calling deinit...";
((CelluloRobotWrapper*) robot)->deinit();
}
void setKidnappedCallback(int64_t robot, callback_t callback)
{
((CelluloRobotWrapper*) robot)->kidnappedCallback = callback;
}
int64_t robotsRemaining()
{
if(client == nullptr) {
qDebug() << "Cannot get robotsRemaining() because initialize() was not called";
return 0;
}
if(client == nullptr)
return 0;
return client->robots_N - used_robots;
}
int64_t totalRobots()
{
if(client == nullptr) {
qDebug() << "Cannot get totalRobots() because initialize() was not called";
return 0;
}
if(client == nullptr)
return 0;
return client->robots_N;
}

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