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cellulounity.cpp
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Wed, May 8, 10:25

cellulounity.cpp
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#include "cellulounity.h"
#include "cellulothread.h"
#include "cellulorobotwrapper.h"
#include "democlass.h"
#include <QDebug>
CelluloThread* thread = nullptr;
DemoClass* obj = nullptr;
int nRobots = 0;
const int MAXROBOTS = 100;
CelluloRobotWrapper* robots[MAXROBOTS];
void demoPrint()
{
if(thread == nullptr) {
thread = new CelluloThread;
thread->start();
obj = new DemoClass;
qDebug() << "Move to thread...";
obj->moveToThread(thread);
qDebug() << "Call init...";
obj->init();
qDebug() << "Starting thread...";
}
obj->print();
}
int getVar()
{
return obj->getVar();
}
void setLocalAdapterMacAddr(int robot, const char *localAdapterMacAddr)
{
robots[robot]->setLocalAdapterMacAddr(localAdapterMacAddr);
}
int newRobot()
{
if(thread == nullptr) {
thread = new CelluloThread;
thread->start();
}
if(nRobots == MAXROBOTS) {
qDebug("Have used all slots already");
return -1;
}
robots[nRobots] = new CelluloRobotWrapper();
robots[nRobots]->moveToThread(thread);
robots[nRobots]->init();
return nRobots++;
}
void setAutoConnect(int robot, bool autoConnect)
{
robots[robot]->setAutoConnect(autoConnect);
}
void setMacAddr(int robot, const char *macAddr)
{
robots[robot]->setMacAddr(macAddr);
}
void connectToServer(int robot)
{
robots[robot]->connectToServer();
}
void setGoalVelocity(int robot, float vx, float vy, float w)
{
robots[robot]->setGoalVelocity(vx, vy, w);
}
void setGoalPose(int robot, float x, float y, float theta, float v, float w)
{
robots[robot]->setGoalPose(x, y, theta, v, w);
}
void setGoalPosition(int robot, float x, float y, float v)
{
robots[robot]->setGoalPosition(x, y, v);
}
void clearTracking(int robot)
{
robots[robot]->clearTracking();
}
void clearHapticFeedback(int robot)
{
robots[robot]->clearHapticFeedback();
}
void setVisualEffect(int robot, int effect, int r, int g, int b, int value)
{
robots[robot]->setVisualEffect(effect, QColor(r, g, b), value);
}
void setCasualBackdriveAssistEnabled(int robot, bool enabled)
{
robots[robot]->setCasualBackdriveAssistEnabled(enabled);
}
void setHapticBackdriveAssist(int robot, float xAssist, float yAssist, float thetaAssist)
{
robots[robot]->setHapticBackdriveAssist(xAssist, yAssist, thetaAssist);
}
void reset(int robot)
{
robots[robot]->reset();
}
void simpleVibrate(int robot, float iX, float iY, float iTheta, unsigned int period, unsigned int duration)
{
robots[robot]->simpleVibrate(iX, iY, iTheta, period, duration);
}
float getX(int robot)
{
return robots[robot]->robot->getX();
}
float getY(int robot)
{
return robots[robot]->robot->getY();
}
float getTheta(int robot)
{
return robots[robot]->robot->getTheta();
}
bool getKidnapped(int robot)
{
return robots[robot]->robot->getKidnapped();
}

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