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cellulounity.cpp
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Fri, Nov 8, 08:39

cellulounity.cpp
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#include "cellulounity.h"
#include "cellulothread.h"
#include "cellulorobotwrapper.h"
#include <QDebug>
CelluloThread* thread = nullptr;
int64_t newRobot()
{
// TODO: use a less ugly way of creating thread (call at library loading)
if(thread == nullptr) {
thread = new CelluloThread;
thread->start();
}
CelluloRobotWrapper* robot = new CelluloRobotWrapper();
robot->moveToThread(thread);
robot->init();
// TODO: use something less ugly than that
return (int64_t) robot;
}
// TODO: check if *robot is actually a robot object
void setLocalAdapterMacAddr(int64_t robot, const char *localAdapterMacAddr)
{
((CelluloRobotWrapper*) robot)->setLocalAdapterMacAddr(localAdapterMacAddr);
}
void setAutoConnect(int64_t robot, int64_t autoConnect)
{
((CelluloRobotWrapper*) robot)->setAutoConnect(autoConnect);
}
void setMacAddr(int64_t robot, const char *macAddr)
{
((CelluloRobotWrapper*) robot)->setMacAddr(macAddr);
}
void connectToServer(int64_t robot)
{
((CelluloRobotWrapper*) robot)->connectToServer();
}
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)
{
return ((CelluloRobotWrapper*) robot)->robot->getKidnapped();
}
void destroyRobot(int64_t robot)
{
((CelluloRobotWrapper*) robot)->kidnappedCallback = nullptr;
((CelluloRobotWrapper*) robot)->deinit();
}
int64_t getConnectionStatus(int64_t robot)
{
return ((CelluloRobotWrapper*) robot)->robot->getConnectionStatus();
}
void setKidnappedCallback(int64_t robot, callback_t callback)
{
((CelluloRobotWrapper*) robot)->kidnappedCallback = callback;
}

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