void *MainWindow::CMDGetterEntry(void *a)
{
MainWindow* main = (MainWindow*)a;
CMDDATA cmddata;
long long int tstamp;
long long int interval;
while(1){
// get commands from ROS.
Getter(cmddata);
// get time in milliseconds.
tstamp = (long long int) getTime();
// update robocar state.
Update(main);
// set mode and gear.
SetState(cmddata.mode, cmddata.gear, main);
if (!mode_is_setting && !gear_is_setting) {
#ifdef DIRECT_CONTROL
// directly set accel, brake, and steer.
Direct(cmddata.accel, cmddata.brake, cmddata.steer, main);
#else
// control accel, brake, and steer.
Control(cmddata.vel, main);
#endif
}
// get interval in milliseconds.
interval = cmd_rx_interval - (getTime() - tstamp);
if (interval > 0) {
cout << "sleeping for " << interval << "ms" << endl;
usleep(interval * 1000); // not really real-time...
}
}
return NULL;
}
void Properties::GetString(const ValueList& args, KValueRef result)
{
args.VerifyException("getString", "s");
Getter(args, result, String);
}
void Properties::GetInt(const ValueList& args, KValueRef result)
{
args.VerifyException("getInt", "s");
Getter(args, result, Int);
}
void Properties::GetDouble(const ValueList& args, KValueRef result)
{
args.VerifyException("getDouble", "s");
Getter(args, result, Double);
}
void Properties::GetBool(const ValueList& args, KValueRef result)
{
args.VerifyException("getBool", "s");
Getter(args, result, Bool);
}
void PropertiesBinding::GetString(const ValueList& args, KValueRef result)
{
Getter(args, result, String);
}
static uint64_t call_function(const T& Getter)
{
LARGE_INTEGER Value;
Getter(&Value);
return Value.QuadPart;
};
void PropertiesBinding::GetInt(const ValueList& args, KValueRef result)
{
Getter(args, result, Int);
}
void PropertiesBinding::GetDouble(const ValueList& args, KValueRef result)
{
Getter(args, result, Double);
}
void PropertiesBinding::GetBool(const ValueList& args, KValueRef result)
{
Getter(args, result, Bool);
}
UnsafeProperty(AutoAnyReference defaultValue, Getter getter = Getter(), Setter setter = Setter(),
SignalBase::OnSubscribers onsubscribe = SignalBase::OnSubscribers())
: PropertyImpl<T>(std::move(defaultValue), std::move(getter), std::move(setter), std::move(onsubscribe))
{}
UnsafeProperty(Getter getter = Getter(), Setter setter = Setter(),
SignalBase::OnSubscribers onsubscribe = SignalBase::OnSubscribers())
: PropertyImpl<T>(std::move(getter), std::move(setter), std::move(onsubscribe))
{}
