source: flair-dev/trunk/include/FlairSensorActuator/VrpnClient.h @ 50

Last change on this file since 50 was 50, checked in by Sanahuja Guillaume, 4 years ago

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1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file VrpnClient.h
7 * \brief Class to connect to a Vrpn server
8 * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS
9 * 7253
10 * \date 2013/04/03
11 * \version 4.0
12 */
13
14#ifndef VRPNCLIENT_H
15#define VRPNCLIENT_H
16
17#include <Thread.h>
18
19namespace flair {
20        namespace core {
21                class SerialPort;
22        }
23        namespace gui {
24                class TabWidget;
25                class Layout;
26        }
27}
28
29class VrpnClient_impl;
30class VrpnObject_impl;
31
32namespace flair {
33namespace sensor {
34/*! \class VrpnClient
35*
36* \brief Class to connect to a Vrpn server. The Thread is created with
37*  the FrameworkManager as parent. FrameworkManager must be created before.
38* Only one instance of this class is allowed by program.
39*/
40class VrpnClient : public core::Thread {
41  friend class ::VrpnObject_impl;
42
43public:
44  /*!
45  * \brief Constructor
46  *
47  * Construct a VrpnClient. Connection is done by IP.
48  *
49  * \param name name
50  * \param address server address
51  * \param priority priority of the Thread
52  */
53  VrpnClient(std::string name,
54             std::string address,  uint8_t priority);
55
56  /*!
57  * \brief Constructor
58  *
59  * Construct a VrpnClient. Connection is done by XBee modem.
60  *
61  * \param name name
62  * \param serialport SerialPort for XBee modem
63  * \param us_period Xbee RX timeout in us
64  * \param priority priority of the Thread
65  */
66  VrpnClient(std::string name,
67             core::SerialPort *serialport, uint16_t us_period,
68             uint8_t priority);
69
70  /*!
71  * \brief Destructor
72  *
73  */
74  ~VrpnClient();
75
76  /*!
77  * \brief Setup Layout
78  *
79  * \return a Layout available
80  */
81  gui::Layout *GetLayout(void) const;
82
83  /*!
84  * \brief Setup Tab
85  *
86  * \return a Tab available
87  */
88  gui::TabWidget *GetTabWidget(void) const;
89
90  /*!
91  * \brief Is XBee used?
92  *
93  * \return true if connection is based on XBee modem
94  */
95  bool UseXbee(void) const;
96
97private:
98  /*!
99  * \brief Run function
100  *
101  * Reimplemented from Thread.
102  *
103  */
104  void Run(void);
105
106  class VrpnClient_impl *pimpl_;
107};
108
109/*!
110* \brief get VrpnClient
111*
112* \return the VrpnClient
113*/
114VrpnClient *GetVrpnClient(void);
115
116} // end namespace sensor
117} // end namespace flair
118#endif // VRPNCLIENT_H
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