[324] | 1 | // %flair:license{
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| 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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| 4 | // %flair:license}
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| 5 | // created: 2013/04/03
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| 6 | // filename: VrpnObject.cpp
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| 7 | //
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| 8 | // author: César Richard, Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet vrpn
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "VrpnObject_impl.h"
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| 18 | #include "VrpnObject.h"
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| 19 | #include "VrpnClient.h"
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| 20 | #include "VrpnClient_impl.h"
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| 21 | #include <vrpn_Tracker.h>
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| 22 | #include <fcntl.h>
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| 23 | #include <errno.h>
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| 24 | #include <string.h>
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| 25 | #include <unistd.h>
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| 26 | #include <vrpn_Connection.h>
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| 27 | #include <Matrix.h>
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| 28 | #include <Tab.h>
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| 29 | #include <TabWidget.h>
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| 30 | #include <DataPlot1D.h>
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| 31 | #include <OneAxisRotation.h>
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| 32 | #include <Vector3D.h>
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| 33 | #include <Euler.h>
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| 34 | #include <math.h>
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| 35 |
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| 36 | using std::string;
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| 37 | using namespace flair::core;
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| 38 | using namespace flair::gui;
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| 39 | using namespace flair::sensor;
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| 40 |
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| 41 | VrpnObject_impl::VrpnObject_impl(VrpnObject *self,
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| 42 | string name, int id, const TabWidget *tab,VrpnClient *client) {
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| 43 | parent = client;
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| 44 | this->self = self;
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| 45 |
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| 46 | if(parent==NULL) {
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| 47 | self->Err("VrpnClient must be instanced before creating VrpnObject\n");
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| 48 | return;
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| 49 | }
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| 50 | if (id == -1 && GetVrpnClient()->ConnectionType()==VrpnClient::Xbee) {
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| 51 | self->Err("erreur aucun identifiant specifie pour la connexion Xbee\n");
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| 52 | }
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| 53 | if (id == -1 && GetVrpnClient()->ConnectionType()==VrpnClient::VrpnLite) {
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| 54 | self->Err("erreur aucun identifiant specifie pour la connexion VrpnLite\n");
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| 55 | }
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| 56 | if (id != -1 && GetVrpnClient()->ConnectionType()==VrpnClient::Vrpn) {
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| 57 | self->Warn("identifiant pour la connexion ignore car inutile en mode Vrpn\n");
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| 58 | }
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| 59 |
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| 60 | // state
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| 61 | MatrixDescriptor *desc = new MatrixDescriptor(7, 1);
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| 62 | desc->SetElementName(0, 0, "q0");
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| 63 | desc->SetElementName(1, 0, "q1");
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| 64 | desc->SetElementName(2, 0, "q2");
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| 65 | desc->SetElementName(3, 0, "q3");
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| 66 | desc->SetElementName(4, 0, "x");
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| 67 | desc->SetElementName(5, 0, "y");
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| 68 | desc->SetElementName(6, 0, "z");
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| 69 | output = new Matrix(self, desc, floatType);
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| 70 | delete desc;
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| 71 |
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| 72 | desc = new MatrixDescriptor(3, 1);
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| 73 | desc->SetElementName(0, 0, "roll");
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| 74 | desc->SetElementName(1, 0, "pitch");
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| 75 | desc->SetElementName(2, 0, "yaw");
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| 76 | state = new Matrix(self, desc, floatType);
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| 77 | delete desc;
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| 78 |
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| 79 | // ui
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| 80 | plot_tab = new Tab(tab, "Mesures " + name);
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| 81 | x_plot = new DataPlot1D(plot_tab->NewRow(), "x", -10, 10);
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| 82 | x_plot->AddCurve(output->Element(4));
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| 83 | y_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "y", -10, 10);
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| 84 | y_plot->AddCurve(output->Element(5));
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| 85 | z_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "z", -2, 0);
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| 86 | z_plot->AddCurve(output->Element(6));
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| 87 |
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| 88 | if (GetVrpnClient()->ConnectionType()==VrpnClient::Xbee) {
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| 89 | parent->pimpl_->AddTrackable(this, id);
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| 90 | } else if(GetVrpnClient()->ConnectionType()==VrpnClient::Vrpn){
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| 91 | tracker = new vrpn_Tracker_Remote(name.c_str(), parent->pimpl_->connection);
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| 92 | tracker->register_change_handler(this, handle_pos);
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| 93 | tracker->shutup = true;
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| 94 | parent->pimpl_->AddTrackable(this);
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| 95 | } else if(GetVrpnClient()->ConnectionType()==VrpnClient::VrpnLite){
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| 96 | parent->pimpl_->AddTrackable(this, id);
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| 97 | }
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| 98 |
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| 99 | previousTime=TIME_INFINITE;
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| 100 | }
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| 101 |
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| 102 | VrpnObject_impl::~VrpnObject_impl(void) {
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| 103 | parent->pimpl_->RemoveTrackable(this);
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| 104 | if (GetVrpnClient()->ConnectionType()==VrpnClient::Vrpn) {
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| 105 | tracker->unregister_change_handler(this, handle_pos);
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| 106 | delete tracker;
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| 107 | }
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| 108 | delete plot_tab;
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| 109 | }
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| 110 |
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| 111 | bool VrpnObject_impl::IsTracked(unsigned int timeout_ms) {
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| 112 | output->GetMutex();
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| 113 | Time a = GetTime();
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| 114 | Time dt = a - output->DataTime();
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| 115 | output->ReleaseMutex();
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| 116 |
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| 117 | if (dt > (Time)(timeout_ms * 1000000)) {
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| 118 | // self->Printf("%lld %lld %lld
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| 119 | // %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
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| 120 | return false;
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| 121 | } else {
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| 122 | return true;
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| 123 | }
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| 124 | }
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| 125 |
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| 126 | void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
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| 127 | output->GetMutex();
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| 128 | quaternion.q0 = output->ValueNoMutex(0, 0);
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| 129 | quaternion.q1 = output->ValueNoMutex(1, 0);
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| 130 | quaternion.q2 = output->ValueNoMutex(2, 0);
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| 131 | quaternion.q3 = output->ValueNoMutex(3, 0);
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| 132 | output->ReleaseMutex();
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| 133 | }
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| 134 |
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| 135 | void VrpnObject_impl::GetPosition(Vector3Df &point) {
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| 136 | output->GetMutex();
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| 137 | point.x = output->ValueNoMutex(4, 0);
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| 138 | point.y = output->ValueNoMutex(5, 0);
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| 139 | point.z = output->ValueNoMutex(6, 0);
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| 140 | output->ReleaseMutex();
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| 141 | }
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| 142 |
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| 143 | void VRPN_CALLBACK
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| 144 | VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t) {
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| 145 | bool is_nan = false;
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| 146 | VrpnObject_impl *caller = reinterpret_cast<VrpnObject_impl *>(userdata);
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| 147 | Time time = GetTime();
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| 148 | //Printf("%s %lld %lld\n",caller->self->ObjectName().c_str(),time,(Time)t.msg_time.tv_sec*(Time)1000000+(Time)t.msg_time.tv_usec);
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| 149 | Time vrpnTime=(Time)t.msg_time.tv_sec*(Time)1000000000+(Time)t.msg_time.tv_usec*(Time)1000;
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| 150 | Time deltaTime;
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| 151 | if(caller->previousTime!=TIME_INFINITE) {
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| 152 | deltaTime=vrpnTime-caller->previousTime;
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| 153 | } else {
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| 154 | deltaTime=TIME_INFINITE;
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| 155 | }
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| 156 | caller->previousTime=vrpnTime;
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| 157 |
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| 158 | // check if something is nan
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| 159 | for (int i = 0; i < 3; i++) {
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| 160 | if (isnan(t.pos[i]) == true)
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| 161 | is_nan = true;
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| 162 | }
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| 163 | for (int i = 0; i < 4; i++) {
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| 164 | if (isnan(t.quat[i]) == true)
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| 165 | is_nan = true;
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| 166 | }
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| 167 | if (is_nan == true) {
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| 168 | caller->self->Warn("data is nan, skipping it (time %lld)\n", time);
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| 169 | return;
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| 170 | }
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| 171 |
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| 172 | // on prend une fois pour toute le mutex et on fait des accès directs
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| 173 | caller->output->GetMutex();
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| 174 |
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| 175 | // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
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| 176 | // flair::core::Quaternion
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| 177 | Quaternion quaternion(t.quat[3],t.quat[0],t.quat[1],t.quat[2]);
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| 178 | Vector3Df pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
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| 179 |
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| 180 | // on effectue les rotation
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| 181 | caller->parent->pimpl_->ComputeRotations(pos);
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| 182 | caller->parent->pimpl_->ComputeRotations(quaternion);
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| 183 |
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| 184 | caller->output->SetValueNoMutex(0, 0, quaternion.q0);
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| 185 | caller->output->SetValueNoMutex(1, 0, quaternion.q1);
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| 186 | caller->output->SetValueNoMutex(2, 0, quaternion.q2);
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| 187 | caller->output->SetValueNoMutex(3, 0, quaternion.q3);
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| 188 | caller->output->SetValueNoMutex(4, 0, pos.x);
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| 189 | caller->output->SetValueNoMutex(5, 0, pos.y);
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| 190 | caller->output->SetValueNoMutex(6, 0, pos.z);
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| 191 |
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| 192 | caller->output->SetDataTime(time,deltaTime);
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| 193 | caller->output->ReleaseMutex();
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| 194 |
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| 195 | Euler euler=quaternion.ToEuler();
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| 196 | caller->state->GetMutex();
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| 197 | caller->state->SetValueNoMutex(0, 0, Euler::ToDegree(euler.roll));
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| 198 | caller->state->SetValueNoMutex(1, 0, Euler::ToDegree(euler.pitch));
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| 199 | caller->state->SetValueNoMutex(2, 0, Euler::ToDegree(euler.yaw));
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| 200 | caller->state->ReleaseMutex();
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| 201 |
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| 202 | caller->self->ProcessUpdate(caller->output);
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| 203 | }
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