source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnClient.cpp @ 157

Last change on this file since 157 was 136, checked in by Sanahuja Guillaume, 5 years ago

vrpn: improved timeout

File size: 1.9 KB
Line 
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//  created:    2013/04/03
6//  filename:   VrpnClient.cpp
7//
8//  author:     César Richard, Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    Class to connect to a Vrpn server
14//
15/*********************************************************************/
16
17#include "VrpnClient.h"
18#include "VrpnClient_impl.h"
19#include <FrameworkManager.h>
20#include <TabWidget.h>
21#include <Layout.h>
22#include <string.h>
23
24using std::string;
25using namespace flair::core;
26using namespace flair::gui;
27
28namespace {
29  flair::sensor::VrpnClient *singleton = NULL;
30}
31
32
33namespace flair {
34namespace sensor {
35
36VrpnClient *GetVrpnClient(void) { return singleton; }
37       
38VrpnClient::VrpnClient(string name,
39                       string address, uint8_t priority)
40    : Thread(getFrameworkManager(), name, priority) {
41        if (singleton != NULL) {
42    Err("VrpnClient must be instanced only one time\n");
43    return;
44  }
45
46  singleton = this;
47  pimpl_ = new VrpnClient_impl(this, name, address);
48}
49
50VrpnClient::VrpnClient(string name,
51                       SerialPort *serialport, uint16_t us_period,
52                       uint8_t priority)
53    : Thread(getFrameworkManager(), name, priority) {
54        if (singleton != NULL) {
55    Err("VrpnClient must be instanced only one time\n");
56    return;
57  }
58
59  singleton = this;
60  pimpl_ = new VrpnClient_impl(this, name, serialport, us_period);
61}
62
63VrpnClient::~VrpnClient() {
64  SafeStop();
65  Join();
66
67  delete pimpl_;
68}
69
70Layout *VrpnClient::GetLayout(void) const {
71  return (Layout *)(pimpl_->setup_tab);
72}
73
74TabWidget *VrpnClient::GetTabWidget(void) const { return pimpl_->tab; }
75
76bool VrpnClient::UseXbee(void) const { return pimpl_->UseXbee(); }
77
78void VrpnClient::Run(void) { pimpl_->Run(); }
79
80} // end namespace sensor
81} // end namespace flair
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