source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnClient.h

Last change on this file was 330, checked in by Sanahuja Guillaume, 2 years ago

use less bandwidth in vprnlite

File size: 2.4 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/*!
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 typedef enum { Vrpn, VrpnLite, Xbee } ConnectionType_t;
45
46 /*!
47 * \brief Constructor
48 *
49 * Construct a VrpnClient. Connection is done by IP to a vrpn server or vrpnlite server (see tools/VrpnLite in flair-src)
50 *
51 * \param name name
52 * \param address server address
53 * \param priority priority of the Thread
54 * \param connection connection type: Vrpn or VrpnLite
55 */
56 VrpnClient(std::string name,
57 std::string address, uint8_t priority,ConnectionType_t connectionType=Vrpn);
58
59 /*!
60 * \brief Constructor
61 *
62 * Construct a VrpnClient. Connection is done by XBee modem.
63 *
64 * \param name name
65 * \param serialport SerialPort for XBee modem
66 * \param us_period Xbee RX timeout in us
67 * \param priority priority of the Thread
68 */
69 VrpnClient(std::string name,
70 core::SerialPort *serialport, uint16_t us_period,
71 uint8_t priority);
72
73 /*!
74 * \brief Destructor
75 *
76 */
77 ~VrpnClient();
78
79 /*!
80 * \brief Setup Layout
81 *
82 * \return a Layout available
83 */
84 gui::Layout *GetLayout(void) const;
85
86 /*!
87 * \brief Setup Tab
88 *
89 * \return a Tab available
90 */
91 gui::TabWidget *GetTabWidget(void) const;
92
93 ConnectionType_t ConnectionType(void) const;
94
95private:
96 /*!
97 * \brief Run function
98 *
99 * Reimplemented from Thread.
100 *
101 */
102 void Run(void);
103
104 class VrpnClient_impl *pimpl_;
105};
106
107/*!
108* \brief get VrpnClient
109*
110* \return the VrpnClient
111*/
112VrpnClient *GetVrpnClient(void);
113
114} // end namespace sensor
115} // end namespace flair
116#endif // VRPNCLIENT_H
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