source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnClient.h@ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 6 years ago

modifs uav vrpn i686

File size: 2.3 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 /*!
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 us_period Thread period in us
52 * \param priority priority of the Thread
53 */
54 VrpnClient(std::string name,
55 std::string address, uint16_t us_period, uint8_t priority);
56
57 /*!
58 * \brief Constructor
59 *
60 * Construct a VrpnClient. Connection is done by XBee modem.
61 *
62 * \param name name
63 * \param serialport SerialPort for XBee modem
64 * \param us_period Xbee RX timeout in us
65 * \param priority priority of the Thread
66 */
67 VrpnClient(std::string name,
68 core::SerialPort *serialport, uint16_t us_period,
69 uint8_t priority);
70
71 /*!
72 * \brief Destructor
73 *
74 */
75 ~VrpnClient();
76
77 /*!
78 * \brief Setup Layout
79 *
80 * \return a Layout available
81 */
82 gui::Layout *GetLayout(void) const;
83
84 /*!
85 * \brief Setup Tab
86 *
87 * \return a Tab available
88 */
89 gui::TabWidget *GetTabWidget(void) const;
90
91 /*!
92 * \brief Is XBee used?
93 *
94 * \return true if connection is based on XBee modem
95 */
96 bool UseXbee(void) const;
97
98private:
99 /*!
100 * \brief Run function
101 *
102 * Reimplemented from Thread.
103 *
104 */
105 void Run(void);
106
107 class VrpnClient_impl *pimpl_;
108};
109
110/*!
111* \brief get VrpnClient
112*
113* \return the VrpnClient
114*/
115VrpnClient *GetVrpnClient(void);
116
117} // end namespace sensor
118} // end namespace flair
119#endif // VRPNCLIENT_H
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