| 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 | /*!
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| 6 | * \file VrpnClient.h
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| 7 | * \brief Class to connect to a Vrpn server
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| 8 | * \author César Richard, Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS
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| 9 | * 7253
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| 10 | * \date 2013/04/03
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| 11 | * \version 4.0
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| 12 | */
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| 13 |
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| 14 | #ifndef VRPNCLIENT_H
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| 15 | #define VRPNCLIENT_H
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| 16 |
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| 17 | #include <Thread.h>
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| 18 |
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| 19 | namespace flair {
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| 20 | namespace core {
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| 21 | class SerialPort;
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| 22 | }
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| 23 | namespace gui {
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| 24 | class TabWidget;
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| 25 | class Layout;
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| 26 | }
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| 27 | }
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| 28 |
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| 29 | class VrpnClient_impl;
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| 30 | class VrpnObject_impl;
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| 31 |
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| 32 | namespace flair {
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| 33 | namespace sensor {
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| 34 | /*! \class VrpnClient
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| 35 | *
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| 36 | * \brief Class to connect to a Vrpn server. The Thread is created with
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| 37 | * the FrameworkManager as parent. FrameworkManager must be created before.
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| 38 | * Only one instance of this class is allowed by program.
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| 39 | */
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| 40 | class VrpnClient : public core::Thread {
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| 41 | friend class ::VrpnObject_impl;
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| 42 |
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| 43 | public:
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| 44 | /*!
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| 45 | * \brief Constructor
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| 46 | *
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| 47 | * Construct a VrpnClient. Connection is done by IP.
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| 48 | *
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| 49 | * \param name name
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| 50 | * \param address server address
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| 51 | * \param us_period Thread period in us
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| 52 | * \param priority priority of the Thread
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| 53 | */
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| 54 | VrpnClient(std::string name,
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| 55 | std::string address, uint16_t us_period, uint8_t priority);
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| 56 |
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| 57 | /*!
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| 58 | * \brief Constructor
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| 59 | *
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| 60 | * Construct a VrpnClient. Connection is done by XBee modem.
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| 61 | *
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| 62 | * \param name name
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| 63 | * \param serialport SerialPort for XBee modem
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| 64 | * \param us_period Xbee RX timeout in us
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| 65 | * \param priority priority of the Thread
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| 66 | */
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| 67 | VrpnClient(std::string name,
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| 68 | core::SerialPort *serialport, uint16_t us_period,
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| 69 | uint8_t priority);
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| 70 |
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| 71 | /*!
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| 72 | * \brief Destructor
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| 73 | *
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| 74 | */
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| 75 | ~VrpnClient();
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| 76 |
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| 77 | /*!
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| 78 | * \brief Setup Layout
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| 79 | *
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| 80 | * \return a Layout available
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| 81 | */
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| 82 | gui::Layout *GetLayout(void) const;
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| 83 |
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| 84 | /*!
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| 85 | * \brief Setup Tab
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| 86 | *
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| 87 | * \return a Tab available
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| 88 | */
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| 89 | gui::TabWidget *GetTabWidget(void) const;
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| 90 |
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| 91 | /*!
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| 92 | * \brief Is XBee used?
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| 93 | *
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| 94 | * \return true if connection is based on XBee modem
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| 95 | */
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| 96 | bool UseXbee(void) const;
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| 97 |
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| 98 | private:
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| 99 | /*!
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| 100 | * \brief Run function
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| 101 | *
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| 102 | * Reimplemented from Thread.
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| 103 | *
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| 104 | */
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| 105 | void Run(void);
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| 106 |
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| 107 | class VrpnClient_impl *pimpl_;
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| 108 | };
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| 109 |
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| 110 | /*!
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| 111 | * \brief get VrpnClient
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| 112 | *
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| 113 | * \return the VrpnClient
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| 114 | */
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| 115 | VrpnClient *GetVrpnClient(void);
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| 116 |
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| 117 | } // end namespace sensor
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| 118 | } // end namespace flair
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| 119 | #endif // VRPNCLIENT_H
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