| 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: VrpnClient_impl.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 se connectant au serveur vrpn
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "VrpnClient.h"
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| 19 | #include "VrpnClient_impl.h"
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| 20 | #include "VrpnObject.h"
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| 21 | #include "VrpnObject_impl.h"
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| 22 | #include <SerialPort.h>
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| 23 | #include <vrpn_Connection.h>
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| 24 | #include <FrameworkManager.h>
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| 25 | #include <TabWidget.h>
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| 26 | #include <Tab.h>
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| 27 | #include <GridLayout.h>
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| 28 | #include <OneAxisRotation.h>
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| 29 | #include <Vector3D.h>
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| 30 | #include <Quaternion.h>
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| 31 | #include <Mutex.h>
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| 32 | #include <string.h>
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| 33 | #include <unistd.h>
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| 34 | #include <limits.h>
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| 35 | #include <math.h>
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| 36 |
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| 37 | using std::string;
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| 38 | using std::vector;
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| 39 | using namespace flair::core;
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| 40 | using namespace flair::gui;
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| 41 | using namespace flair::sensor;
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| 42 |
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| 43 | VrpnClient_impl::VrpnClient_impl(VrpnClient *self, std::string name,
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| 44 | std::string address) {
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| 45 | this->self = self;
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| 46 | serialport = NULL;
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| 47 | isConnected=false;
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| 48 |
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| 49 | mutex = new Mutex(self, name);
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| 50 |
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| 51 | connection = vrpn_get_connection_by_name(address.c_str());
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| 52 |
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| 53 | // station sol
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| 54 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 55 | tab = new TabWidget(main_tab->NewRow(), name);
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| 56 | setup_tab = new Tab(tab, "Reglages");
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| 57 |
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| 58 | rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1");
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| 59 | rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2");
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| 60 | }
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| 61 |
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| 62 | VrpnClient_impl::VrpnClient_impl(VrpnClient *self, std::string name,
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| 63 | SerialPort *serialport, uint16_t us_period) {
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| 64 | this->us_period = us_period;
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| 65 | this->self = self;
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| 66 | this->serialport = serialport;
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| 67 | connection = NULL;
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| 68 | mutex = new Mutex(self, name);
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| 69 |
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| 70 | serialport->SetBaudrate(111111);
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| 71 | serialport->SetRxTimeout(us_period * 1000);
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| 72 |
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| 73 | // station sol
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| 74 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
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| 75 | tab = new TabWidget(main_tab->NewRow(), name);
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| 76 | setup_tab = new Tab(tab, "Reglages");
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| 77 |
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| 78 | rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1");
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| 79 | rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2");
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| 80 | }
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| 81 |
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| 82 | VrpnClient_impl::~VrpnClient_impl() {
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| 83 | if (!UseXbee()) {
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| 84 | // on fait une copie car le delete touche a xbee_objects_copy via
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| 85 | // RemoveTrackable
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| 86 | vector<VrpnObject *> trackables_copy = trackables;
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| 87 | for (unsigned int i = 0; i < trackables_copy.size(); i++)
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| 88 | delete trackables_copy.at(i);
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| 89 | // trackables.clear();
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| 90 | } else {
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| 91 | // on fait une copie car le delete touche a xbee_objects_copy via
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| 92 | // RemoveTrackable
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| 93 | vector<xbee_object> xbee_objects_copy = xbee_objects;
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| 94 | for (unsigned int i = 0; i < xbee_objects_copy.size(); i++)
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| 95 | delete xbee_objects_copy.at(i).vrpnobject->self;
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| 96 | }
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| 97 |
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| 98 | delete main_tab;
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| 99 |
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| 100 | if (!UseXbee()) {
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| 101 | // it will automatically delete connection
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| 102 | connection->removeReference();
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| 103 | }
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| 104 | }
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| 105 |
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| 106 | void VrpnClient_impl::ComputeRotations(Vector3D &point) {
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| 107 | rotation_1->ComputeRotation(point);
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| 108 | rotation_2->ComputeRotation(point);
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| 109 | }
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| 110 |
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| 111 | void VrpnClient_impl::ComputeRotations(Quaternion &quat) {
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| 112 | rotation_1->ComputeRotation(quat);
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| 113 | rotation_2->ComputeRotation(quat);
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| 114 | }
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| 115 |
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| 116 | void VrpnClient_impl::AddTrackable(VrpnObject *obj) {
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| 117 | mutex->GetMutex();
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| 118 | trackables.push_back(obj);
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| 119 | mutex->ReleaseMutex();
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| 120 | }
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| 121 |
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| 122 | void VrpnClient_impl::RemoveTrackable(VrpnObject *obj) {
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| 123 | mutex->GetMutex();
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| 124 | for (vector<VrpnObject *>::iterator it = trackables.begin();
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| 125 | it < trackables.end(); it++) {
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| 126 | if (*it == obj) {
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| 127 | trackables.erase(it);
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| 128 | break;
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| 129 | }
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| 130 | }
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| 131 | mutex->ReleaseMutex();
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| 132 | }
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| 133 |
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| 134 | void VrpnClient_impl::AddTrackable(VrpnObject_impl *obj, uint8_t id) {
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| 135 | xbee_object tmp;
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| 136 | tmp.vrpnobject = obj;
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| 137 | tmp.id = id;
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| 138 | mutex->GetMutex();
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| 139 | xbee_objects.push_back(tmp);
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| 140 | mutex->ReleaseMutex();
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| 141 | }
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| 142 |
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| 143 | void VrpnClient_impl::RemoveTrackable(VrpnObject_impl *obj) {
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| 144 | mutex->GetMutex();
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| 145 | for (vector<xbee_object>::iterator it = xbee_objects.begin();
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| 146 | it < xbee_objects.end(); it++) {
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| 147 | if ((*it).vrpnobject == obj) {
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| 148 | xbee_objects.erase(it);
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| 149 | break;
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| 150 | }
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| 151 | }
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| 152 | mutex->ReleaseMutex();
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| 153 | }
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| 154 |
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| 155 | bool VrpnClient_impl::UseXbee(void) {
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| 156 | if (connection == NULL) {
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| 157 | return true;
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| 158 | } else {
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| 159 | return false;
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| 160 | }
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| 161 | }
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| 162 |
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| 163 | void VrpnClient_impl::Run(void) {
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| 164 | struct timeval timeout;
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| 165 | timeout.tv_sec=0;
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| 166 | timeout.tv_usec=100000;
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| 167 |
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| 168 | while (!self->ToBeStopped()) {
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| 169 | if (UseXbee()) {
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| 170 | ssize_t read = 0;
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| 171 | uint8_t response[38] = {0};
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| 172 |
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| 173 | read = serialport->Read(response, sizeof(response));
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| 174 | if (read > 0 && read != sizeof(response))
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| 175 | read += serialport->Read(&response[read], sizeof(response) - read);
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| 176 | // int temps=(float)self->GetTime()/(1000*1000);
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| 177 | // self->Printf("%i %i %i\n",temps-last,temps,last);
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| 178 | // last=temps;
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| 179 | if (read < 0) {
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| 180 | // self->Warn("erreur rt_dev_read (%s)\n",strerror(-read));
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| 181 | } else if (read != sizeof(response)) {
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| 182 | self->Warn("erreur rt_dev_read %i/%i\n", read, sizeof(response));
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| 183 | } else {
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| 184 | // for(ssize_t i=0;i<read;i++) printf("%x ",response[i]);
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| 185 | // printf("\n");
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| 186 | uint8_t checksum = 0;
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| 187 | for (ssize_t i = 3; i < read; i++)
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| 188 | checksum += response[i];
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| 189 | if (checksum != 255) {
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| 190 | self->Err("checksum error\n");
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| 191 | } else {
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| 192 | vrpn_TRACKERCB t;
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| 193 | float pos[3];
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| 194 | float quat[4];
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| 195 | uint8_t id = response[8];
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| 196 |
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| 197 | mutex->GetMutex();
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| 198 | if (id < xbee_objects.size()) {
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| 199 | memcpy(pos, &response[9], sizeof(pos));
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| 200 | memcpy(quat, &response[9] + sizeof(pos), sizeof(quat));
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| 201 | for (int i = 0; i < 3; i++)
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| 202 | t.pos[i] = pos[i];
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| 203 | for (int i = 0; i < 4; i++)
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| 204 | t.quat[i] = quat[i];
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| 205 | if (fabs(pos[0] > 10) || fabs(pos[1] > 10) || fabs(pos[2] > 10)) {
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| 206 | Printf("prob pos %f %f %f\n", pos[0], pos[1], pos[2]);
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| 207 | } else {
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| 208 | // self->Printf("%i %f %f %f
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| 209 | // %f\n",id,pos[0],pos[1],pos[2],(float)self->GetTime()/(1000*1000));
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| 210 | VrpnObject_impl::handle_pos(xbee_objects.at(id).vrpnobject, t);
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| 211 | }
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| 212 | }
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| 213 | mutex->ReleaseMutex();
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| 214 | }
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| 215 | }
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| 216 | } else {//!UseXbee()
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| 217 | if(connection->connected()==vrpn_true && !isConnected) {
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| 218 | isConnected=true;
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| 219 | Printf("VRPN connected\n");
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| 220 | }
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| 221 | if(connection->connected()==vrpn_false && isConnected) {
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| 222 | isConnected=false;
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| 223 | Printf("VRPN disconnected\n");
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| 224 | }
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| 225 |
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| 226 | //timeout in mainloop is not well handled if not connected...
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| 227 | if(isConnected) {
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| 228 | //this is when trackables callbacks are called:
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| 229 | if(connection->mainloop(&timeout)!=0) {
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| 230 | self->Warn("connection dropped\n");
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| 231 | }
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| 232 | //printf("%lld\n",GetTime()/(1000*1000));
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| 233 | mutex->GetMutex();
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| 234 | for (unsigned int i = 0; i < trackables.size(); i++)
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| 235 | trackables.at(i)->mainloop();
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| 236 | mutex->ReleaseMutex();
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| 237 | } else {
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| 238 | connection->mainloop();
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| 239 | self->SleepMS(10);
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| 240 | }
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| 241 | }
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| 242 | }
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| 243 | }
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