[3] | 1 | // %flair:license{
|
---|
[15] | 2 | // This file is part of the Flair framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
[3] | 4 | // %flair:license}
|
---|
| 5 | // created: 2013/04/03
|
---|
| 6 | // filename: VrpnClient_impl.cpp
|
---|
| 7 | //
|
---|
| 8 | // author: César Richard, Guillaume Sanahuja
|
---|
| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 10 | //
|
---|
| 11 | // version: $Id: $
|
---|
| 12 | //
|
---|
| 13 | // purpose: objet se connectant au serveur vrpn
|
---|
| 14 | //
|
---|
| 15 | //
|
---|
| 16 | /*********************************************************************/
|
---|
| 17 |
|
---|
| 18 | #include "VrpnClient.h"
|
---|
| 19 | #include "VrpnClient_impl.h"
|
---|
| 20 | #include "VrpnObject.h"
|
---|
| 21 | #include "VrpnObject_impl.h"
|
---|
| 22 | #include <SerialPort.h>
|
---|
| 23 | #include <vrpn_Connection.h>
|
---|
| 24 | #include <FrameworkManager.h>
|
---|
| 25 | #include <TabWidget.h>
|
---|
| 26 | #include <Tab.h>
|
---|
| 27 | #include <GridLayout.h>
|
---|
| 28 | #include <OneAxisRotation.h>
|
---|
| 29 | #include <Vector3D.h>
|
---|
| 30 | #include <Quaternion.h>
|
---|
| 31 | #include <Mutex.h>
|
---|
| 32 | #include <math.h>
|
---|
| 33 |
|
---|
| 34 | using std::string;
|
---|
| 35 | using std::vector;
|
---|
| 36 | using namespace flair::core;
|
---|
| 37 | using namespace flair::gui;
|
---|
| 38 | using namespace flair::sensor;
|
---|
| 39 |
|
---|
[15] | 40 | VrpnClient_impl::VrpnClient_impl(VrpnClient *self, std::string name,
|
---|
[136] | 41 | std::string address) {
|
---|
[15] | 42 | this->self = self;
|
---|
| 43 | serialport = NULL;
|
---|
[136] | 44 | isConnected=false;
|
---|
[3] | 45 |
|
---|
[15] | 46 | mutex = new Mutex(self, name);
|
---|
[3] | 47 |
|
---|
[15] | 48 | connection = vrpn_get_connection_by_name(address.c_str());
|
---|
[3] | 49 |
|
---|
[15] | 50 | // station sol
|
---|
| 51 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
|
---|
| 52 | tab = new TabWidget(main_tab->NewRow(), name);
|
---|
| 53 | setup_tab = new Tab(tab, "Reglages");
|
---|
[3] | 54 |
|
---|
[187] | 55 | rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
|
---|
| 56 | rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
|
---|
[3] | 57 | }
|
---|
| 58 |
|
---|
[15] | 59 | VrpnClient_impl::VrpnClient_impl(VrpnClient *self, std::string name,
|
---|
| 60 | SerialPort *serialport, uint16_t us_period) {
|
---|
| 61 | this->us_period = us_period;
|
---|
| 62 | this->self = self;
|
---|
| 63 | this->serialport = serialport;
|
---|
| 64 | connection = NULL;
|
---|
| 65 | mutex = new Mutex(self, name);
|
---|
[3] | 66 |
|
---|
[15] | 67 | serialport->SetBaudrate(111111);
|
---|
| 68 | serialport->SetRxTimeout(us_period * 1000);
|
---|
[3] | 69 |
|
---|
[15] | 70 | // station sol
|
---|
| 71 | main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
|
---|
| 72 | tab = new TabWidget(main_tab->NewRow(), name);
|
---|
| 73 | setup_tab = new Tab(tab, "Reglages");
|
---|
[3] | 74 |
|
---|
[187] | 75 | rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
|
---|
| 76 | rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
|
---|
[3] | 77 | }
|
---|
| 78 |
|
---|
[15] | 79 | VrpnClient_impl::~VrpnClient_impl() {
|
---|
| 80 | if (!UseXbee()) {
|
---|
[140] | 81 | // on fait une copie car le delete touche a trackables_copy via
|
---|
[15] | 82 | // RemoveTrackable
|
---|
[140] | 83 | vector<VrpnObject_impl *> trackables_copy = trackables;
|
---|
[15] | 84 | for (unsigned int i = 0; i < trackables_copy.size(); i++)
|
---|
[140] | 85 | delete trackables_copy.at(i)->self;
|
---|
[15] | 86 | // trackables.clear();
|
---|
| 87 | } else {
|
---|
| 88 | // on fait une copie car le delete touche a xbee_objects_copy via
|
---|
| 89 | // RemoveTrackable
|
---|
| 90 | vector<xbee_object> xbee_objects_copy = xbee_objects;
|
---|
| 91 | for (unsigned int i = 0; i < xbee_objects_copy.size(); i++)
|
---|
| 92 | delete xbee_objects_copy.at(i).vrpnobject->self;
|
---|
| 93 | }
|
---|
[3] | 94 |
|
---|
[15] | 95 | delete main_tab;
|
---|
[3] | 96 |
|
---|
[15] | 97 | if (!UseXbee()) {
|
---|
| 98 | // it will automatically delete connection
|
---|
| 99 | connection->removeReference();
|
---|
| 100 | }
|
---|
[3] | 101 | }
|
---|
| 102 |
|
---|
[167] | 103 | void VrpnClient_impl::ComputeRotations(Vector3Df &point) {
|
---|
[15] | 104 | rotation_1->ComputeRotation(point);
|
---|
| 105 | rotation_2->ComputeRotation(point);
|
---|
[3] | 106 | }
|
---|
| 107 |
|
---|
[15] | 108 | void VrpnClient_impl::ComputeRotations(Quaternion &quat) {
|
---|
| 109 | rotation_1->ComputeRotation(quat);
|
---|
| 110 | rotation_2->ComputeRotation(quat);
|
---|
[3] | 111 | }
|
---|
| 112 |
|
---|
[140] | 113 | void VrpnClient_impl::AddTrackable(VrpnObject_impl *obj) {
|
---|
[15] | 114 | mutex->GetMutex();
|
---|
| 115 | trackables.push_back(obj);
|
---|
| 116 | mutex->ReleaseMutex();
|
---|
[3] | 117 | }
|
---|
| 118 |
|
---|
[140] | 119 | void VrpnClient_impl::RemoveTrackable(VrpnObject_impl *obj) {
|
---|
[15] | 120 | mutex->GetMutex();
|
---|
[140] | 121 | for (vector<VrpnObject_impl *>::iterator it = trackables.begin();
|
---|
[15] | 122 | it < trackables.end(); it++) {
|
---|
| 123 | if (*it == obj) {
|
---|
| 124 | trackables.erase(it);
|
---|
| 125 | break;
|
---|
[3] | 126 | }
|
---|
[15] | 127 | }
|
---|
[140] | 128 | for (vector<xbee_object>::iterator it = xbee_objects.begin();
|
---|
| 129 | it < xbee_objects.end(); it++) {
|
---|
| 130 | if ((*it).vrpnobject == obj) {
|
---|
| 131 | xbee_objects.erase(it);
|
---|
| 132 | break;
|
---|
| 133 | }
|
---|
| 134 | }
|
---|
[15] | 135 | mutex->ReleaseMutex();
|
---|
[3] | 136 | }
|
---|
| 137 |
|
---|
[15] | 138 | void VrpnClient_impl::AddTrackable(VrpnObject_impl *obj, uint8_t id) {
|
---|
| 139 | xbee_object tmp;
|
---|
| 140 | tmp.vrpnobject = obj;
|
---|
| 141 | tmp.id = id;
|
---|
| 142 | mutex->GetMutex();
|
---|
| 143 | xbee_objects.push_back(tmp);
|
---|
| 144 | mutex->ReleaseMutex();
|
---|
[3] | 145 | }
|
---|
| 146 |
|
---|
[15] | 147 | bool VrpnClient_impl::UseXbee(void) {
|
---|
| 148 | if (connection == NULL) {
|
---|
| 149 | return true;
|
---|
| 150 | } else {
|
---|
| 151 | return false;
|
---|
| 152 | }
|
---|
[3] | 153 | }
|
---|
| 154 |
|
---|
[15] | 155 | void VrpnClient_impl::Run(void) {
|
---|
[136] | 156 | struct timeval timeout;
|
---|
| 157 | timeout.tv_sec=0;
|
---|
| 158 | timeout.tv_usec=100000;
|
---|
| 159 |
|
---|
[15] | 160 | while (!self->ToBeStopped()) {
|
---|
| 161 | if (UseXbee()) {
|
---|
| 162 | ssize_t read = 0;
|
---|
| 163 | uint8_t response[38] = {0};
|
---|
[3] | 164 |
|
---|
[15] | 165 | read = serialport->Read(response, sizeof(response));
|
---|
| 166 | if (read > 0 && read != sizeof(response))
|
---|
| 167 | read += serialport->Read(&response[read], sizeof(response) - read);
|
---|
| 168 | // int temps=(float)self->GetTime()/(1000*1000);
|
---|
| 169 | // self->Printf("%i %i %i\n",temps-last,temps,last);
|
---|
| 170 | // last=temps;
|
---|
| 171 | if (read < 0) {
|
---|
| 172 | // self->Warn("erreur rt_dev_read (%s)\n",strerror(-read));
|
---|
| 173 | } else if (read != sizeof(response)) {
|
---|
| 174 | self->Warn("erreur rt_dev_read %i/%i\n", read, sizeof(response));
|
---|
| 175 | } else {
|
---|
| 176 | // for(ssize_t i=0;i<read;i++) printf("%x ",response[i]);
|
---|
| 177 | // printf("\n");
|
---|
| 178 | uint8_t checksum = 0;
|
---|
| 179 | for (ssize_t i = 3; i < read; i++)
|
---|
| 180 | checksum += response[i];
|
---|
| 181 | if (checksum != 255) {
|
---|
| 182 | self->Err("checksum error\n");
|
---|
| 183 | } else {
|
---|
| 184 | vrpn_TRACKERCB t;
|
---|
| 185 | float pos[3];
|
---|
| 186 | float quat[4];
|
---|
| 187 | uint8_t id = response[8];
|
---|
[3] | 188 |
|
---|
[15] | 189 | mutex->GetMutex();
|
---|
| 190 | if (id < xbee_objects.size()) {
|
---|
| 191 | memcpy(pos, &response[9], sizeof(pos));
|
---|
| 192 | memcpy(quat, &response[9] + sizeof(pos), sizeof(quat));
|
---|
| 193 | for (int i = 0; i < 3; i++)
|
---|
| 194 | t.pos[i] = pos[i];
|
---|
| 195 | for (int i = 0; i < 4; i++)
|
---|
| 196 | t.quat[i] = quat[i];
|
---|
| 197 | if (fabs(pos[0] > 10) || fabs(pos[1] > 10) || fabs(pos[2] > 10)) {
|
---|
[136] | 198 | Printf("prob pos %f %f %f\n", pos[0], pos[1], pos[2]);
|
---|
[15] | 199 | } else {
|
---|
| 200 | // self->Printf("%i %f %f %f
|
---|
| 201 | // %f\n",id,pos[0],pos[1],pos[2],(float)self->GetTime()/(1000*1000));
|
---|
| 202 | VrpnObject_impl::handle_pos(xbee_objects.at(id).vrpnobject, t);
|
---|
[3] | 203 | }
|
---|
[15] | 204 | }
|
---|
| 205 | mutex->ReleaseMutex();
|
---|
[3] | 206 | }
|
---|
[15] | 207 | }
|
---|
[136] | 208 | } else {//!UseXbee()
|
---|
[139] | 209 | if(connection->connected()==vrpn_true && !isConnected) {
|
---|
| 210 | isConnected=true;
|
---|
| 211 | Printf("VRPN connected\n");
|
---|
| 212 | }
|
---|
| 213 | if(connection->connected()==vrpn_false && isConnected) {
|
---|
| 214 | isConnected=false;
|
---|
| 215 | Printf("VRPN disconnected\n");
|
---|
| 216 | }
|
---|
| 217 | //timeout in mainloop is not well handled if not connected...
|
---|
| 218 | if(isConnected) {
|
---|
| 219 | //this is when trackables callbacks are called:
|
---|
| 220 | if(connection->mainloop(&timeout)!=0) {
|
---|
| 221 | self->Warn("connection dropped\n");
|
---|
| 222 | }
|
---|
| 223 | //printf("%lld\n",GetTime()/(1000*1000));
|
---|
| 224 | mutex->GetMutex();
|
---|
| 225 | for (unsigned int i = 0; i < trackables.size(); i++)
|
---|
[140] | 226 | trackables.at(i)->tracker->mainloop();
|
---|
[139] | 227 | mutex->ReleaseMutex();
|
---|
| 228 | } else {
|
---|
| 229 | connection->mainloop();
|
---|
| 230 | self->SleepMS(10);
|
---|
| 231 | }
|
---|
[3] | 232 | }
|
---|
[15] | 233 | }
|
---|
[3] | 234 | }
|
---|