source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp@ 475

Last change on this file since 475 was 448, checked in by Sanahuja Guillaume, 3 years ago

handle ack in vrpnlite
File size: 11.7 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// 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 <UdpSocket.h>
33#include <math.h>
34
35using std::string;
36using std::vector;
37using namespace flair::core;
38using namespace flair::gui;
39using namespace flair::sensor;
40
41VrpnClient_impl::VrpnClient_impl(VrpnClient *self, string name,
42 std::string address,flair::sensor::VrpnClient::ConnectionType_t connectionType) {
43 this->self = self;
44 this->address = address;
45 this->connectionType = connectionType;
46 isConnected=false;
47
48 if(connectionType==VrpnClient::Vrpn) {
49 connection = vrpn_get_connection_by_name(address.c_str());
50 Printf("Connecting to VRPN server on %s\n",address.c_str());
51 } else if(connectionType==VrpnClient::VrpnLite) {
52 dataSocket =new UdpSocket(getFrameworkManager(), "data_socket", address);
53 Printf("Connecting to VRPN-lite server on %s\n",address.c_str());
54 } else {
55 self->Err("Bad connection type, try using naother constructor\n");
56 }
57
58 CommonConstructor(name);
59}
60
61
62
63VrpnClient_impl::VrpnClient_impl(VrpnClient *self, string name,
64 SerialPort *serialport, uint16_t us_period) {
65 this->us_period = us_period;
66 this->self = self;
67 this->serialport = serialport;
68 connectionType=VrpnClient::Xbee;
69
70 serialport->SetBaudrate(111111);
71 serialport->SetRxTimeout(us_period * 1000);
72
73 CommonConstructor(name);
74
75 Printf("Connecting to VRPN server through xbee on %s\n",serialport->ObjectName().c_str());
76}
77
78void VrpnClient_impl::CommonConstructor(std::string name) {
79 mutex = new Mutex(self, name);
80
81 // station sol
82 main_tab = new Tab(getFrameworkManager()->GetTabWidget(), name);
83 tab = new TabWidget(main_tab->NewRow(), name);
84 setup_tab = new Tab(tab, "Reglages");
85
86 rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
87 rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
88}
89
90VrpnClient_impl::~VrpnClient_impl() {
91 if (connectionType==VrpnClient::Vrpn|| connectionType==VrpnClient::VrpnLite) {
92 // on fait une copie car le delete touche a trackables_copy via
93 // RemoveTrackable
94 vector<VrpnObject_impl *> trackables_copy = trackables;
95 for (unsigned int i = 0; i < trackables_copy.size(); i++)
96 delete trackables_copy.at(i)->self;
97 // trackables.clear();
98 } else if(connectionType==VrpnClient::Xbee ) {
99 // on fait une copie car le delete touche a xbee_objects_copy via
100 // RemoveTrackable
101 vector<xbeeObject_t> xbeeObjects_copy = xbeeObjects;
102 for (unsigned int i = 0; i < xbeeObjects_copy.size(); i++)
103 delete xbeeObjects_copy.at(i).vrpnobject->self;
104 }
105
106 delete main_tab;
107
108 if (connectionType==VrpnClient::Vrpn) {
109 // it will automatically delete connection
110 connection->removeReference();
111 }
112}
113
114void VrpnClient_impl::ComputeRotations(Vector3Df &point) {
115 rotation_1->ComputeRotation(point);
116 rotation_2->ComputeRotation(point);
117}
118
119void VrpnClient_impl::ComputeRotations(Quaternion &quat) {
120 rotation_1->ComputeRotation(quat);
121 rotation_2->ComputeRotation(quat);
122}
123
124void VrpnClient_impl::AddTrackable(VrpnObject_impl *obj) {
125 if (connectionType==VrpnClient::Vrpn) {
126 mutex->GetMutex();
127 trackables.push_back(obj);
128 mutex->ReleaseMutex();
129 } else if (connectionType==VrpnClient::VrpnLite) {
130 if(trackables.size()<INT16_MAX) {
131 int16_t id=trackables.size()+1;//avoid 0; positive values for adding, negative for removing
132 mutex->GetMutex();
133 trackables.push_back(obj);
134 mutex->ReleaseMutex();
135
136 char char_array[obj->self->ObjectName().length() + sizeof(id)];
137 strcpy(char_array, obj->self->ObjectName().c_str());
138 dataSocket->HostToNetwork((char*)(&id),sizeof(id));
139 memcpy(&char_array[obj->self->ObjectName().length()],&id,sizeof(id));
140 dataSocket->SendMessage(char_array,obj->self->ObjectName().length() + sizeof(id));
141 }else {
142 self->Warn("too much trackables for vrpnlite connection, not adding %s\n",obj->self->ObjectName().c_str());
143 }
144 } else {
145 self->Warn("AddTrackable called but not in vrpn mode nor in vrpnlite mode\n");
146 }
147}
148
149void VrpnClient_impl::AddTrackable(VrpnObject_impl *obj, uint8_t id) {
150 if (connectionType==VrpnClient::Xbee) {
151 xbeeObject_t tmp;
152 tmp.vrpnobject = obj;
153 tmp.id = id;
154 mutex->GetMutex();
155 xbeeObjects.push_back(tmp);
156 mutex->ReleaseMutex();
157 } else {
158 self->Warn("AddTrackable called but not in xbee mode\n");
159 }
160}
161
162void VrpnClient_impl::RemoveTrackable(VrpnObject_impl *obj) {
163 mutex->GetMutex();
164 //send remove notification to vrpnlite
165 if (connectionType==VrpnClient::VrpnLite) {
166 for (size_t i = 0; i < trackables.size(); i++) {
167 if(trackables.at(i)==obj) {
168 int16_t id=-(i+1);//avoid 0; positive values for adding, negative for removing
169
170 char char_array[obj->self->ObjectName().length() + sizeof(id)];
171 strcpy(char_array, obj->self->ObjectName().c_str());
172 dataSocket->HostToNetwork((char*)(&id),sizeof(id));
173 memcpy(&char_array[obj->self->ObjectName().length()],&id,sizeof(id));
174 dataSocket->SendMessage(char_array,obj->self->ObjectName().length() + sizeof(id));
175 break;
176 }
177 }
178 }
179
180 //update vector
181 if (connectionType==VrpnClient::Vrpn || connectionType==VrpnClient::VrpnLite) {
182 for (vector<VrpnObject_impl *>::iterator it = trackables.begin();it < trackables.end(); it++) {
183 if (*it == obj) {
184 trackables.erase(it);
185 break;
186 }
187 }
188 }
189 if ( connectionType==VrpnClient::Xbee) {
190 for (vector<xbeeObject_t>::iterator it = xbeeObjects.begin();it < xbeeObjects.end(); it++) {
191 if ((*it).vrpnobject == obj) {
192 xbeeObjects.erase(it);
193 break;
194 }
195 }
196 }
197 mutex->ReleaseMutex();
198}
199
200void VrpnClient_impl::Run(void) {
201 struct timeval timeout;
202 timeout.tv_sec=0;
203 timeout.tv_usec=100000;
204 uint16_t vrpnliteCounter=0;
205
206 while (!self->ToBeStopped()) {
207 if (connectionType==VrpnClient::Xbee) {
208 ssize_t read = 0;
209 uint8_t response[38] = {0};
210
211 read = serialport->Read(response, sizeof(response));
212 if (read > 0 && read != sizeof(response))
213 read += serialport->Read(&response[read], sizeof(response) - read);
214 // int temps=(float)self->GetTime()/(1000*1000);
215 // self->Printf("%i %i %i\n",temps-last,temps,last);
216 // last=temps;
217 if (read < 0) {
218 // self->Warn("erreur rt_dev_read (%s)\n",strerror(-read));
219 } else if (read != sizeof(response)) {
220 self->Warn("serial read error %i/%i\n", read, sizeof(response));
221 } else {
222 // for(ssize_t i=0;i<read;i++) printf("%x ",response[i]);
223 // printf("\n");
224 uint8_t checksum = 0;
225 for (ssize_t i = 3; i < read; i++)
226 checksum += response[i];
227 if (checksum != 255) {
228 self->Err("checksum error\n");
229 } else {
230 vrpn_TRACKERCB t;
231 float pos[3];
232 float quat[4];
233 uint8_t id = response[8];
234
235 mutex->GetMutex();
236 if (id < xbeeObjects.size()) {
237 memcpy(pos, &response[9], sizeof(pos));
238 memcpy(quat, &response[9] + sizeof(pos), sizeof(quat));
239 for (int i = 0; i < 3; i++)
240 t.pos[i] = pos[i];
241 for (int i = 0; i < 4; i++)
242 t.quat[i] = quat[i];
243 if (fabs(pos[0] > 10) || fabs(pos[1] > 10) || fabs(pos[2] > 10)) {
244 Printf("prob pos %f %f %f\n", pos[0], pos[1], pos[2]);
245 } else {
246 // self->Printf("%i %f %f %f
247 // %f\n",id,pos[0],pos[1],pos[2],(float)self->GetTime()/(1000*1000));
248 VrpnObject_impl::handle_pos(xbeeObjects.at(id).vrpnobject, t);
249 }
250 }
251 mutex->ReleaseMutex();
252 }
253 }
254 } else if(connectionType==VrpnClient::Vrpn) {
255 if(connection->connected()==vrpn_true && !isConnected) {
256 isConnected=true;
257 Printf("VRPN connected to %s\n",address.c_str());
258 }
259 if(connection->connected()==vrpn_false && isConnected) {
260 isConnected=false;
261 Printf("VRPN disconnected to %s\n",address.c_str());
262 }
263 //timeout in mainloop is not well handled if not connected...
264 if(isConnected) {
265 //this is when trackables callbacks are called:
266 if(connection->mainloop(&timeout)!=0) {
267 self->Warn("connection dropped from\n",address.c_str());
268 }
269 //printf("%lld\n",GetTime()/(1000*1000));
270 mutex->GetMutex();
271 for (unsigned int i = 0; i < trackables.size(); i++) {
272 // Printf("tracker %i\n",i);
273 trackables.at(i)->tracker->mainloop();
274 //Printf("tracker %i ok\n",i);
275 }
276 mutex->ReleaseMutex();
277 } else {
278 connection->mainloop();
279 self->SleepMS(10);
280 }
281 }else if(connectionType==VrpnClient::VrpnLite) {
282 mutex->GetMutex();
283
284 int16_t pos[3];
285 int16_t quat[4];
286 Time time;
287 char datas[trackables.size()*(sizeof(pos)+sizeof(quat))+ sizeof(time)];
288 char *datasPtr=datas;
289
290 int rcv=dataSocket->RecvMessage(datas,sizeof(datas),50*1000*1000);
291 if(rcv!=sizeof(datas)) {
292 if(rcv>0) Printf("discarding message (size %i/%i)\n",rcv,sizeof(datas));
293 mutex->ReleaseMutex();
294 continue;
295 }
296
297 memcpy(&time, datasPtr+sizeof(datas)-sizeof(time), sizeof(time));
298 dataSocket->NetworkToHost((char*)(&time),sizeof(time));
299
300 for (vector<VrpnObject_impl*>::iterator it = trackables.begin();it < trackables.end(); it++) {
301 memcpy(pos, datasPtr, sizeof(pos));
302 datasPtr+=sizeof(pos);
303 memcpy(quat,datasPtr, sizeof(quat));
304 datasPtr+=sizeof(quat);
305
306 for(int i=0;i<3;i++) dataSocket->NetworkToHost((char*)(&pos[i]),sizeof(pos[i]));
307 for(int i=0;i<4;i++) dataSocket->NetworkToHost((char*)(&quat[i]),sizeof(quat[i]));
308
309 vrpn_TRACKERCB t;
310 for (int i = 0; i < 3; i++) t.pos[i] = ConvertPosition(pos[i]);
311 // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
312 // flair::core::Quaternion
313 t.quat[0] = ConvertQuaternion(quat[1]);
314 t.quat[1] = ConvertQuaternion(quat[2]);
315 t.quat[2] = ConvertQuaternion(quat[3]);
316 t.quat[3] = ConvertQuaternion(quat[0]);
317 t.msg_time.tv_sec=time/((Time)1000000000);
318 t.msg_time.tv_usec=(time%((Time)1000000000))/((Time)1000);
319 //Printf("%i %lld %lld %lld\n",id,time,t.msg_time.tv_sec,t.msg_time.tv_usec);
320 VrpnObject_impl::handle_pos((void*)(*it), t);
321 }
322
323 mutex->ReleaseMutex();
324
325 if(trackables.size()!=0) {
326 vrpnliteCounter++;//send ack to monitor connection on vrpnlite
327 //on bth, vrpn is configured to 50Hz, send ack at 1Hz
328 if(vrpnliteCounter==50) {
329 vrpnliteCounter=0;
330 char data=0;
331 dataSocket->SendMessage(&data,sizeof(char));
332 }
333 }
334 }
335 }
336}
337
338float VrpnClient_impl::ConvertPosition(int16_t value) const {
339 return (float)value/1000.;
340}
341
342float VrpnClient_impl::ConvertQuaternion(int16_t value) const {
343 return (float)value/32767.;
344}
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