| 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: VrpnObject.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 vrpn
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 | #include "VrpnObject_impl.h"
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| 18 | #include "VrpnObject.h"
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| 19 | #include "VrpnClient.h"
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| 20 | #include "VrpnClient_impl.h"
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| 21 | #include <vrpn_Tracker.h>
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| 22 | #include <fcntl.h>
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| 23 | #include <errno.h>
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| 24 | #include <string.h>
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| 25 | #include <unistd.h>
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| 26 | #include <vrpn_Connection.h>
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| 27 | #include <cvmatrix.h>
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| 28 | #include <Tab.h>
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| 29 | #include <TabWidget.h>
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| 30 | #include <DataPlot1D.h>
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| 31 | #include <OneAxisRotation.h>
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| 32 | #include <Vector3D.h>
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| 33 | #include <Euler.h>
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| 34 | #include <math.h>
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| 35 |
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| 36 | using std::string;
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| 37 | using namespace flair::core;
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| 38 | using namespace flair::gui;
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| 39 | using namespace flair::sensor;
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| 40 |
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| 41 | VrpnObject_impl::VrpnObject_impl(VrpnObject* self,const VrpnClient *parent,string name, int id,const TabWidget* tab)
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| 42 | {
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| 43 | this->parent=parent;
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| 44 | this->self=self;
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| 45 |
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| 46 | if(id==-1 && parent->UseXbee())
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| 47 | {
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| 48 | self->Err("erreur aucun identifiant specifie pour la connexion Xbee\n");
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| 49 | }
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| 50 | if(id!=-1 && !parent->UseXbee())
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| 51 | {
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| 52 | self->Warn("identifiant pour la connexion Xbee ignore car pas en mode Xbee\n");
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| 53 | }
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| 54 |
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| 55 | if(parent->UseXbee())
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| 56 | {
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| 57 | parent->pimpl_->AddTrackable(this,id);
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| 58 | tracker=NULL;
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| 59 | }
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| 60 | else
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| 61 | {
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| 62 | parent->pimpl_->AddTrackable(self);
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| 63 | tracker = new vrpn_Tracker_Remote(name.c_str(), parent->pimpl_->connection);
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| 64 | tracker->register_change_handler(this,handle_pos);
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| 65 | tracker->shutup=true;
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| 66 | }
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| 67 |
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| 68 | //state
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| 69 | cvmatrix_descriptor* desc=new cvmatrix_descriptor(6,1);
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| 70 | desc->SetElementName(0,0,"roll");
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| 71 | desc->SetElementName(1,0,"pitch");
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| 72 | desc->SetElementName(2,0,"yaw");
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| 73 | desc->SetElementName(3,0,"x");
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| 74 | desc->SetElementName(4,0,"y");
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| 75 | desc->SetElementName(5,0,"z");
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| 76 | output=new cvmatrix(self,desc,floatType);
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| 77 |
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| 78 | desc=new cvmatrix_descriptor(3,1);
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| 79 | desc->SetElementName(0,0,"roll");
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| 80 | desc->SetElementName(1,0,"pitch");
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| 81 | desc->SetElementName(2,0,"yaw");
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| 82 | state=new cvmatrix(self,desc,floatType);
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| 83 |
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| 84 | //ui
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| 85 | plot_tab=new Tab(tab,"Mesures "+ name);
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| 86 | x_plot=new DataPlot1D(plot_tab->NewRow(),"x",-10,10);
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| 87 | x_plot->AddCurve(output->Element(3));
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| 88 | y_plot=new DataPlot1D(plot_tab->LastRowLastCol(),"y",-10,10);
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| 89 | y_plot->AddCurve(output->Element(4));
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| 90 | z_plot=new DataPlot1D(plot_tab->LastRowLastCol(),"z",-2,0);
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| 91 | z_plot->AddCurve(output->Element(5));
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| 92 | }
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| 93 |
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| 94 | VrpnObject_impl::~VrpnObject_impl(void)
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| 95 | {
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| 96 | if(tracker!=NULL)//normal
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| 97 | {
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| 98 | parent->pimpl_->RemoveTrackable(self);
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| 99 | tracker->unregister_change_handler(this,handle_pos);
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| 100 | delete tracker;
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| 101 | }
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| 102 | else//xbee
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| 103 | {
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| 104 | parent->pimpl_->RemoveTrackable(this);
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| 105 | }
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| 106 | delete plot_tab;
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| 107 | }
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| 108 |
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| 109 | void VrpnObject_impl::mainloop(void)
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| 110 | {
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| 111 | tracker->mainloop();
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| 112 | }
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| 113 |
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| 114 | bool VrpnObject_impl::IsTracked(unsigned int timeout_ms)
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| 115 | {
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| 116 | output->GetMutex();
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| 117 | Time a=GetTime();
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| 118 | Time dt=a-output->DataTime();
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| 119 | output->ReleaseMutex();
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| 120 |
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| 121 | if(dt>(Time)(timeout_ms*1000000))
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| 122 | {
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| 123 | //self->Printf("%lld %lld %lld %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
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| 124 | return false;
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| 125 | }
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| 126 | else
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| 127 | {
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| 128 | return true;
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| 129 | }
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| 130 | }
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| 131 |
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| 132 | void VrpnObject_impl::GetEuler(Euler &euler)
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| 133 | {
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| 134 | output->GetMutex();
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| 135 | euler.roll=output->ValueNoMutex(0,0);
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| 136 | euler.pitch=output->ValueNoMutex(1,0);
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| 137 | euler.yaw=output->ValueNoMutex(2,0);
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| 138 | output->ReleaseMutex();
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| 139 | }
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| 140 |
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| 141 | void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
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| 142 | output->GetMutex();
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| 143 | quaternion.q0=this->quaternion.q0;
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| 144 | quaternion.q1=this->quaternion.q1;
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| 145 | quaternion.q2=this->quaternion.q2;
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| 146 | quaternion.q3=this->quaternion.q3;
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| 147 | output->ReleaseMutex();
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| 148 | }
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| 149 |
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| 150 | void VrpnObject_impl::GetPosition(Vector3D &point)
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| 151 | {
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| 152 | output->GetMutex();
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| 153 | point.x=output->ValueNoMutex(3,0);
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| 154 | point.y=output->ValueNoMutex(4,0);
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| 155 | point.z=output->ValueNoMutex(5,0);
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| 156 | output->ReleaseMutex();
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| 157 | }
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| 158 |
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| 159 | void VRPN_CALLBACK VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t)
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| 160 | {
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| 161 | bool is_nan=false;
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| 162 | VrpnObject_impl* caller= reinterpret_cast<VrpnObject_impl*>(userdata);
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| 163 | Time time=GetTime();
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| 164 |
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| 165 | //check if something is nan
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| 166 | for(int i=0;i<3;i++)
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| 167 | {
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| 168 | if(isnan(t.pos[i])==true) is_nan=true;
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| 169 | }
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| 170 | for(int i=0;i<4;i++)
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| 171 | {
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| 172 | if(isnan(t.quat[i])==true) is_nan=true;
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| 173 | }
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| 174 | if(is_nan==true)
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| 175 | {
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| 176 | caller->self->Warn("data is nan, skipping it (time %lld)\n",time);
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| 177 | return;
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| 178 | }
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| 179 |
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| 180 | //on prend une fois pour toute le mutex et on fait des accès directs
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| 181 | caller->output->GetMutex();
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| 182 |
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| 183 | //warning: t.quat is defined as (qx,qy,qz,qw), which is different from flair::core::Quaternion
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| 184 | caller->quaternion.q0=t.quat[3];
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| 185 | caller->quaternion.q1=t.quat[0];
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| 186 | caller->quaternion.q2=t.quat[1];
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| 187 | caller->quaternion.q3=t.quat[2];
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| 188 | Vector3D pos((float)t.pos[0],(float)t.pos[1],(float)t.pos[2]);
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| 189 |
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| 190 | //on effectue les rotation
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| 191 | caller->parent->pimpl_->ComputeRotations(pos);
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| 192 | caller->parent->pimpl_->ComputeRotations(caller->quaternion);
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| 193 |
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| 194 | Euler euler;
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| 195 | caller->quaternion.ToEuler(euler);
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| 196 | caller->output->SetValueNoMutex( 0, 0,euler.roll);
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| 197 | caller->output->SetValueNoMutex( 1, 0,euler.pitch);
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| 198 | caller->output->SetValueNoMutex( 2, 0,euler.yaw);
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| 199 | caller->output->SetValueNoMutex( 3, 0,pos.x);
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| 200 | caller->output->SetValueNoMutex( 4, 0,pos.y);
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| 201 | caller->output->SetValueNoMutex( 5, 0,pos.z);
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| 202 |
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| 203 | caller->output->SetDataTime(time);
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| 204 | caller->output->ReleaseMutex();
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| 205 |
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| 206 | caller->state->GetMutex();
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| 207 | caller->state->SetValueNoMutex( 0, 0,Euler::ToDegree(euler.roll));
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| 208 | caller->state->SetValueNoMutex( 1, 0,Euler::ToDegree(euler.pitch));
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| 209 | caller->state->SetValueNoMutex(2, 0,Euler::ToDegree(euler.yaw));
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| 210 | caller->state->ReleaseMutex();
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| 211 |
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| 212 | caller->self->ProcessUpdate(caller->output);
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| 213 | }
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| 214 |
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