| 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 <Matrix.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,
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| 42 | string name, int id, const TabWidget *tab) {
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| 43 | parent = GetVrpnClient();
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| 44 | this->self = self;
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| 45 |
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| 46 | if(parent==NULL) {
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| 47 | self->Err("VrpnClient must be instanced before creating VrpnObject\n");
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| 48 | return;
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| 49 | }
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| 50 | if (id == -1 && parent->UseXbee()) {
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| 51 | self->Err("erreur aucun identifiant specifie pour la connexion Xbee\n");
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| 52 | }
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| 53 | if (id != -1 && !parent->UseXbee()) {
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| 54 | self->Warn(
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| 55 | "identifiant pour la connexion Xbee ignore car pas en mode Xbee\n");
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| 56 | }
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| 57 |
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| 58 | // state
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| 59 | cvmatrix_descriptor *desc = new cvmatrix_descriptor(7, 1);
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| 60 | desc->SetElementName(0, 0, "q0");
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| 61 | desc->SetElementName(1, 0, "q1");
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| 62 | desc->SetElementName(2, 0, "q2");
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| 63 | desc->SetElementName(3, 0, "q3");
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| 64 | desc->SetElementName(4, 0, "x");
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| 65 | desc->SetElementName(5, 0, "y");
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| 66 | desc->SetElementName(6, 0, "z");
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| 67 | output = new Matrix(self, desc, floatType);
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| 68 | delete desc;
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| 69 |
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| 70 | desc = new cvmatrix_descriptor(3, 1);
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| 71 | desc->SetElementName(0, 0, "roll");
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| 72 | desc->SetElementName(1, 0, "pitch");
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| 73 | desc->SetElementName(2, 0, "yaw");
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| 74 | state = new Matrix(self, desc, floatType);
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| 75 | delete desc;
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| 76 |
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| 77 | // ui
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| 78 | plot_tab = new Tab(tab, "Mesures " + name);
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| 79 | x_plot = new DataPlot1D(plot_tab->NewRow(), "x", -10, 10);
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| 80 | x_plot->AddCurve(output->Element(4));
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| 81 | y_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "y", -10, 10);
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| 82 | y_plot->AddCurve(output->Element(5));
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| 83 | z_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "z", -2, 0);
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| 84 | z_plot->AddCurve(output->Element(6));
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| 85 |
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| 86 | if (parent->UseXbee()) {
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| 87 | tracker = NULL;
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| 88 | parent->pimpl_->AddTrackable(this, id);
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| 89 | } else {
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| 90 | tracker = new vrpn_Tracker_Remote(name.c_str(), parent->pimpl_->connection);
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| 91 | tracker->register_change_handler(this, handle_pos);
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| 92 | tracker->shutup = true;
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| 93 | parent->pimpl_->AddTrackable(this);
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| 94 | }
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| 95 |
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| 96 | }
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| 97 |
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| 98 | VrpnObject_impl::~VrpnObject_impl(void) {
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| 99 | parent->pimpl_->RemoveTrackable(this);
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| 100 | if (tracker != NULL) {// normal
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| 101 | tracker->unregister_change_handler(this, handle_pos);
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| 102 | delete tracker;
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| 103 | }
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| 104 | delete plot_tab;
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| 105 | }
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| 106 |
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| 107 | bool VrpnObject_impl::IsTracked(unsigned int timeout_ms) {
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| 108 | output->GetMutex();
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| 109 | Time a = GetTime();
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| 110 | Time dt = a - output->DataTime();
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| 111 | output->ReleaseMutex();
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| 112 |
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| 113 | if (dt > (Time)(timeout_ms * 1000000)) {
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| 114 | // self->Printf("%lld %lld %lld
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| 115 | // %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
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| 116 | return false;
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| 117 | } else {
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| 118 | return true;
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| 119 | }
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| 120 | }
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| 121 |
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| 122 | void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
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| 123 | output->GetMutex();
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| 124 | quaternion.q0 = output->ValueNoMutex(0, 0);
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| 125 | quaternion.q1 = output->ValueNoMutex(1, 0);
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| 126 | quaternion.q2 = output->ValueNoMutex(2, 0);
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| 127 | quaternion.q3 = output->ValueNoMutex(3, 0);
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| 128 | output->ReleaseMutex();
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| 129 | }
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| 130 |
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| 131 | void VrpnObject_impl::GetPosition(Vector3Df &point) {
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| 132 | output->GetMutex();
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| 133 | point.x = output->ValueNoMutex(4, 0);
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| 134 | point.y = output->ValueNoMutex(5, 0);
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| 135 | point.z = output->ValueNoMutex(6, 0);
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| 136 | output->ReleaseMutex();
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| 137 | }
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| 138 |
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| 139 | void VRPN_CALLBACK
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| 140 | VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t) {
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| 141 | bool is_nan = false;
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| 142 | VrpnObject_impl *caller = reinterpret_cast<VrpnObject_impl *>(userdata);
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| 143 | Time time = GetTime();
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| 144 | //Printf("%s %lld %lld\n",caller->self->ObjectName().c_str(),time,t.msg_time.tv_sec*1000000+t.msg_time.tv_usec);
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| 145 |
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| 146 | // check if something is nan
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| 147 | for (int i = 0; i < 3; i++) {
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| 148 | if (isnan(t.pos[i]) == true)
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| 149 | is_nan = true;
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| 150 | }
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| 151 | for (int i = 0; i < 4; i++) {
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| 152 | if (isnan(t.quat[i]) == true)
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| 153 | is_nan = true;
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| 154 | }
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| 155 | if (is_nan == true) {
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| 156 | caller->self->Warn("data is nan, skipping it (time %lld)\n", time);
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| 157 | return;
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| 158 | }
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| 159 |
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| 160 | // on prend une fois pour toute le mutex et on fait des accès directs
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| 161 | caller->output->GetMutex();
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| 162 |
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| 163 | // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
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| 164 | // flair::core::Quaternion
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| 165 | Quaternion quaternion(t.quat[3],t.quat[0],t.quat[1],t.quat[2]);
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| 166 | Vector3Df pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
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| 167 |
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| 168 | // on effectue les rotation
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| 169 | caller->parent->pimpl_->ComputeRotations(pos);
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| 170 | caller->parent->pimpl_->ComputeRotations(quaternion);
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| 171 |
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| 172 | caller->output->SetValueNoMutex(0, 0, quaternion.q0);
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| 173 | caller->output->SetValueNoMutex(1, 0, quaternion.q1);
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| 174 | caller->output->SetValueNoMutex(2, 0, quaternion.q2);
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| 175 | caller->output->SetValueNoMutex(3, 0, quaternion.q3);
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| 176 | caller->output->SetValueNoMutex(4, 0, pos.x);
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| 177 | caller->output->SetValueNoMutex(5, 0, pos.y);
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| 178 | caller->output->SetValueNoMutex(6, 0, pos.z);
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| 179 |
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| 180 | caller->output->SetDataTime(time);
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| 181 | caller->output->ReleaseMutex();
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| 182 |
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| 183 | Euler euler=quaternion.ToEuler();
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| 184 | caller->state->GetMutex();
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| 185 | caller->state->SetValueNoMutex(0, 0, Euler::ToDegree(euler.roll));
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| 186 | caller->state->SetValueNoMutex(1, 0, Euler::ToDegree(euler.pitch));
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| 187 | caller->state->SetValueNoMutex(2, 0, Euler::ToDegree(euler.yaw));
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| 188 | caller->state->ReleaseMutex();
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| 189 |
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| 190 | caller->self->ProcessUpdate(caller->output);
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| 191 | }
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