source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp@ 122

Last change on this file since 122 was 122, checked in by Sanahuja Guillaume, 6 years ago

modifs uav vrpn i686

File size: 5.9 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: VrpnObject.cpp
7//
8// author: César Richard, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet vrpn
14//
15//
16/*********************************************************************/
17#include "VrpnObject_impl.h"
18#include "VrpnObject.h"
19#include "VrpnClient.h"
20#include "VrpnClient_impl.h"
21#include <vrpn_Tracker.h>
22#include <fcntl.h>
23#include <errno.h>
24#include <string.h>
25#include <unistd.h>
26#include <vrpn_Connection.h>
27#include <cvmatrix.h>
28#include <Tab.h>
29#include <TabWidget.h>
30#include <DataPlot1D.h>
31#include <OneAxisRotation.h>
32#include <Vector3D.h>
33#include <Euler.h>
34#include <math.h>
35
36using std::string;
37using namespace flair::core;
38using namespace flair::gui;
39using namespace flair::sensor;
40
41VrpnObject_impl::VrpnObject_impl(VrpnObject *self,
42 string name, int id, const TabWidget *tab) {
43 parent = GetVrpnClient();
44 this->self = self;
45
46 if(parent==NULL) {
47 self->Err("VrpnClient must be instanced before creating VrpnObject\n");
48 return;
49 }
50 if (id == -1 && parent->UseXbee()) {
51 self->Err("erreur aucun identifiant specifie pour la connexion Xbee\n");
52 }
53 if (id != -1 && !parent->UseXbee()) {
54 self->Warn(
55 "identifiant pour la connexion Xbee ignore car pas en mode Xbee\n");
56 }
57
58 if (parent->UseXbee()) {
59 parent->pimpl_->AddTrackable(this, id);
60 tracker = NULL;
61 } else {
62 parent->pimpl_->AddTrackable(self);
63 tracker = new vrpn_Tracker_Remote(name.c_str(), parent->pimpl_->connection);
64 tracker->register_change_handler(this, handle_pos);
65 tracker->shutup = true;
66 }
67
68 // state
69 cvmatrix_descriptor *desc = new cvmatrix_descriptor(6, 1);
70 desc->SetElementName(0, 0, "roll");
71 desc->SetElementName(1, 0, "pitch");
72 desc->SetElementName(2, 0, "yaw");
73 desc->SetElementName(3, 0, "x");
74 desc->SetElementName(4, 0, "y");
75 desc->SetElementName(5, 0, "z");
76 output = new cvmatrix(self, desc, floatType);
77
78 desc = new cvmatrix_descriptor(3, 1);
79 desc->SetElementName(0, 0, "roll");
80 desc->SetElementName(1, 0, "pitch");
81 desc->SetElementName(2, 0, "yaw");
82 state = new cvmatrix(self, desc, floatType);
83
84 // ui
85 plot_tab = new Tab(tab, "Mesures " + name);
86 x_plot = new DataPlot1D(plot_tab->NewRow(), "x", -10, 10);
87 x_plot->AddCurve(output->Element(3));
88 y_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "y", -10, 10);
89 y_plot->AddCurve(output->Element(4));
90 z_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "z", -2, 0);
91 z_plot->AddCurve(output->Element(5));
92}
93
94VrpnObject_impl::~VrpnObject_impl(void) {
95 if (tracker != NULL) // normal
96 {
97 parent->pimpl_->RemoveTrackable(self);
98 tracker->unregister_change_handler(this, handle_pos);
99 delete tracker;
100 } else // xbee
101 {
102 parent->pimpl_->RemoveTrackable(this);
103 }
104 delete plot_tab;
105}
106
107void VrpnObject_impl::mainloop(void) { tracker->mainloop(); }
108
109bool VrpnObject_impl::IsTracked(unsigned int timeout_ms) {
110 output->GetMutex();
111 Time a = GetTime();
112 Time dt = a - output->DataTime();
113 output->ReleaseMutex();
114
115 if (dt > (Time)(timeout_ms * 1000000)) {
116 // self->Printf("%lld %lld %lld
117 // %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
118 return false;
119 } else {
120 return true;
121 }
122}
123
124void VrpnObject_impl::GetEuler(Euler &euler) {
125 output->GetMutex();
126 euler.roll = output->ValueNoMutex(0, 0);
127 euler.pitch = output->ValueNoMutex(1, 0);
128 euler.yaw = output->ValueNoMutex(2, 0);
129 output->ReleaseMutex();
130}
131
132void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
133 output->GetMutex();
134 quaternion.q0 = this->quaternion.q0;
135 quaternion.q1 = this->quaternion.q1;
136 quaternion.q2 = this->quaternion.q2;
137 quaternion.q3 = this->quaternion.q3;
138 output->ReleaseMutex();
139}
140
141void VrpnObject_impl::GetPosition(Vector3D &point) {
142 output->GetMutex();
143 point.x = output->ValueNoMutex(3, 0);
144 point.y = output->ValueNoMutex(4, 0);
145 point.z = output->ValueNoMutex(5, 0);
146 output->ReleaseMutex();
147}
148
149void VRPN_CALLBACK
150VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t) {
151 bool is_nan = false;
152 VrpnObject_impl *caller = reinterpret_cast<VrpnObject_impl *>(userdata);
153 Time time = GetTime();
154
155 // check if something is nan
156 for (int i = 0; i < 3; i++) {
157 if (isnan(t.pos[i]) == true)
158 is_nan = true;
159 }
160 for (int i = 0; i < 4; i++) {
161 if (isnan(t.quat[i]) == true)
162 is_nan = true;
163 }
164 if (is_nan == true) {
165 caller->self->Warn("data is nan, skipping it (time %lld)\n", time);
166 return;
167 }
168
169 // on prend une fois pour toute le mutex et on fait des accès directs
170 caller->output->GetMutex();
171
172 // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
173 // flair::core::Quaternion
174 caller->quaternion.q0 = t.quat[3];
175 caller->quaternion.q1 = t.quat[0];
176 caller->quaternion.q2 = t.quat[1];
177 caller->quaternion.q3 = t.quat[2];
178 Vector3D pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
179
180 // on effectue les rotation
181 caller->parent->pimpl_->ComputeRotations(pos);
182 caller->parent->pimpl_->ComputeRotations(caller->quaternion);
183
184 Euler euler;
185 caller->quaternion.ToEuler(euler);
186 caller->output->SetValueNoMutex(0, 0, euler.roll);
187 caller->output->SetValueNoMutex(1, 0, euler.pitch);
188 caller->output->SetValueNoMutex(2, 0, euler.yaw);
189 caller->output->SetValueNoMutex(3, 0, pos.x);
190 caller->output->SetValueNoMutex(4, 0, pos.y);
191 caller->output->SetValueNoMutex(5, 0, pos.z);
192
193 caller->output->SetDataTime(time);
194 caller->output->ReleaseMutex();
195
196 caller->state->GetMutex();
197 caller->state->SetValueNoMutex(0, 0, Euler::ToDegree(euler.roll));
198 caller->state->SetValueNoMutex(1, 0, Euler::ToDegree(euler.pitch));
199 caller->state->SetValueNoMutex(2, 0, Euler::ToDegree(euler.yaw));
200 caller->state->ReleaseMutex();
201
202 caller->self->ProcessUpdate(caller->output);
203}
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