source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp@ 135

Last change on this file since 135 was 135, checked in by Sanahuja Guillaume, 6 years ago

VrpnObject no longer outputs Euler (ony Quaternion): warning, output matrix has changed!

File size: 5.7 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: 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(7, 1);
70 desc->SetElementName(0, 0, "q0");
71 desc->SetElementName(1, 0, "q1");
72 desc->SetElementName(2, 0, "q2");
73 desc->SetElementName(3, 0, "q3");
74 desc->SetElementName(4, 0, "x");
75 desc->SetElementName(5, 0, "y");
76 desc->SetElementName(6, 0, "z");
77 output = new cvmatrix(self, desc, floatType);
78
79 desc = new cvmatrix_descriptor(3, 1);
80 desc->SetElementName(0, 0, "roll");
81 desc->SetElementName(1, 0, "pitch");
82 desc->SetElementName(2, 0, "yaw");
83 state = new cvmatrix(self, desc, floatType);
84
85 // ui
86 plot_tab = new Tab(tab, "Mesures " + name);
87 x_plot = new DataPlot1D(plot_tab->NewRow(), "x", -10, 10);
88 x_plot->AddCurve(output->Element(4));
89 y_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "y", -10, 10);
90 y_plot->AddCurve(output->Element(5));
91 z_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "z", -2, 0);
92 z_plot->AddCurve(output->Element(6));
93}
94
95VrpnObject_impl::~VrpnObject_impl(void) {
96 if (tracker != NULL) // normal
97 {
98 parent->pimpl_->RemoveTrackable(self);
99 tracker->unregister_change_handler(this, handle_pos);
100 delete tracker;
101 } else // xbee
102 {
103 parent->pimpl_->RemoveTrackable(this);
104 }
105 delete plot_tab;
106}
107
108void VrpnObject_impl::mainloop(void) { tracker->mainloop(); }
109
110bool VrpnObject_impl::IsTracked(unsigned int timeout_ms) {
111 output->GetMutex();
112 Time a = GetTime();
113 Time dt = a - output->DataTime();
114 output->ReleaseMutex();
115
116 if (dt > (Time)(timeout_ms * 1000000)) {
117 // self->Printf("%lld %lld %lld
118 // %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
119 return false;
120 } else {
121 return true;
122 }
123}
124
125void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
126 output->GetMutex();
127 quaternion.q0 = output->ValueNoMutex(0, 0);
128 quaternion.q1 = output->ValueNoMutex(1, 0);
129 quaternion.q2 = output->ValueNoMutex(2, 0);
130 quaternion.q3 = output->ValueNoMutex(3, 0);
131 output->ReleaseMutex();
132}
133
134void VrpnObject_impl::GetPosition(Vector3D &point) {
135 output->GetMutex();
136 point.x = output->ValueNoMutex(4, 0);
137 point.y = output->ValueNoMutex(5, 0);
138 point.z = output->ValueNoMutex(6, 0);
139 output->ReleaseMutex();
140}
141
142void VRPN_CALLBACK
143VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t) {
144 bool is_nan = false;
145 VrpnObject_impl *caller = reinterpret_cast<VrpnObject_impl *>(userdata);
146 Time time = GetTime();
147
148 // check if something is nan
149 for (int i = 0; i < 3; i++) {
150 if (isnan(t.pos[i]) == true)
151 is_nan = true;
152 }
153 for (int i = 0; i < 4; i++) {
154 if (isnan(t.quat[i]) == true)
155 is_nan = true;
156 }
157 if (is_nan == true) {
158 caller->self->Warn("data is nan, skipping it (time %lld)\n", time);
159 return;
160 }
161
162 // on prend une fois pour toute le mutex et on fait des accès directs
163 caller->output->GetMutex();
164
165 // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
166 // flair::core::Quaternion
167 Quaternion quaternion(t.quat[3],t.quat[0],t.quat[1],t.quat[2]);
168 Vector3D pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
169
170 // on effectue les rotation
171 caller->parent->pimpl_->ComputeRotations(pos);
172 caller->parent->pimpl_->ComputeRotations(quaternion);
173
174 caller->output->SetValueNoMutex(0, 0, quaternion.q0);
175 caller->output->SetValueNoMutex(1, 0, quaternion.q1);
176 caller->output->SetValueNoMutex(2, 0, quaternion.q2);
177 caller->output->SetValueNoMutex(3, 0, quaternion.q3);
178 caller->output->SetValueNoMutex(4, 0, pos.x);
179 caller->output->SetValueNoMutex(5, 0, pos.y);
180 caller->output->SetValueNoMutex(6, 0, pos.z);
181
182 caller->output->SetDataTime(time);
183 caller->output->ReleaseMutex();
184
185 Euler euler=quaternion.ToEuler();
186 caller->state->GetMutex();
187 caller->state->SetValueNoMutex(0, 0, Euler::ToDegree(euler.roll));
188 caller->state->SetValueNoMutex(1, 0, Euler::ToDegree(euler.pitch));
189 caller->state->SetValueNoMutex(2, 0, Euler::ToDegree(euler.yaw));
190 caller->state->ReleaseMutex();
191
192 caller->self->ProcessUpdate(caller->output);
193}
Note: See TracBrowser for help on using the repository browser.