source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp @ 140

Last change on this file since 140 was 140, checked in by Sanahuja Guillaume, 5 years ago

improved vprnobject added to vrpnclient

File size: 5.6 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  // state
59  cvmatrix_descriptor *desc = new cvmatrix_descriptor(7, 1);
60  desc->SetElementName(0, 0, "q0");
61  desc->SetElementName(1, 0, "q1");
62  desc->SetElementName(2, 0, "q2");
63  desc->SetElementName(3, 0, "q3");
64  desc->SetElementName(4, 0, "x");
65  desc->SetElementName(5, 0, "y");
66  desc->SetElementName(6, 0, "z");
67  output = new cvmatrix(self, desc, floatType);
68
69  desc = new cvmatrix_descriptor(3, 1);
70  desc->SetElementName(0, 0, "roll");
71  desc->SetElementName(1, 0, "pitch");
72  desc->SetElementName(2, 0, "yaw");
73  state = new cvmatrix(self, desc, floatType);
74
75  // ui
76  plot_tab = new Tab(tab, "Mesures " + name);
77  x_plot = new DataPlot1D(plot_tab->NewRow(), "x", -10, 10);
78  x_plot->AddCurve(output->Element(4));
79  y_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "y", -10, 10);
80  y_plot->AddCurve(output->Element(5));
81  z_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "z", -2, 0);
82  z_plot->AddCurve(output->Element(6));
83 
84  if (parent->UseXbee()) {
85    tracker = NULL;
86    parent->pimpl_->AddTrackable(this, id);
87  } else {
88    tracker = new vrpn_Tracker_Remote(name.c_str(), parent->pimpl_->connection);
89    tracker->register_change_handler(this, handle_pos);
90    tracker->shutup = true;
91    parent->pimpl_->AddTrackable(this);
92  }
93 
94}
95
96VrpnObject_impl::~VrpnObject_impl(void) {
97  parent->pimpl_->RemoveTrackable(this);
98  if (tracker != NULL) {// normal
99    tracker->unregister_change_handler(this, handle_pos);
100    delete tracker;
101  }
102  delete plot_tab;
103}
104
105bool VrpnObject_impl::IsTracked(unsigned int timeout_ms) {
106  output->GetMutex();
107  Time a = GetTime();
108  Time dt = a - output->DataTime();
109  output->ReleaseMutex();
110
111  if (dt > (Time)(timeout_ms * 1000000)) {
112    // self->Printf("%lld %lld %lld
113    // %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
114    return false;
115  } else {
116    return true;
117  }
118}
119
120void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
121  output->GetMutex();
122  quaternion.q0 = output->ValueNoMutex(0, 0);
123  quaternion.q1 = output->ValueNoMutex(1, 0);
124  quaternion.q2 = output->ValueNoMutex(2, 0);
125  quaternion.q3 = output->ValueNoMutex(3, 0);
126  output->ReleaseMutex();
127}
128
129void VrpnObject_impl::GetPosition(Vector3D &point) {
130  output->GetMutex();
131  point.x = output->ValueNoMutex(4, 0);
132  point.y = output->ValueNoMutex(5, 0);
133  point.z = output->ValueNoMutex(6, 0);
134  output->ReleaseMutex();
135}
136
137void VRPN_CALLBACK
138VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t) {
139  bool is_nan = false;
140  VrpnObject_impl *caller = reinterpret_cast<VrpnObject_impl *>(userdata);
141  Time time = GetTime();
142
143  // check if something is nan
144  for (int i = 0; i < 3; i++) {
145    if (isnan(t.pos[i]) == true)
146      is_nan = true;
147  }
148  for (int i = 0; i < 4; i++) {
149    if (isnan(t.quat[i]) == true)
150      is_nan = true;
151  }
152  if (is_nan == true) {
153    caller->self->Warn("data is nan, skipping it (time %lld)\n", time);
154    return;
155  }
156
157  // on prend une fois pour toute le mutex et on fait des accès directs
158  caller->output->GetMutex();
159
160  // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
161  // flair::core::Quaternion
162        Quaternion quaternion(t.quat[3],t.quat[0],t.quat[1],t.quat[2]);
163  Vector3D pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
164
165  // on effectue les rotation
166  caller->parent->pimpl_->ComputeRotations(pos);
167  caller->parent->pimpl_->ComputeRotations(quaternion);
168
169  caller->output->SetValueNoMutex(0, 0, quaternion.q0);
170  caller->output->SetValueNoMutex(1, 0, quaternion.q1);
171  caller->output->SetValueNoMutex(2, 0, quaternion.q2);
172  caller->output->SetValueNoMutex(3, 0, quaternion.q3);
173  caller->output->SetValueNoMutex(4, 0, pos.x);
174  caller->output->SetValueNoMutex(5, 0, pos.y);
175  caller->output->SetValueNoMutex(6, 0, pos.z);
176
177  caller->output->SetDataTime(time);
178  caller->output->ReleaseMutex();
179
180        Euler euler=quaternion.ToEuler();
181  caller->state->GetMutex();
182  caller->state->SetValueNoMutex(0, 0, Euler::ToDegree(euler.roll));
183  caller->state->SetValueNoMutex(1, 0, Euler::ToDegree(euler.pitch));
184  caller->state->SetValueNoMutex(2, 0, Euler::ToDegree(euler.yaw));
185  caller->state->ReleaseMutex();
186
187  caller->self->ProcessUpdate(caller->output);
188}
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