source: flair-src/trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp@ 318

Last change on this file since 318 was 318, checked in by Sanahuja Guillaume, 3 years ago
File size: 6.4 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 <Matrix.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,VrpnClient *client) {
43 parent = client;
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 && GetVrpnClient()->ConnectionType()==VrpnClient::Xbee) {
51 self->Err("erreur aucun identifiant specifie pour la connexion Xbee\n");
52 }
53 if (id == -1 && GetVrpnClient()->ConnectionType()==VrpnClient::VrpnLite) {
54 self->Err("erreur aucun identifiant specifie pour la connexion VrpnLite\n");
55 }
56 if (id != -1 && GetVrpnClient()->ConnectionType()==VrpnClient::Vrpn) {
57 self->Warn("identifiant pour la connexion ignore car inutile en mode Vrpn\n");
58 }
59
60 // state
61 MatrixDescriptor *desc = new MatrixDescriptor(7, 1);
62 desc->SetElementName(0, 0, "q0");
63 desc->SetElementName(1, 0, "q1");
64 desc->SetElementName(2, 0, "q2");
65 desc->SetElementName(3, 0, "q3");
66 desc->SetElementName(4, 0, "x");
67 desc->SetElementName(5, 0, "y");
68 desc->SetElementName(6, 0, "z");
69 output = new Matrix(self, desc, floatType);
70 delete desc;
71
72 desc = new MatrixDescriptor(3, 1);
73 desc->SetElementName(0, 0, "roll");
74 desc->SetElementName(1, 0, "pitch");
75 desc->SetElementName(2, 0, "yaw");
76 state = new Matrix(self, desc, floatType);
77 delete desc;
78
79 // ui
80 plot_tab = new Tab(tab, "Mesures " + name);
81 x_plot = new DataPlot1D(plot_tab->NewRow(), "x", -10, 10);
82 x_plot->AddCurve(output->Element(4));
83 y_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "y", -10, 10);
84 y_plot->AddCurve(output->Element(5));
85 z_plot = new DataPlot1D(plot_tab->LastRowLastCol(), "z", -2, 0);
86 z_plot->AddCurve(output->Element(6));
87
88 if (GetVrpnClient()->ConnectionType()==VrpnClient::Xbee) {
89 parent->pimpl_->AddTrackable(this, id);
90 } else if(GetVrpnClient()->ConnectionType()==VrpnClient::Vrpn){
91 tracker = new vrpn_Tracker_Remote(name.c_str(), parent->pimpl_->connection);
92 tracker->register_change_handler(this, handle_pos);
93 tracker->shutup = true;
94 parent->pimpl_->AddTrackable(this);
95 } else if(GetVrpnClient()->ConnectionType()==VrpnClient::VrpnLite){
96 parent->pimpl_->AddTrackable(this, id);
97 }
98
99 previousTime=TIME_INFINITE;
100}
101
102VrpnObject_impl::~VrpnObject_impl(void) {
103 parent->pimpl_->RemoveTrackable(this);
104 if (GetVrpnClient()->ConnectionType()==VrpnClient::Vrpn) {
105 tracker->unregister_change_handler(this, handle_pos);
106 delete tracker;
107 }
108 delete plot_tab;
109}
110
111bool VrpnObject_impl::IsTracked(unsigned int timeout_ms) {
112 output->GetMutex();
113 Time a = GetTime();
114 Time dt = a - output->DataTime();
115 output->ReleaseMutex();
116
117 if (dt > (Time)(timeout_ms * 1000000)) {
118 // self->Printf("%lld %lld %lld
119 // %lld\n",a,output->DataTime(),dt,(Time)(timeout_ms*1000000));
120 return false;
121 } else {
122 return true;
123 }
124}
125
126void VrpnObject_impl::GetQuaternion(Quaternion &quaternion) {
127 output->GetMutex();
128 quaternion.q0 = output->ValueNoMutex(0, 0);
129 quaternion.q1 = output->ValueNoMutex(1, 0);
130 quaternion.q2 = output->ValueNoMutex(2, 0);
131 quaternion.q3 = output->ValueNoMutex(3, 0);
132 output->ReleaseMutex();
133}
134
135void VrpnObject_impl::GetPosition(Vector3Df &point) {
136 output->GetMutex();
137 point.x = output->ValueNoMutex(4, 0);
138 point.y = output->ValueNoMutex(5, 0);
139 point.z = output->ValueNoMutex(6, 0);
140 output->ReleaseMutex();
141}
142
143void VRPN_CALLBACK
144VrpnObject_impl::handle_pos(void *userdata, const vrpn_TRACKERCB t) {
145 bool is_nan = false;
146 VrpnObject_impl *caller = reinterpret_cast<VrpnObject_impl *>(userdata);
147 Time time = GetTime();
148 //Printf("%s %lld %lld\n",caller->self->ObjectName().c_str(),time,(Time)t.msg_time.tv_sec*(Time)1000000+(Time)t.msg_time.tv_usec);
149 Time vrpnTime=(Time)t.msg_time.tv_sec*(Time)1000000000+(Time)t.msg_time.tv_usec*(Time)1000;
150 Time deltaTime;
151 if(caller->previousTime!=TIME_INFINITE) {
152 deltaTime=vrpnTime-caller->previousTime;
153 } else {
154 deltaTime=TIME_INFINITE;
155 }
156 caller->previousTime=vrpnTime;
157
158 // check if something is nan
159 for (int i = 0; i < 3; i++) {
160 if (isnan(t.pos[i]) == true)
161 is_nan = true;
162 }
163 for (int i = 0; i < 4; i++) {
164 if (isnan(t.quat[i]) == true)
165 is_nan = true;
166 }
167 if (is_nan == true) {
168 caller->self->Warn("data is nan, skipping it (time %lld)\n", time);
169 return;
170 }
171
172 // on prend une fois pour toute le mutex et on fait des accès directs
173 caller->output->GetMutex();
174
175 // warning: t.quat is defined as (qx,qy,qz,qw), which is different from
176 // flair::core::Quaternion
177 Quaternion quaternion(t.quat[3],t.quat[0],t.quat[1],t.quat[2]);
178 Vector3Df 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(quaternion);
183
184 caller->output->SetValueNoMutex(0, 0, quaternion.q0);
185 caller->output->SetValueNoMutex(1, 0, quaternion.q1);
186 caller->output->SetValueNoMutex(2, 0, quaternion.q2);
187 caller->output->SetValueNoMutex(3, 0, quaternion.q3);
188 caller->output->SetValueNoMutex(4, 0, pos.x);
189 caller->output->SetValueNoMutex(5, 0, pos.y);
190 caller->output->SetValueNoMutex(6, 0, pos.z);
191
192 caller->output->SetDataTime(time,deltaTime);
193 caller->output->ReleaseMutex();
194
195 Euler euler=quaternion.ToEuler();
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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