source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnClient_impl.h@ 167

// %flair:license{

// This file is part of the Flair framework distributed under the

// CECILL-C License, Version 1.0.

// %flair:license}

//  created:    2013/04/03

//  filename:   VrpnClient_impl.h

//

//  author:     César Richard, Guillaume Sanahuja

//              Copyright Heudiasyc UMR UTC/CNRS 7253

//

//  version:    $Id: $

//

//  purpose:    objet se connectant au serveur vrpn

//

//

/*********************************************************************/



#ifndef VRPNCLIENT_IMPL_H

#define VRPNCLIENT_IMPL_H



#include <string>

#include <vector>

#include "Vector3D.h"



namespace flair {

namespace core {

class OneAxisRotation;

class Quaternion;

class Mutex;

class SerialPort;

}

namespace gui {

class TabWidget;

class Tab;

class Layout;

}

namespace sensor {

class VrpnClient;

class VrpnObject;

}

}



class VrpnObject_impl;

class vrpn_Connection;



class VrpnClient_impl {

public:

  VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,

                  std::string address);

  VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,

                  flair::core::SerialPort *serialport, uint16_t us_period);

  ~VrpnClient_impl();

  void AddTrackable(VrpnObject_impl *obj);    // normal

  void AddTrackable(VrpnObject_impl *obj, uint8_t id);  // xbee

  void RemoveTrackable(VrpnObject_impl *obj);           // normal+xbee

  void ComputeRotations(flair::core::Vector3Df &point);

  void ComputeRotations(flair::core::Quaternion &quat);

  bool UseXbee(void);

  void Run(void);

  flair::gui::Tab *setup_tab;

  flair::gui::TabWidget *tab;

  vrpn_Connection *connection;



private:

  flair::sensor::VrpnClient *self;

  flair::core::Mutex *mutex;

  uint16_t us_period;

  std::vector<VrpnObject_impl *> trackables;

  typedef struct xbee_object {

    VrpnObject_impl *vrpnobject;

    uint8_t id;

  } xbee_object;



  std::vector<xbee_object> xbee_objects;

  flair::gui::Tab *main_tab;

  flair::core::OneAxisRotation *rotation_1, *rotation_2;

  flair::core::SerialPort *serialport;

        bool isConnected;//only for ip connection, not for xbee

};



#endif // VRPNCLIENT_IMPL_H