[3] | 1 | // %flair:license{
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[15] | 2 | // This file is part of the Flair framework distributed under the
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| 3 | // CECILL-C License, Version 1.0.
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[3] | 4 | // %flair:license}
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| 5 | // created: 2013/04/03
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| 6 | // filename: VrpnClient_impl.h
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| 7 | //
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| 8 | // author: César Richard, Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet se connectant au serveur vrpn
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #ifndef VRPNCLIENT_IMPL_H
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| 19 | #define VRPNCLIENT_IMPL_H
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| 20 |
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| 21 | #include <string>
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| 22 | #include <vector>
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[167] | 23 | #include "Vector3D.h"
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[3] | 24 |
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[15] | 25 | namespace flair {
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| 26 | namespace core {
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| 27 | class OneAxisRotation;
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| 28 | class Quaternion;
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| 29 | class Mutex;
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| 30 | class SerialPort;
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[309] | 31 | class UdpSocket;
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[3] | 32 | }
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[15] | 33 | namespace gui {
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| 34 | class TabWidget;
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| 35 | class Tab;
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| 36 | class Layout;
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| 37 | }
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| 38 | namespace sensor {
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| 39 | class VrpnClient;
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| 40 | class VrpnObject;
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| 41 | }
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| 42 | }
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[3] | 43 |
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| 44 | class VrpnObject_impl;
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| 45 | class vrpn_Connection;
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| 46 |
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[15] | 47 | class VrpnClient_impl {
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| 48 | public:
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| 49 | VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
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[330] | 50 | std::string address,flair::sensor::VrpnClient::ConnectionType_t connectionType);
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[15] | 51 | VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
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| 52 | flair::core::SerialPort *serialport, uint16_t us_period);
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[330] | 53 |
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[15] | 54 | ~VrpnClient_impl();
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[140] | 55 | void AddTrackable(VrpnObject_impl *obj); // normal
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[16] | 56 | void AddTrackable(VrpnObject_impl *obj, uint8_t id); // xbee
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[140] | 57 | void RemoveTrackable(VrpnObject_impl *obj); // normal+xbee
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[167] | 58 | void ComputeRotations(flair::core::Vector3Df &point);
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[15] | 59 | void ComputeRotations(flair::core::Quaternion &quat);
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| 60 | void Run(void);
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| 61 | flair::gui::Tab *setup_tab;
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| 62 | flair::gui::TabWidget *tab;
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| 63 | vrpn_Connection *connection;
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[309] | 64 | flair::sensor::VrpnClient::ConnectionType_t connectionType;
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[3] | 65 |
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[15] | 66 | private:
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[309] | 67 | void CommonConstructor(std::string name);
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[330] | 68 | float ConvertPosition(int16_t value) const;
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| 69 | float ConvertQuaternion(int16_t value) const;
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[15] | 70 | flair::sensor::VrpnClient *self;
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| 71 | flair::core::Mutex *mutex;
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| 72 | uint16_t us_period;
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[140] | 73 | std::vector<VrpnObject_impl *> trackables;
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[332] | 74 | typedef struct xbeeObject_t {
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[15] | 75 | VrpnObject_impl *vrpnobject;
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| 76 | uint8_t id;
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[332] | 77 | } xbeeObject_t;
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[3] | 78 |
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[332] | 79 | std::vector<xbeeObject_t> xbeeObjects;
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[15] | 80 | flair::gui::Tab *main_tab;
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| 81 | flair::core::OneAxisRotation *rotation_1, *rotation_2;
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| 82 | flair::core::SerialPort *serialport;
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[136] | 83 | bool isConnected;//only for ip connection, not for xbee
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[294] | 84 | std::string address;
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[309] | 85 | flair::core::UdpSocket* dataSocket;
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| 86 |
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[3] | 87 | };
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| 88 |
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| 89 | #endif // VRPNCLIENT_IMPL_H
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