source: flair-src/trunk/lib/FlairSensorActuator/src/unexported/VrpnClient_impl.h@ 309

Last change on this file since 309 was 309, checked in by Sanahuja Guillaume, 3 years ago

vrpnlite support

File size: 2.3 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: VrpnClient_impl.h
7//
8// author: César Richard, Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet se connectant au serveur vrpn
14//
15//
16/*********************************************************************/
17
18#ifndef VRPNCLIENT_IMPL_H
19#define VRPNCLIENT_IMPL_H
20
21#include <string>
22#include <vector>
23#include "Vector3D.h"
24
25namespace flair {
26namespace core {
27class OneAxisRotation;
28class Quaternion;
29class Mutex;
30class SerialPort;
31class UdpSocket;
32}
33namespace gui {
34class TabWidget;
35class Tab;
36class Layout;
37}
38namespace sensor {
39class VrpnClient;
40class VrpnObject;
41}
42}
43
44class VrpnObject_impl;
45class vrpn_Connection;
46
47class VrpnClient_impl {
48public:
49 VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
50 std::string address);
51 VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
52 flair::core::SerialPort *serialport, uint16_t us_period);
53 VrpnClient_impl(flair::sensor::VrpnClient *self, std::string name,
54 uint16_t port);
55 ~VrpnClient_impl();
56 void AddTrackable(VrpnObject_impl *obj); // normal
57 void AddTrackable(VrpnObject_impl *obj, uint8_t id); // xbee
58 void RemoveTrackable(VrpnObject_impl *obj); // normal+xbee
59 void ComputeRotations(flair::core::Vector3Df &point);
60 void ComputeRotations(flair::core::Quaternion &quat);
61 void Run(void);
62 flair::gui::Tab *setup_tab;
63 flair::gui::TabWidget *tab;
64 vrpn_Connection *connection;
65 flair::sensor::VrpnClient::ConnectionType_t connectionType;
66
67private:
68 void CommonConstructor(std::string name);
69 flair::sensor::VrpnClient *self;
70 flair::core::Mutex *mutex;
71 uint16_t us_period;
72 std::vector<VrpnObject_impl *> trackables;
73 typedef struct liteObject_t {
74 VrpnObject_impl *vrpnobject;
75 uint8_t id;
76 } liteObject_t;
77
78 std::vector<liteObject_t> liteObjects;
79 flair::gui::Tab *main_tab;
80 flair::core::OneAxisRotation *rotation_1, *rotation_2;
81 flair::core::SerialPort *serialport;
82 bool isConnected;//only for ip connection, not for xbee
83 std::string address;
84 flair::core::UdpSocket* dataSocket;
85
86};
87
88#endif // VRPNCLIENT_IMPL_H
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