source: flair-src/trunk/tools/VrpnLite/src/VrpnLite.h@ 448

Last change on this file since 448 was 448, checked in by Sanahuja Guillaume, 4 months ago

handle ack in vrpnlite

File size: 1.3 KB
RevLine 
[308]1// created: 2019/03/12
2// filename: VrpnLite.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: vrpnlite, to forward it to bth for exemple
10// usefull to reduce vrpn frame size
11//
12/*********************************************************************/
13
14#ifndef VRPNLITE_H
15#define VRPNLITE_H
16
17#include <string>
18#include <Thread.h>
19
20namespace flair {
21 namespace core {
22 class UdpSocket;
23 }
[446]24 namespace gui {
25 class PushButton;
26 }
[308]27 namespace sensor {
28 class VrpnClient;
29 class VrpnObject;
30 }
31}
32
33class VrpnLite: public flair::core::Thread {
34 public:
[330]35 VrpnLite(int vrpnLitePort,std::string vrpnServerAddress);
[308]36 ~VrpnLite();
37
38private:
[448]39 typedef struct {
40 std::vector<flair::sensor::VrpnObject*> vrpnobjects;
41 flair::core::Time lastAck;
42 uint16_t srcId;
43 } connection_t;
[446]44 flair::gui::PushButton* killButton;
[308]45 flair::sensor::VrpnClient* vrpnclient;
[448]46 std::vector<connection_t> connections;
[308]47 flair::core::UdpSocket* dataSocket;
[448]48 void Run(void);
49 void SendObjects(void) ;
[330]50 int16_t ConvertPosition(float value) const;
51 int16_t ConvertQuaternion(float value) const;
[448]52 connection_t* ConnectionOfSrcId(uint16_t srcId);
[308]53};
54
55#endif // VRPNLITE_H
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