Last change
on this file since 450 was 448, checked in by Sanahuja Guillaume, 3 years ago |
handle ack in vrpnlite
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File size:
1.3 KB
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1 | // created: 2019/03/12
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2 | // filename: VrpnLite.h
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3 | //
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4 | // author: Guillaume Sanahuja
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5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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6 | //
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7 | // version: $Id: $
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8 | //
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9 | // purpose: vrpnlite, to forward it to bth for exemple
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10 | // usefull to reduce vrpn frame size
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11 | //
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12 | /*********************************************************************/
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13 |
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14 | #ifndef VRPNLITE_H
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15 | #define VRPNLITE_H
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16 |
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17 | #include <string>
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18 | #include <Thread.h>
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19 |
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20 | namespace flair {
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21 | namespace core {
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22 | class UdpSocket;
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23 | }
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24 | namespace gui {
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25 | class PushButton;
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26 | }
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27 | namespace sensor {
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28 | class VrpnClient;
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29 | class VrpnObject;
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30 | }
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31 | }
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32 |
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33 | class VrpnLite: public flair::core::Thread {
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34 | public:
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35 | VrpnLite(int vrpnLitePort,std::string vrpnServerAddress);
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36 | ~VrpnLite();
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37 |
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38 | private:
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39 | typedef struct {
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40 | std::vector<flair::sensor::VrpnObject*> vrpnobjects;
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41 | flair::core::Time lastAck;
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42 | uint16_t srcId;
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43 | } connection_t;
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44 | flair::gui::PushButton* killButton;
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45 | flair::sensor::VrpnClient* vrpnclient;
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46 | std::vector<connection_t> connections;
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47 | flair::core::UdpSocket* dataSocket;
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48 | void Run(void);
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49 | void SendObjects(void) ;
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50 | int16_t ConvertPosition(float value) const;
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51 | int16_t ConvertQuaternion(float value) const;
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52 | connection_t* ConnectionOfSrcId(uint16_t srcId);
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53 | };
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54 |
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55 | #endif // VRPNLITE_H
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