Changeset 122 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

Jan 6, 2017, 1:56:26 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs uav vrpn i686

Location:

trunk/lib/FlairSensorActuator/src

Files:

• Camera.cpp (modified) (5 diffs)
• Camera.h (modified) (2 diffs)
• VrpnClient.cpp (modified) (1 diff)
• VrpnClient.h (modified) (7 diffs)
• VrpnObject.cpp (modified) (1 diff)
• VrpnObject.h (modified) (4 diffs)
• VrpnObject_impl.cpp (modified) (1 diff)
• unexported/VrpnObject_impl.h (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/Camera.cpp

@@ -24 +24 @@
 #include <DataPlot1D.h>
 #include <Picture.h>
-#include <Buffer.h>
 #include <highgui.h>
 #include <fstream>
@@ -39 +38 @@
     : IODevice(parent, name) {
   plot_tab = NULL;
-        jpgBuffer=NULL;
         logFormat=LogFormat::NONE;
 
@@ -63 +61 @@
 
   output = NULL;
-        jpgBuffer=NULL;
         logFormat=LogFormat::NONE;
 }
@@ -80 +77 @@
                         break;
                 case LogFormat::JPG:
-                        if(jpgBuffer==NULL) {
-                                jpgBuffer=new Buffer(this,"jpg_bufer");
-                                AddDataToLog(jpgBuffer);
-                        }else{
-                                Warn("log format already defined\n");
-                        }
+                                Warn("logging cvimage to jpeg\n");
+                                Warn("jpeg are not included in classical dbt file, as dbt does not handle variable length\n");
                         break;
+                default:
+                        Warn("LogFormat unknown\n");
         }
 }
@@ -119 +114 @@
 
 void Camera::ProcessUpdate(core::io_data* data) {
-        switch(logFormat) {
-                case LogFormat::JPG:
-                                ajouter compression jpg
-                        break;
+        if(getFrameworkManager()->IsLogging() && getFrameworkManager()->IsDeviceLogged(this)) {
+                switch(logFormat) {
+                        case LogFormat::JPG:
+                                        IplImage *img=((cvimage*)data)->img;
+                                        //dspSaveToJpeg(img,"toto");
+                                break;
+                }
         }
         IODevice::ProcessUpdate(data);

trunk/lib/FlairSensorActuator/src/Camera.h

@@ -25 +25 @@
                 class Picture;
                 class GridLayout;
-        }
-        namespace core {
-                class Buffer;
         }
 }
@@ -163 +160 @@
   gui::GridLayout *setup_layout;
         LogFormat logFormat;
-        core::Buffer *jpgBuffer;
 };
 } // end namespace sensor

trunk/lib/FlairSensorActuator/src/VrpnClient.cpp

@@ -26 +26 @@
 using namespace flair::gui;
 
+namespace {
+  flair::sensor::VrpnClient *singleton = NULL;
+}
+
+
 namespace flair {
 namespace sensor {
 
-VrpnClient::VrpnClient(const FrameworkManager *parent, string name,
+VrpnClient *GetVrpnClient(void) { return singleton; }
+        
+VrpnClient::VrpnClient(string name,
                        string address, uint16_t us_period, uint8_t priority)
-    : Thread(parent, name, priority) {
+    : Thread(getFrameworkManager(), name, priority) {
+        if (singleton != NULL) {
+    Err("VrpnClient must be instanced only one time\n");
+    return;
+  }
+
+  singleton = this;
   pimpl_ = new VrpnClient_impl(this, name, address, us_period);
 }
 
-VrpnClient::VrpnClient(const FrameworkManager *parent, string name,
+VrpnClient::VrpnClient(string name,
                        SerialPort *serialport, uint16_t us_period,
                        uint8_t priority)
-    : Thread(parent, name, priority) {
+    : Thread(getFrameworkManager(), name, priority) {
+        if (singleton != NULL) {
+    Err("VrpnClient must be instanced only one time\n");
+    return;
+  }
+
+  singleton = this;
   pimpl_ = new VrpnClient_impl(this, name, serialport, us_period);
 }

trunk/lib/FlairSensorActuator/src/VrpnClient.h

@@ -18 +18 @@
 
 namespace flair {
-namespace core {
-class FrameworkManager;
-class SerialPort;
-}
-namespace gui {
-class TabWidget;
-class Layout;
-}
+        namespace core {
+                class SerialPort;
+        }
+        namespace gui {
+                class TabWidget;
+                class Layout;
+        }
 }
 
@@ -35 +34 @@
 /*! \class VrpnClient
 *
-* \brief Class to connect to a Vrpn server
+* \brief Class to connect to a Vrpn server. The Thread is created with 
+*  the FrameworkManager as parent. FrameworkManager must be created before.
+* Only one instance of this class is allowed by program.
 */
 class VrpnClient : public core::Thread {
@@ -46 +47 @@
   * Construct a VrpnClient. Connection is done by IP.
   *
-  * \param parent parent
   * \param name name
   * \param address server address
@@ -52 +52 @@
   * \param priority priority of the Thread
   */
-  VrpnClient(const core::FrameworkManager *parent, std::string name,
+  VrpnClient(std::string name,
              std::string address, uint16_t us_period, uint8_t priority);
 
@@ -60 +60 @@
   * Construct a VrpnClient. Connection is done by XBee modem.
   *
-  * \param parent parent
   * \param name name
   * \param serialport SerialPort for XBee modem
@@ -66 +65 @@
   * \param priority priority of the Thread
   */
-  VrpnClient(const core::FrameworkManager *parent, std::string name,
+  VrpnClient(std::string name,
              core::SerialPort *serialport, uint16_t us_period,
              uint8_t priority);
@@ -108 +107 @@
   class VrpnClient_impl *pimpl_;
 };
+
+/*!
+* \brief get VrpnClient
+*
+* \return the VrpnClient
+*/
+VrpnClient *GetVrpnClient(void);
+
 } // end namespace sensor
 } // end namespace flair

trunk/lib/FlairSensorActuator/src/VrpnObject.cpp

@@ -30 +30 @@
 namespace sensor {
 
-VrpnObject::VrpnObject(const VrpnClient *parent, string name,
+VrpnObject::VrpnObject(string name,
                        const TabWidget *tab)
-    : IODevice(parent, name) {
-  pimpl_ = new VrpnObject_impl(this, parent, name, -1, tab);
+    : IODevice(GetVrpnClient(), name) {
+  pimpl_ = new VrpnObject_impl(this, name, -1, tab);
   AddDataToLog(pimpl_->output);
 }
 
-VrpnObject::VrpnObject(const VrpnClient *parent, string name, uint8_t id,
+VrpnObject::VrpnObject(string name, uint8_t id,
                        const TabWidget *tab)
-    : IODevice(parent, name) {
+    : IODevice(GetVrpnClient(), name) {
   Warn("Creation of object %s with id %i\n", name.c_str(), id);
-  pimpl_ = new VrpnObject_impl(this, parent, name, id, tab);
+  pimpl_ = new VrpnObject_impl(this, name, id, tab);
   AddDataToLog(pimpl_->output);
 }

trunk/lib/FlairSensorActuator/src/VrpnObject.h

@@ -19 +19 @@
 
 namespace flair {
-namespace core {
-class cvmatrix;
-class Vector3D;
-class Euler;
-class Quaternion;
-}
-namespace gui {
-class TabWidget;
-class Tab;
-class DataPlot1D;
-}
+        namespace core {
+                class cvmatrix;
+                class Vector3D;
+                class Euler;
+                class Quaternion;
+        }
+        namespace gui {
+                class TabWidget;
+                class Tab;
+                class DataPlot1D;
+        }
 }
 
@@ -41 +41 @@
 /*! \class VrpnObject
 *
-* \brief Class for VRPN object
+* \brief Class for VRPN object. The IODevice is created with 
+*  the VrpnClient as parent. VrpnClient must be created before.
 */
 class VrpnObject : public core::IODevice {
@@ -53 +54 @@
   * Construct a VrpnObject. Connection is done by IP.
   *
-  * \param parent parent
   * \param name VRPN object name, should be the same as defined in the server
   * \param tab Tab for the user interface
   */
-  VrpnObject(const VrpnClient *parent, std::string name,
+  VrpnObject(std::string name,
              const gui::TabWidget *tab);
 
@@ -65 +65 @@
   * Construct a VrpnObject. Connection is done by IP.
   *
-  * \param parent parent
   * \param name name
   * \param id VRPN object id, should be the same as defined in the server
   * \param tab Tab for the user interface
   */
-  VrpnObject(const VrpnClient *parent, std::string name, uint8_t id,
+  VrpnObject(std::string name, uint8_t id,
              const gui::TabWidget *tab);
 

trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp

@@ -39 +39 @@
 using namespace flair::sensor;
 
-VrpnObject_impl::VrpnObject_impl(VrpnObject *self, const VrpnClient *parent,
+VrpnObject_impl::VrpnObject_impl(VrpnObject *self,
                                  string name, int id, const TabWidget *tab) {
-  this->parent = parent;
+  parent = GetVrpnClient();
   this->self = self;
 
+        if(parent==NULL) {
+                self->Err("VrpnClient must be instanced before creating VrpnObject\n");
+                return;
+        }
   if (id == -1 && parent->UseXbee()) {
     self->Err("erreur aucun identifiant specifie pour la connexion Xbee\n");

trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h

@@ -26 +26 @@
 
 namespace flair {
-namespace core {
-class cvmatrix;
-class Vector3D;
-class Euler;
-}
-namespace gui {
-class TabWidget;
-class Tab;
-class DataPlot1D;
-}
-namespace sensor {
-class VrpnClient;
-class VrpnObject;
-}
+        namespace core {
+                class cvmatrix;
+                class Vector3D;
+                class Euler;
+        }
+        namespace gui {
+                class TabWidget;
+                class Tab;
+                class DataPlot1D;
+        }
+        namespace sensor {
+                class VrpnClient;
+                class VrpnObject;
+        }
 }
 
@@ -47 +47 @@
 public:
   VrpnObject_impl(flair::sensor::VrpnObject *self,
-                  const flair::sensor::VrpnClient *parent, std::string name,
+                  std::string name,
                   int id, const flair::gui::TabWidget *tab);
   ~VrpnObject_impl(void);