Changeset 294 in flair-src

Timestamp:

Jan 9, 2019, 3:38:32 PM (6 years ago)

Author:

Sanahuja Guillaume

Message:

vrpn modifs

Location:

trunk/lib

Files:

• FlairCore/src/Object.cpp (modified) (2 diffs)
• FlairCore/src/Object.h (modified) (4 diffs)
• FlairCore/src/Unix_SerialPort.h (modified) (1 diff)
• FlairSensorActuator/src/VrpnClient.cpp (modified) (2 diffs)
• FlairSensorActuator/src/VrpnClient_impl.cpp (modified) (6 diffs)
• FlairSensorActuator/src/unexported/VrpnClient_impl.h (modified) (1 diff)
• FlairSimulator/src/Gui_impl.cpp (modified) (1 diff)
• FlairSimulator/src/Simulator_impl.cpp (modified) (1 diff)

trunk/lib/FlairCore/src/Object.cpp

@@ -91 +91 @@
   if (rt_task_self() != NULL) {
     rt_fprintf(stderr, "\033[%dm", color);
-    if (line) {
-      rt_fprintf(stderr, "%s - line %d, %s: ", function, line,
-                 pimpl_->name.c_str());
-    } else {
-      rt_fprintf(stderr, "%s, %s: ", function, pimpl_->name.c_str());
+    if(function) {
+      if (line) {
+        rt_fprintf(stderr, "%s - line %d, %s: ", function, line,
+                   pimpl_->name.c_str());
+      } else {
+        rt_fprintf(stderr, "%s, %s: ", function, pimpl_->name.c_str());
+      }
     }
     rt_vfprintf(stderr, format, *args);
@@ -103 +105 @@
   {
     fprintf(stderr, "\033[%dm", color);
-    if (line) {
-      fprintf(stderr, "%s - line %d, %s: ", function, line,
-              pimpl_->name.c_str());
-    } else {
-      fprintf(stderr, "%s, %s: ", function, pimpl_->name.c_str());
+    if(function) {
+      if (line) {
+        fprintf(stderr, "%s - line %d, %s: ", function, line,
+                pimpl_->name.c_str());
+      } else {
+        fprintf(stderr, "%s, %s: ", function, pimpl_->name.c_str());
+      }
     }
     vfprintf(stderr, format, *args);

trunk/lib/FlairCore/src/Object.h

@@ -18 +18 @@
 #include <stdarg.h>
 
+//orange printf, with function call and object name display
 #define Warn(...) Warning(__PRETTY_FUNCTION__, __VA_ARGS__)
+//red printf, with function call and object name display
 #define Err(...) Error(__PRETTY_FUNCTION__, __VA_ARGS__)
+//green printf, with function call and object name display
 #define Info(...) Information(__PRETTY_FUNCTION__, __LINE__, __VA_ARGS__)
+
+//orange printf
+#define SimpleWarn(...) Warning(NULL, __VA_ARGS__)
 
 #define TIME_INFINITE 0
@@ -140 +146 @@
   * Green colored Printf(). \n
   * Note that it is better to call Info macro, which automatically fills
-  *function parameter.
+  * calling function parameter.
   *
   * \param function name of calling function
@@ -154 +160 @@
   * Orange colored Printf(). \n
   * Note that it is better to call Warn macro, which automatically fills
-  *function parameter.
+  * calling function parameter.
   *
   * \param function name of calling function
@@ -166 +172 @@
   * Red colored Printf(). \n
   * Note that it is better to call Err macro, which automatically fills function
-  *parameter. \n
+  * calling parameter. \n
   * After calling this method, ErrorOccured() will always return true.
   *

trunk/lib/FlairCore/src/Unix_SerialPort.h

@@ -35 +35 @@
   * \param parent parent
   * \param name name
-  * \param device serial device (ex rtser1)
+  * \param device serial device (ex /dev/ttyS0)
   */
   Unix_SerialPort(const Object *parent, std::string port_name,

trunk/lib/FlairSensorActuator/src/VrpnClient.cpp

@@ -39 +39 @@
     : Thread(getFrameworkManager(), name, priority) {
         if (singleton != NULL) {
-    Err("VrpnClient must be instanced only one time\n");
-    return;
+    SimpleWarn("VrpnClient should be instanced only one time!\n");
+    SimpleWarn("Next calls to GetVrpnClient() will return the first created VrpnClient (%s)\n",singleton->ObjectName().c_str());
+  } else {
+    singleton = this;
   }
 
-  singleton = this;
   pimpl_ = new VrpnClient_impl(this, name, address);
 }
@@ -52 +53 @@
     : Thread(getFrameworkManager(), name, priority) {
         if (singleton != NULL) {
-    Err("VrpnClient must be instanced only one time\n");
-    return;
+    SimpleWarn("VrpnClient should be instanced only one time!\n");
+    SimpleWarn("Next calls to GetVrpnClient() will return the first created VrpnClient (%s)\n",singleton->ObjectName().c_str());
+  } else {
+    singleton = this;
   }
-
-  singleton = this;
+  
   pimpl_ = new VrpnClient_impl(this, name, serialport, us_period);
 }

trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp

@@ -41 +41 @@
                                  std::string address) {
   this->self = self;
+  this->address = address;
   serialport = NULL;
         isConnected=false;
@@ -55 +56 @@
   rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
   rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
+  
+  Printf("Connecting to VRPN server on %s\n",address.c_str());
 }
 
@@ -75 +78 @@
   rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
   rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
+  
+  Printf("Connecting to VRPN server on %s\n",serialport->ObjectName().c_str());
 }
 
@@ -172 +177 @@
         // self->Warn("erreur rt_dev_read (%s)\n",strerror(-read));
       } else if (read != sizeof(response)) {
-        self->Warn("erreur rt_dev_read %i/%i\n", read, sizeof(response));
+        self->Warn("serial read error %i/%i\n", read, sizeof(response));
       } else {
         // for(ssize_t i=0;i<read;i++) printf("%x ",response[i]);
@@ -209 +214 @@
         if(connection->connected()==vrpn_true && !isConnected) {
             isConnected=true;
-            Printf("VRPN connected\n");
+            Printf("VRPN connected to %s\n",address.c_str());
         }
         if(connection->connected()==vrpn_false && isConnected) {
             isConnected=false;
-            Printf("VRPN disconnected\n");
+            Printf("VRPN disconnected to %s\n",address.c_str());
         }
         //timeout in mainloop is not well handled if not connected...
@@ -219 +224 @@
             //this is when trackables callbacks are called:
             if(connection->mainloop(&timeout)!=0) {
-                self->Warn("connection dropped\n");
+                self->Warn("connection dropped from\n",address.c_str());
             }
             //printf("%lld\n",GetTime()/(1000*1000));

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

@@ -77 +77 @@
   flair::core::SerialPort *serialport;
         bool isConnected;//only for ip connection, not for xbee
+  std::string address;
 };
 

trunk/lib/FlairSimulator/src/Gui_impl.cpp

@@ -378 +378 @@
   std::ostringstream text;
 
-  text << "Cam: " << cameras.at(cam_id)->getName().c_str()
+  text << getSimulator()->ObjectName().c_str()  << ", active cam: " << cameras.at(cam_id)->getName().c_str()
      << ", FPS: " << fps;
 

trunk/lib/FlairSimulator/src/Simulator_impl.cpp

@@ -36 +36 @@
   this->optitrack_mstime = optitrack_mstime;
   yaw_rad = Euler::ToRadian(yaw_deg);
+  Printf("Starting VRPN server on port %i\n",port);
 }