Changeset 294 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

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

Author:

Sanahuja Guillaume

Message:

vrpn modifs

Location:

trunk/lib/FlairSensorActuator/src

Files:

• VrpnClient.cpp (modified) (2 diffs)
• VrpnClient_impl.cpp (modified) (6 diffs)
• unexported/VrpnClient_impl.h (modified) (1 diff)

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;
 };