tracker_impl.h

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#ifndef TRACKER_H
#define TRACKER_H

//MACROS
#define DIEonERR(value) if (value<0) { \
 fprintf(stderr,"%i DIED in %s line %i with error %i\n",getpid(),__FILE__,__LINE__,-value);exit(1); }

/* system includes */
#include <string>

/* my includes */
#include "transformCoords.h"
//KOGMO_RTDB standard includes
#define KOGMO_RTDB_DONT_INCLUDE_ALL_OBJECTS
#include "kogmo_rtdb.h"
#include "kogmo_rtdb_obj_typeids.h"
//KOGMO_RTDB special includes for our project with the id E1
#include "itec/kogmo_rtdb_obj_e1_itec.h"
using namespace KogniMobil;


typedef enum{rightTracker=1, leftTracker}trackerID;

//for reference purposes: the old data structure
/*
    // Definition of a calibration data set
  struct fulcrum{
    double sensorVal[3];
    double sensorAngle[3];
        double worldVal[3];
        double worldAngle[3];
  };
  //typedef sequence<fulcrum> oneSensorCal;
  typedef sequence<fulcrum> allSensorCal;
*/

class tracker_impl{
 public:
  tracker_impl(trackerID t, BirdTrack_impl* b, std::string trackerName);
  ~tracker_impl();

  void start();
  void stop();
  
  bool loadCalibFile(const char *srcFileName);


private:
  trackerID myID;
  BirdTrack_impl* myBird;
  transformCoords* myTransformer;
  struct fulcrum{
    double sensorVal[3];
    double sensorAngle[3];
    double worldVal[3];
    double worldAngle[3];
  };
 /* variables that handle the database connection */
 kogmo_rtdb_handle_t *dbc; /*< the database connection handle */
 kogmo_rtdb_connect_info_t dbinfo; /*< information about the database connection */

 kogmo_rtdb_obj_info_t dataobj_info_data; /*< information about the type of the dataobject, for calibrated data */
 kogmo_rtdb_obj_info_t dataobj_info_raw; /*< information about the type of the dataobject, for raw data */
 
 kogmo_rtdb_obj_e1_fobtracker_t *dataobj_data; /*< the dataobject specific to the sensor */
 kogmo_rtdb_obj_e1_fobtracker_t *dataobj_raw; /*< the dataobject specific to the sensor */

 kogmo_rtdb_objid_t oid; /*< some id */
 kogmo_rtdb_objid_t pid; /*< another id */
  
  void workerThread();
  bool threadRunning;
  bool writeNotification(kogmo_rtdb_obj_info_t &dataobj_info, double*);

  pthread_t workerThreadHandle;
  static void *s_workerThread(void* arg);

  void printFulcrum(fulcrum fulc);

  bool loadCalibration(const fulcrum cal[255], unsigned int length);
  
};

#endif /* TRACKER_H */