// created: 2018/03/13 // filename: main.cpp // // author: Guillaume Sanahuja // Copyright Heudiasyc UMR UTC/CNRS 7253 // // version: $Id: $ // // purpose: vrpn bridge, to forward it to bth for exemple // // /*********************************************************************/ #include #include #include #include #include #include vrpn_Connection * server_connection; vrpn_Connection * client_connection; vrpn_StreamForwarder * forwarder; void sighandler (int signal) { delete forwarder; delete server_connection; delete client_connection; exit(0); } void install_handler (void) { signal( SIGINT, sighandler ); signal( SIGKILL, sighandler ); signal( SIGTERM, sighandler ); signal( SIGPIPE, sighandler ); } int main (int argc, char ** argv) { int retval; //server_connection = vrpn_get_connection_by_name ("172.26.213.1:3883"); server_connection = vrpn_get_connection_by_name ("127.0.0.1:3883"); client_connection = vrpn_create_server_connection(3884); forwarder = new vrpn_StreamForwarder(server_connection, "target", client_connection, "target"); retval = forwarder->forward("vrpn_Tracker Pos_Quat", "vrpn_Tracker Pos_Quat"); if (retval) fprintf(stderr, "forwarder->forward (vrpn_Tracker Pos_Quat) failed.\n"); retval = forwarder->forward("vrpn_Base ping_message", "vrpn_Base ping_message"); if (retval) fprintf(stderr, "forwarder->forward (vrpn_Base ping_message) failed.\n"); install_handler(); while (1) { usleep(5000); server_connection->mainloop(); client_connection->mainloop(); } }