1 | // created: 2019/03/12
|
---|
2 | // filename: VrpnLite.cpp
|
---|
3 | //
|
---|
4 | // author: Guillaume Sanahuja
|
---|
5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
6 | //
|
---|
7 | // version: $Id: $
|
---|
8 | //
|
---|
9 | // purpose: vrpnlite, to forward it to bth for exemple
|
---|
10 | // usefull to reduce vrpn frame size
|
---|
11 | //
|
---|
12 | /*********************************************************************/
|
---|
13 |
|
---|
14 | #include "VrpnLite.h"
|
---|
15 | #include <VrpnClient.h>
|
---|
16 | #include <VrpnObject.h>
|
---|
17 | #include <Thread.h>
|
---|
18 | #include <UdpSocket.h>
|
---|
19 | #include <FrameworkManager.h>
|
---|
20 | #include <Quaternion.h>
|
---|
21 | #include <string.h>
|
---|
22 |
|
---|
23 | using namespace std;
|
---|
24 | using namespace flair::core;
|
---|
25 | using namespace flair::sensor;
|
---|
26 |
|
---|
27 | VrpnLite::VrpnLite(string clientAddress,string serveurAddress): Thread(getFrameworkManager(),"VrpnLite",90) {
|
---|
28 | vrpnclient=new VrpnClient("vrpn", serveurAddress,80);
|
---|
29 | VrpnObject* vrpnobject = new VrpnObject("x4_0",vrpnclient->GetTabWidget(),vrpnclient);
|
---|
30 | //VrpnObject* vrpnobject2 = new VrpnObject("target",vrpnclient->GetTabWidget(),vrpnclient);
|
---|
31 |
|
---|
32 | vrpnobjects.push_back(vrpnobject);
|
---|
33 | //vrpnobjects.push_back(vrpnobject2);
|
---|
34 |
|
---|
35 | dataSocket = new UdpSocket(this,"client socket",clientAddress);
|
---|
36 |
|
---|
37 | vrpnclient->Start();
|
---|
38 | }
|
---|
39 |
|
---|
40 | VrpnLite::~VrpnLite() {
|
---|
41 | }
|
---|
42 |
|
---|
43 | void VrpnLite::Run(void) {
|
---|
44 | while (!ToBeStopped()) {
|
---|
45 |
|
---|
46 | WaitUpdate(vrpnobjects.at(0));//tood improve this wait, to be sure all vrpnobject are up to date; or one thread by object?
|
---|
47 | //could be also lighter to send only one frame with all objects
|
---|
48 | int i=0;
|
---|
49 | for (vector<VrpnObject*>::iterator it = vrpnobjects.begin();it < vrpnobjects.end(); it++) {
|
---|
50 | SendObject(*it,i);
|
---|
51 | i++;
|
---|
52 | }
|
---|
53 |
|
---|
54 | }
|
---|
55 | }
|
---|
56 |
|
---|
57 | void VrpnLite::SendObject(const VrpnObject* vrpnobject,uint8_t id) const{
|
---|
58 | Vector3Df objectPosition;
|
---|
59 | Quaternion objectQuaternion;
|
---|
60 |
|
---|
61 | vrpnobject->GetPosition(objectPosition);
|
---|
62 | vrpnobject->GetQuaternion(objectQuaternion);
|
---|
63 | Time time=vrpnobject->GetLastPacketTime();
|
---|
64 |
|
---|
65 | float position[3];
|
---|
66 | position[0]=objectPosition.x;
|
---|
67 | position[1]=objectPosition.y;
|
---|
68 | position[2]=objectPosition.z;
|
---|
69 | float quaternion[4];
|
---|
70 | quaternion[0]=objectQuaternion.q0;
|
---|
71 | quaternion[1]=objectQuaternion.q1;
|
---|
72 | quaternion[2]=objectQuaternion.q2;
|
---|
73 | quaternion[3]=objectQuaternion.q3;
|
---|
74 |
|
---|
75 | for(int i=0;i<3;i++) dataSocket->HostToNetwork((char*)(&position[i]),sizeof(position[i]));
|
---|
76 | for(int i=0;i<4;i++) dataSocket->HostToNetwork((char*)(&quaternion[i]),sizeof(quaternion[i]));
|
---|
77 | dataSocket->HostToNetwork((char*)(&time),sizeof(Time));
|
---|
78 |
|
---|
79 | char datas[sizeof(id) + sizeof(position)+sizeof(quaternion)+ sizeof(time)];
|
---|
80 |
|
---|
81 | datas[0]=id;
|
---|
82 | memcpy(datas+sizeof(id),position, sizeof(position));
|
---|
83 | memcpy(datas +sizeof(id)+ sizeof(position),quaternion, sizeof(quaternion));
|
---|
84 | memcpy(datas+sizeof(id) + sizeof(position)+sizeof(quaternion),&time, sizeof(time));
|
---|
85 |
|
---|
86 | dataSocket->SendMessage(datas,sizeof(datas));
|
---|
87 | } |
---|