source: flair-src/trunk/tools/VrpnLite/src/VrpnLite.cpp@ 334

Last change on this file since 334 was 334, checked in by Sanahuja Guillaume, 2 years ago

misc

File size: 4.1 KB
Line 
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
23using namespace std;
24using namespace flair::core;
25using namespace flair::sensor;
26
27VrpnLite::VrpnLite(int vrpnLitePort,string vrpnServerAddress): Thread(getFrameworkManager(),"VrpnLite",90) {
28 vrpnclient=new VrpnClient("vrpn", vrpnServerAddress,80);
29 dataSocket = new UdpSocket(this,"client socket",vrpnLitePort);
30 vrpnclient->Start();
31}
32
33VrpnLite::~VrpnLite() {
34}
35
36void VrpnLite::Run(void) {
37 Time dataSocketTimeout;
38 char msg[256];
39
40 while (!ToBeStopped()) {
41
42 if(vrpnobjects.size()>0) {
43 //wait for last one to be sure all are up to date
44 //but if object is not tracked we send nothing... send it unsynchronized???
45 if(WaitUpdate(vrpnobjects.at(vrpnobjects.size()-1),100000000)) {
46 SendObjects();
47 }
48 dataSocketTimeout=TIME_NONBLOCK;
49 } else {
50 dataSocketTimeout=100000000;
51 }
52
53 ssize_t rcv=dataSocket->RecvMessage(msg,sizeof(msg),dataSocketTimeout);
54 if(rcv>0) {
55 string object=msg;
56 uint16_t id;
57 memcpy(&id,&msg[rcv-2],sizeof(id));
58 dataSocket->HostToNetwork((char*)&id,sizeof(id));
59 //assume we receive it in the good order
60 if(id==vrpnobjects.size()) {
61 Printf("adding object %s with id %i\n",object.c_str(),id);
62 VrpnObject* vrpnobject = new VrpnObject(object,vrpnclient->GetTabWidget());
63 vrpnobjects.push_back(vrpnobject);
64 }else {
65 Err("adding object %s failed, expected id %i, got %i\n",object.c_str(),vrpnobjects.size(),id);
66 }
67 }
68 }
69}
70
71void VrpnLite::SendObjects(void) const{
72 int16_t position[3];
73 int16_t quaternion[4];
74 Time time;
75 char datas[vrpnobjects.size()*(sizeof(position)+sizeof(quaternion))+ sizeof(time)];
76 char *datasPtr=datas;
77
78 for (vector<VrpnObject*>::const_iterator it = vrpnobjects.begin();it < vrpnobjects.end(); it++) {
79 Vector3Df objectPosition;
80 Quaternion objectQuaternion;
81 const VrpnObject* vrpnobject=*it;
82
83 vrpnobject->GetPosition(objectPosition);
84 vrpnobject->GetQuaternion(objectQuaternion);
85 time=vrpnobject->GetLastPacketTime();
86
87 position[0]=ConvertPosition(objectPosition.x);
88 position[1]=ConvertPosition(objectPosition.y);
89 position[2]=ConvertPosition(objectPosition.z);
90 quaternion[0]=ConvertQuaternion(objectQuaternion.q0);
91 quaternion[1]=ConvertQuaternion(objectQuaternion.q1);
92 quaternion[2]=ConvertQuaternion(objectQuaternion.q2);
93 quaternion[3]=ConvertQuaternion(objectQuaternion.q3);
94
95 for(int i=0;i<3;i++) dataSocket->HostToNetwork((char*)(&position[i]),sizeof(position[i]));
96 for(int i=0;i<4;i++) dataSocket->HostToNetwork((char*)(&quaternion[i]),sizeof(quaternion[i]));
97
98 memcpy(datasPtr,position, sizeof(position));
99 datasPtr+=sizeof(position);
100 memcpy(datasPtr,quaternion, sizeof(quaternion));
101 datasPtr+=sizeof(quaternion);
102 }
103
104 dataSocket->HostToNetwork((char*)(&time),sizeof(Time));
105 memcpy(datasPtr,&time, sizeof(time));//only one time for all VrpnObject; suppose it is the same!
106 dataSocket->SendMessage(datas,sizeof(datas));
107}
108
109int16_t VrpnLite::ConvertQuaternion(float value) const{
110 int16_t tmp;
111 tmp=value*32767.;
112 if(value<-1) {
113 tmp=-32767;
114 Warn("position value is %f, saturating it to %i\n",value,tmp);
115 }
116 if(value>1) {
117 tmp=32767;
118 Warn("position value is %f, saturating it to %i\n",value,tmp);
119 }
120 return tmp;
121}
122
123int16_t VrpnLite::ConvertPosition(float value) const{
124 int16_t tmp;
125 tmp=value*1000;
126 if(value<-32.768) {
127 tmp=-32768;
128 Warn("position value is %f, saturating it to %i\n",value,tmp);
129 }
130 if(value>32.767) {
131 tmp=32767;
132 Warn("position value is %f, saturating it to %i\n",value,tmp);
133 }
134 return tmp;
135}
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