1 | // created: 2019/03/12
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2 | // filename: VrpnLite.cpp
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3 | //
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4 | // author: Guillaume Sanahuja
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5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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6 | //
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7 | // version: $Id: $
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8 | //
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9 | // purpose: vrpnlite, to forward it to bth for exemple
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10 | // usefull to reduce vrpn frame size
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11 | //
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12 | /*********************************************************************/
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13 |
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14 | #include "VrpnLite.h"
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15 | #include <VrpnClient.h>
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16 | #include <VrpnObject.h>
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17 | #include <Thread.h>
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18 | #include <UdpSocket.h>
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19 | #include <FrameworkManager.h>
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20 | #include <Quaternion.h>
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21 | #include <string.h>
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22 |
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23 | using namespace std;
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24 | using namespace flair::core;
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25 | using namespace flair::sensor;
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26 |
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27 | VrpnLite::VrpnLite(int vrpnLitePort,string vrpnServerAddress): Thread(getFrameworkManager(),"VrpnLite",90) {
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28 | vrpnclient=new VrpnClient("vrpn", vrpnServerAddress,80);
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29 | dataSocket = new UdpSocket(this,"client socket",vrpnLitePort);
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30 | vrpnclient->Start();
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31 | }
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32 |
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33 | VrpnLite::~VrpnLite() {
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34 | }
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35 |
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36 | void VrpnLite::Run(void) {
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37 | Time dataSocketTimeout;
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38 | char msg[256];
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39 | int src_id;
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40 |
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41 | while (!ToBeStopped()) {
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42 | if(vrpnobjects.size()>0) {
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43 | //wait for last one to be sure all are up to date
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44 | //but if object is not tracked we send nothing... send it unsynchronized???
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45 | if(WaitUpdate(vrpnobjects.at(vrpnobjects.size()-1),100000000)) {
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46 | SendObjects();
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47 | }
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48 | dataSocketTimeout=TIME_NONBLOCK;
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49 | } else {
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50 | dataSocketTimeout=100000000;
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51 | }
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52 |
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53 | ssize_t rcv=dataSocket->RecvMessage(msg,sizeof(msg),dataSocketTimeout,NULL,NULL,&src_id);
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54 | if(rcv>0) {
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55 | string object=msg;
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56 | uint16_t id;
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57 | memcpy(&id,&msg[rcv-2],sizeof(id));
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58 | dataSocket->HostToNetwork((char*)&id,sizeof(id));
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59 |
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60 | if(src_id==vrpnobjects_list.size()) {
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61 | vector<VrpnObject*> vect;
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62 | vrpnobjects_list.push_back(vect);
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63 | Printf("add vect %i\n",src_id);
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64 | }
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65 | //assume we receive it in the good order
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66 | if(id==vrpnobjects_list.at(src_id).size()) {
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67 | Printf("adding object %s with id %i from %i\n",object.c_str(),id,src_id);
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68 | VrpnObject* vrpnobject = new VrpnObject(object,vrpnclient->GetTabWidget());
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69 | vrpnobjects.push_back(vrpnobject);
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70 | vrpnobjects_list.at(src_id).push_back(vrpnobject);
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71 | }else {
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72 | Err("adding object %s failed, expected id %i, got %i\n",object.c_str(),vrpnobjects.size(),id);
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73 | }
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74 | }
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75 | }
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76 | }
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77 |
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78 | void VrpnLite::SendObjects(void) const{
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79 |
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80 | int16_t position[3];
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81 | int16_t quaternion[4];
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82 | Time time;
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83 |
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84 | //for (vector<vector<VrpnObject*>>::const_iterator connection= vrpnobjects_list.begin();connection < vrpnobjects_list.end(); connection++) {
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85 | for (int i=0;i<vrpnobjects_list.size();i++) {
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86 | char datas[vrpnobjects_list.at(i).size()*(sizeof(position)+sizeof(quaternion))+ sizeof(time)];
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87 | char *datasPtr=datas;
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88 | for (vector<VrpnObject*>::const_iterator it = vrpnobjects_list.at(i).begin();it < vrpnobjects_list.at(i).end(); it++) {
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89 | Vector3Df objectPosition;
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90 | Quaternion objectQuaternion;
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91 | const VrpnObject* vrpnobject=*it;
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92 |
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93 | vrpnobject->GetPosition(objectPosition);
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94 | vrpnobject->GetQuaternion(objectQuaternion);
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95 | time=vrpnobject->GetLastPacketTime();
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96 |
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97 | position[0]=ConvertPosition(objectPosition.x);
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98 | position[1]=ConvertPosition(objectPosition.y);
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99 | position[2]=ConvertPosition(objectPosition.z);
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100 | quaternion[0]=ConvertQuaternion(objectQuaternion.q0);
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101 | quaternion[1]=ConvertQuaternion(objectQuaternion.q1);
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102 | quaternion[2]=ConvertQuaternion(objectQuaternion.q2);
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103 | quaternion[3]=ConvertQuaternion(objectQuaternion.q3);
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104 |
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105 | for(int i=0;i<3;i++) dataSocket->HostToNetwork((char*)(&position[i]),sizeof(position[i]));
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106 | for(int i=0;i<4;i++) dataSocket->HostToNetwork((char*)(&quaternion[i]),sizeof(quaternion[i]));
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107 |
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108 | memcpy(datasPtr,position, sizeof(position));
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109 | datasPtr+=sizeof(position);
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110 | memcpy(datasPtr,quaternion, sizeof(quaternion));
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111 | datasPtr+=sizeof(quaternion);
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112 | }
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113 | dataSocket->HostToNetwork((char*)(&time),sizeof(Time));
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114 | memcpy(datasPtr,&time, sizeof(time));//only one time for all VrpnObject; suppose it is the same!
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115 | dataSocket->SendMessage(datas,sizeof(datas),i);
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116 | }
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117 | }
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118 |
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119 | int16_t VrpnLite::ConvertQuaternion(float value) const{
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120 | int16_t tmp;
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121 | tmp=value*32767.;
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122 | if(value<-1) {
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123 | tmp=-32767;
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124 | Warn("position value is %f, saturating it to %i\n",value,tmp);
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125 | }
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126 | if(value>1) {
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127 | tmp=32767;
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128 | Warn("position value is %f, saturating it to %i\n",value,tmp);
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129 | }
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130 | return tmp;
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131 | }
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132 |
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133 | int16_t VrpnLite::ConvertPosition(float value) const{
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134 | int16_t tmp;
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135 | tmp=value*1000;
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136 | if(value<-32.768) {
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137 | tmp=-32768;
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138 | Warn("position value is %f, saturating it to %i\n",value,tmp);
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139 | }
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140 | if(value>32.767) {
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141 | tmp=32767;
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142 | Warn("position value is %f, saturating it to %i\n",value,tmp);
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143 | }
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144 | return tmp;
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145 | } |
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