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 <TabWidget.h>
|
---|
20 | #include <Tab.h>
|
---|
21 | #include <PushButton.h>
|
---|
22 | #include <FrameworkManager.h>
|
---|
23 | #include <Quaternion.h>
|
---|
24 | #include <string.h>
|
---|
25 | #include <bits/stdc++.h>
|
---|
26 |
|
---|
27 | using namespace std;
|
---|
28 | using namespace flair::core;
|
---|
29 | using namespace flair::sensor;
|
---|
30 | using namespace flair::gui;
|
---|
31 |
|
---|
32 | VrpnLite::VrpnLite(int vrpnLitePort,string vrpnServerAddress): Thread(getFrameworkManager(),"VrpnLite",90) {
|
---|
33 | vrpnclient=new VrpnClient("vrpn", vrpnServerAddress,80);
|
---|
34 | Tab* tab=new Tab(vrpnclient->GetTabWidget(),"Main");
|
---|
35 | killButton=new PushButton(tab->NewRow(),"kill");
|
---|
36 | dataSocket = new UdpSocket(this,"client socket",vrpnLitePort);
|
---|
37 | vrpnclient->Start();
|
---|
38 | }
|
---|
39 |
|
---|
40 | VrpnLite::~VrpnLite() {
|
---|
41 | }
|
---|
42 |
|
---|
43 | void VrpnLite::Run(void) {
|
---|
44 | Time dataSocketTimeout;
|
---|
45 | char msg[256];
|
---|
46 | int src_id;
|
---|
47 |
|
---|
48 | while (!ToBeStopped()) {
|
---|
49 | if(killButton->Clicked()) SafeStop();
|
---|
50 |
|
---|
51 | if(vrpnobjects.size()>0) {
|
---|
52 | //wait for last one to be sure all are up to date
|
---|
53 | //but if object is not tracked we send nothing... send it unsynchronized???
|
---|
54 | if(WaitUpdate(vrpnobjects.at(vrpnobjects.size()-1),100000000)) {
|
---|
55 | SendObjects();
|
---|
56 | }
|
---|
57 | dataSocketTimeout=TIME_NONBLOCK;
|
---|
58 | } else {
|
---|
59 | dataSocketTimeout=100000000;
|
---|
60 | }
|
---|
61 |
|
---|
62 | ssize_t rcv=dataSocket->RecvMessage(msg,sizeof(msg),dataSocketTimeout,NULL,NULL,&src_id);
|
---|
63 | if(rcv>0) {
|
---|
64 | int16_t id;
|
---|
65 | string object=string(msg,rcv-sizeof(id));
|
---|
66 | memcpy(&id,&msg[rcv-sizeof(id)],sizeof(id));
|
---|
67 | dataSocket->HostToNetwork((char*)&id,sizeof(id));
|
---|
68 | Printf("src id %i\n",src_id);
|
---|
69 | if(id>0) { //add object
|
---|
70 | if(src_id==vrpnobjects_list.size()) {
|
---|
71 | vector<VrpnObject*> vect;
|
---|
72 | vrpnobjects_list.push_back(vect);
|
---|
73 | //Printf("add vect %i\n",src_id);
|
---|
74 | }
|
---|
75 | //assume we receive it in the good order
|
---|
76 | if(id==vrpnobjects_list.at(src_id).size()+1) {//id 0 is not used as we use positive and negative id for add/remove
|
---|
77 | Printf("adding object %s with id %i from client %i\n",object.c_str(),id,src_id);
|
---|
78 | VrpnObject* vrpnobject = new VrpnObject(object,vrpnclient->GetTabWidget());
|
---|
79 | vrpnobjects.push_back(vrpnobject);
|
---|
80 | vrpnobjects_list.at(src_id).push_back(vrpnobject);
|
---|
81 | }else {
|
---|
82 | Err("adding object %s failed, expected id %i, got %i\n",object.c_str(),vrpnobjects_list.at(src_id).size()+1,id);
|
---|
83 | }
|
---|
84 | } else { //remove object
|
---|
85 | for (vector<VrpnObject*>::iterator it = vrpnobjects.begin();it < vrpnobjects.end(); it++) {
|
---|
86 | if ((*it)->ObjectName() == object) {
|
---|
87 | Printf("removing object %s with id %i from client %i\n",object.c_str(),-id,src_id);
|
---|
88 | auto iteratorEnd=remove(vrpnobjects_list.at(src_id).begin(), vrpnobjects_list.at(src_id).end(),(*it));
|
---|
89 | vrpnobjects_list.at(src_id).erase(iteratorEnd, vrpnobjects_list.at(src_id).end());
|
---|
90 | if(vrpnobjects_list.at(src_id).size()==0) {
|
---|
91 | Printf("not removing empty vrpnobjects_list (need code rewrite\n");
|
---|
92 | //le src_id va continuer a augmenter cote udtsocket et la comparaison if(src_id==vrpnobjects_list.size()) {
|
---|
93 | //ne va pas marcher; il faut identifier autrement les src
|
---|
94 | //auto iteratorEnd=remove(vrpnobjects_list.begin(), vrpnobjects_list.end(),vrpnobjects_list.at(src_id));
|
---|
95 | //vrpnobjects_list.erase(iteratorEnd, vrpnobjects_list.end());
|
---|
96 | }
|
---|
97 | delete (*it);
|
---|
98 | vrpnobjects.erase(it);
|
---|
99 | break;
|
---|
100 | }
|
---|
101 | }
|
---|
102 |
|
---|
103 | }
|
---|
104 | }
|
---|
105 | }
|
---|
106 | }
|
---|
107 |
|
---|
108 | void VrpnLite::SendObjects(void) const{
|
---|
109 |
|
---|
110 | int16_t position[3];
|
---|
111 | int16_t quaternion[4];
|
---|
112 | Time time;
|
---|
113 |
|
---|
114 | //for (vector<vector<VrpnObject*>>::const_iterator connection= vrpnobjects_list.begin();connection < vrpnobjects_list.end(); connection++) {
|
---|
115 | for (int i=0;i<vrpnobjects_list.size();i++) {
|
---|
116 | char datas[vrpnobjects_list.at(i).size()*(sizeof(position)+sizeof(quaternion))+ sizeof(time)];
|
---|
117 | char *datasPtr=datas;
|
---|
118 | for (vector<VrpnObject*>::const_iterator it = vrpnobjects_list.at(i).begin();it < vrpnobjects_list.at(i).end(); it++) {
|
---|
119 | Vector3Df objectPosition;
|
---|
120 | Quaternion objectQuaternion;
|
---|
121 | const VrpnObject* vrpnobject=*it;
|
---|
122 |
|
---|
123 | vrpnobject->GetPosition(objectPosition);
|
---|
124 | vrpnobject->GetQuaternion(objectQuaternion);
|
---|
125 | time=vrpnobject->GetLastPacketTime();
|
---|
126 |
|
---|
127 | position[0]=ConvertPosition(objectPosition.x);
|
---|
128 | position[1]=ConvertPosition(objectPosition.y);
|
---|
129 | position[2]=ConvertPosition(objectPosition.z);
|
---|
130 | quaternion[0]=ConvertQuaternion(objectQuaternion.q0);
|
---|
131 | quaternion[1]=ConvertQuaternion(objectQuaternion.q1);
|
---|
132 | quaternion[2]=ConvertQuaternion(objectQuaternion.q2);
|
---|
133 | quaternion[3]=ConvertQuaternion(objectQuaternion.q3);
|
---|
134 |
|
---|
135 | for(int i=0;i<3;i++) dataSocket->HostToNetwork((char*)(&position[i]),sizeof(position[i]));
|
---|
136 | for(int i=0;i<4;i++) dataSocket->HostToNetwork((char*)(&quaternion[i]),sizeof(quaternion[i]));
|
---|
137 |
|
---|
138 | memcpy(datasPtr,position, sizeof(position));
|
---|
139 | datasPtr+=sizeof(position);
|
---|
140 | memcpy(datasPtr,quaternion, sizeof(quaternion));
|
---|
141 | datasPtr+=sizeof(quaternion);
|
---|
142 | }
|
---|
143 | dataSocket->HostToNetwork((char*)(&time),sizeof(Time));
|
---|
144 | memcpy(datasPtr,&time, sizeof(time));//only one time for all VrpnObject; suppose it is the same!
|
---|
145 | dataSocket->SendMessage(datas,sizeof(datas),i);
|
---|
146 | }
|
---|
147 | }
|
---|
148 |
|
---|
149 | int16_t VrpnLite::ConvertQuaternion(float value) const{
|
---|
150 | int16_t tmp;
|
---|
151 | tmp=value*32767.;
|
---|
152 | if(value<-1) {
|
---|
153 | tmp=-32767;
|
---|
154 | Warn("position value is %f, saturating it to %i\n",value,tmp);
|
---|
155 | }
|
---|
156 | if(value>1) {
|
---|
157 | tmp=32767;
|
---|
158 | Warn("position value is %f, saturating it to %i\n",value,tmp);
|
---|
159 | }
|
---|
160 | return tmp;
|
---|
161 | }
|
---|
162 |
|
---|
163 | int16_t VrpnLite::ConvertPosition(float value) const{
|
---|
164 | int16_t tmp;
|
---|
165 | tmp=value*1000;
|
---|
166 | if(value<-32.768) {
|
---|
167 | tmp=-32768;
|
---|
168 | Warn("position value is %f, saturating it to %i\n",value,tmp);
|
---|
169 | }
|
---|
170 | if(value>32.767) {
|
---|
171 | tmp=32767;
|
---|
172 | Warn("position value is %f, saturating it to %i\n",value,tmp);
|
---|
173 | }
|
---|
174 | return tmp;
|
---|
175 | } |
---|