source: flair-src/trunk/tools/VrpnLite/src/VrpnLite.cpp @ 447

Last change on this file since 447 was 447, checked in by Sanahuja Guillaume, 3 months ago

vrpnlite handle disconection

File size: 6.3 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 <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
27using namespace std;
28using namespace flair::core;
29using namespace flair::sensor;
30using namespace flair::gui;
31
32VrpnLite::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
40VrpnLite::~VrpnLite() {
41}
42
43void 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
108void 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
149int16_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
163int16_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}
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