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

//  created:    2019/03/12
//  filename:   VrpnLite.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    vrpnlite, to forward it to bth for exemple
//              usefull to reduce vrpn frame size
//
/*********************************************************************/

#include "VrpnLite.h"
#include <VrpnClient.h>
#include <VrpnObject.h>
#include <Thread.h>
#include <UdpSocket.h>
#include <TabWidget.h>
#include <Tab.h>
#include <PushButton.h>
#include <FrameworkManager.h>
#include <Quaternion.h>
#include <string.h>
#include <bits/stdc++.h>

using namespace std;
using namespace flair::core;
using namespace flair::sensor;
using namespace flair::gui;

VrpnLite::VrpnLite(int vrpnLitePort,string vrpnServerAddress): Thread(getFrameworkManager(),"VrpnLite",90) {
  vrpnclient=new VrpnClient("vrpn", vrpnServerAddress,80); 
  Tab* tab=new Tab(vrpnclient->GetTabWidget(),"Main");
  killButton=new PushButton(tab->NewRow(),"kill");
  dataSocket = new UdpSocket(this,"client socket",vrpnLitePort);
  vrpnclient->Start();
}

VrpnLite::~VrpnLite() {
}

void VrpnLite::Run(void) {
  Time dataSocketTimeout;
  char msg[256];
  int src_id;
  
  while (!ToBeStopped()) {
    if(killButton->Clicked()) SafeStop();
    
    if(vrpnobjects.size()>0) {
      //wait for last one to be sure all are up to date
      //but if object is not tracked we send nothing... send it unsynchronized???
      if(WaitUpdate(vrpnobjects.at(vrpnobjects.size()-1),100000000)) {
          SendObjects();
      }
      dataSocketTimeout=TIME_NONBLOCK;
    } else {
      dataSocketTimeout=100000000;
    }
    
    ssize_t rcv=dataSocket->RecvMessage(msg,sizeof(msg),dataSocketTimeout,NULL,NULL,&src_id);
    if(rcv>0) {
      int16_t id;
      string object=string(msg,rcv-sizeof(id));
      memcpy(&id,&msg[rcv-sizeof(id)],sizeof(id));
      dataSocket->HostToNetwork((char*)&id,sizeof(id));
      Printf("src id %i\n",src_id);
      if(id>0) { //add object
        if(src_id==vrpnobjects_list.size()) {
          vector<VrpnObject*> vect;
          vrpnobjects_list.push_back(vect);
          //Printf("add vect %i\n",src_id);
        }
        //assume we receive it in the good order
        if(id==vrpnobjects_list.at(src_id).size()+1) {//id 0 is not used as we use positive and negative id for add/remove
          Printf("adding object %s with id %i from client %i\n",object.c_str(),id,src_id);
          VrpnObject* vrpnobject = new VrpnObject(object,vrpnclient->GetTabWidget());
          vrpnobjects.push_back(vrpnobject);
          vrpnobjects_list.at(src_id).push_back(vrpnobject);
        }else {
          Err("adding object %s failed, expected id %i, got %i\n",object.c_str(),vrpnobjects_list.at(src_id).size()+1,id);
        }
      } else { //remove object
        for (vector<VrpnObject*>::iterator it = vrpnobjects.begin();it < vrpnobjects.end(); it++) {
          if ((*it)->ObjectName() == object) {
            Printf("removing object %s with id %i from client %i\n",object.c_str(),-id,src_id);
            auto iteratorEnd=remove(vrpnobjects_list.at(src_id).begin(), vrpnobjects_list.at(src_id).end(),(*it));
            vrpnobjects_list.at(src_id).erase(iteratorEnd, vrpnobjects_list.at(src_id).end());
            if(vrpnobjects_list.at(src_id).size()==0) {
              Printf("not removing empty vrpnobjects_list (need code rewrite\n");
              //le src_id va continuer a augmenter cote udtsocket et la comparaison if(src_id==vrpnobjects_list.size()) {
                //ne va pas marcher; il faut identifier autrement les src
              //auto iteratorEnd=remove(vrpnobjects_list.begin(), vrpnobjects_list.end(),vrpnobjects_list.at(src_id));
              //vrpnobjects_list.erase(iteratorEnd, vrpnobjects_list.end());
            }
            delete (*it);
            vrpnobjects.erase(it);
            break;
          }
        }
        
      }
    }
  }
}

void VrpnLite::SendObjects(void) const{
 
  int16_t position[3];
  int16_t quaternion[4];
  Time time;
 
  //for (vector<vector<VrpnObject*>>::const_iterator connection= vrpnobjects_list.begin();connection < vrpnobjects_list.end(); connection++) {
  for (int i=0;i<vrpnobjects_list.size();i++) {
      char datas[vrpnobjects_list.at(i).size()*(sizeof(position)+sizeof(quaternion))+ sizeof(time)];
      char *datasPtr=datas;
      for (vector<VrpnObject*>::const_iterator it = vrpnobjects_list.at(i).begin();it < vrpnobjects_list.at(i).end(); it++) {
        Vector3Df objectPosition;
        Quaternion objectQuaternion;
        const VrpnObject* vrpnobject=*it;

        vrpnobject->GetPosition(objectPosition);
        vrpnobject->GetQuaternion(objectQuaternion);
        time=vrpnobject->GetLastPacketTime();

        position[0]=ConvertPosition(objectPosition.x);
        position[1]=ConvertPosition(objectPosition.y);
        position[2]=ConvertPosition(objectPosition.z);
        quaternion[0]=ConvertQuaternion(objectQuaternion.q0);
        quaternion[1]=ConvertQuaternion(objectQuaternion.q1);
        quaternion[2]=ConvertQuaternion(objectQuaternion.q2);
        quaternion[3]=ConvertQuaternion(objectQuaternion.q3);

        for(int i=0;i<3;i++) dataSocket->HostToNetwork((char*)(&position[i]),sizeof(position[i]));
        for(int i=0;i<4;i++) dataSocket->HostToNetwork((char*)(&quaternion[i]),sizeof(quaternion[i]));

        memcpy(datasPtr,position, sizeof(position));
        datasPtr+=sizeof(position);
        memcpy(datasPtr,quaternion, sizeof(quaternion));
        datasPtr+=sizeof(quaternion);
      }
      dataSocket->HostToNetwork((char*)(&time),sizeof(Time));
      memcpy(datasPtr,&time, sizeof(time));//only one time for all VrpnObject; suppose it is the same!
      dataSocket->SendMessage(datas,sizeof(datas),i);
  }
}

int16_t VrpnLite::ConvertQuaternion(float value) const{
  int16_t tmp;
  tmp=value*32767.;
  if(value<-1) {
    tmp=-32767;
    Warn("position value is %f, saturating it to %i\n",value,tmp);
  }
  if(value>1) {
    tmp=32767;
    Warn("position value is %f, saturating it to %i\n",value,tmp);
  }
  return tmp;
}

int16_t VrpnLite::ConvertPosition(float value) const{
  int16_t tmp;
  tmp=value*1000;
  if(value<-32.768) {
    tmp=-32768;
    Warn("position value is %f, saturating it to %i\n",value,tmp);
  }
  if(value>32.767) {
    tmp=32767;
    Warn("position value is %f, saturating it to %i\n",value,tmp);
  }
  return tmp;
}