source: flair-src/trunk/tools/VrpnLite/src/VrpnLite.cpp@ 448

//  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;

//if we don'receive ack from client, do not send vrpnobjects anymore
#define REMOVE_TIMEOUT (Time)2000000000


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();
    //get last vrpnobject
    VrpnObject* lastVrpnObject=NULL;
    if(connections.size()!=0) {
      if(connections.back().vrpnobjects.size()!=0) lastVrpnObject=lastVrpnObject=connections.back().vrpnobjects.back();
    }
    
    if(lastVrpnObject!=NULL) {
      //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(lastVrpnObject,100000000)) {
          SendObjects();
      }
      dataSocketTimeout=TIME_NONBLOCK;
    } else {
      dataSocketTimeout=100000000;
    }
    
    ssize_t rcv=dataSocket->RecvMessage(msg,sizeof(msg),dataSocketTimeout,NULL,NULL,&src_id);
    connection_t* matchConnection=ConnectionOfSrcId(src_id);
    //receive an ack
    if(rcv==1) {
      if(matchConnection!=NULL) matchConnection->lastAck=GetTime();
      continue;//do not handle add or remove cases
    }
    if(rcv>0) {//add or remove
      int16_t id;
      string objectName=string(msg,rcv-sizeof(id));
      memcpy(&id,&msg[rcv-sizeof(id)],sizeof(id));
      dataSocket->HostToNetwork((char*)&id,sizeof(id));
     
      if(id>0) { //add object
        if(matchConnection==NULL) {
          connection_t connection;
          connection.lastAck=GetTime();
          connection.srcId=src_id;
          connections.push_back(connection);
          matchConnection=&(connections.back());
        }
        //assume we receive it in the good order
        if(id==matchConnection->vrpnobjects.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",objectName.c_str(),id,src_id);
          VrpnObject* vrpnobject = new VrpnObject(objectName,vrpnclient->GetTabWidget());
          matchConnection->vrpnobjects.push_back(vrpnobject);
        }else {
          Err("adding object %s failed, expected id %i, got %i\n",objectName.c_str(),matchConnection->vrpnobjects.size()+1,id);
        }
      } else { //remove object
        for (auto it = matchConnection->vrpnobjects.begin();it < matchConnection->vrpnobjects.end(); it++) {
          if ((*it)->ObjectName() == objectName) {
            Printf("removing object %s with id %i from client %i\n",objectName.c_str(),-id,src_id);
            delete (*it);
            auto iteratorEnd=remove(matchConnection->vrpnobjects.begin(), matchConnection->vrpnobjects.end(),(*it));
            matchConnection->vrpnobjects.erase(iteratorEnd, matchConnection->vrpnobjects.end());
            if(matchConnection->vrpnobjects.size()==0) {
              Printf("TODO: removing empty client %i\n",src_id);
              //auto iteratorEnd=remove(connections.begin(), connections.end(),*matchConnection);
              //connections.erase(iteratorEnd, connections.end());
            }
            break;
          }
        }
      }
    }
  }
}


VrpnLite::connection_t* VrpnLite::ConnectionOfSrcId(uint16_t srcId) {
  for (int i=0;i<connections.size();i++) {
    if(connections.at(i).srcId==srcId) return &(connections.at(i));
  }
  return NULL;
}

void VrpnLite::SendObjects(void) {
 
  int16_t position[3];
  int16_t quaternion[4];
  Time time;
  
  for (int i=0;i<connections.size();i++) {
      if(connections.at(i).lastAck+REMOVE_TIMEOUT<GetTime() && connections.at(i).vrpnobjects.size()!=0) {
        Printf("client %i did not send ack from %ins, removing it\n",i,REMOVE_TIMEOUT);
        for (auto it = connections.at(i).vrpnobjects.begin();it < connections.at(i).vrpnobjects.end(); it++) {
          delete (*it);
        }
        connections.at(i).vrpnobjects.clear();
      }
      
      char datas[connections.at(i).vrpnobjects.size()*(sizeof(position)+sizeof(quaternion))+ sizeof(time)];
      char *datasPtr=datas;
      for (auto it = connections.at(i).vrpnobjects.begin();it < connections.at(i).vrpnobjects.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;
}