Changeset 223 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

Feb 27, 2018, 12:20:03 PM (7 years ago)

Author:

Sanahuja Guillaume

Message:

add delta time to io_data

Location:

trunk/lib/FlairSensorActuator/src

Files:

• VrpnObject_impl.cpp (modified) (3 diffs)
• unexported/VrpnObject_impl.h (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp

@@ -93 +93 @@
     parent->pimpl_->AddTrackable(this);
   }
- 
+  
+  previousTime=TIME_INFINITE;
 }
 
@@ -143 +144 @@
   Time time = GetTime();
   //Printf("%s %lld %lld\n",caller->self->ObjectName().c_str(),time,t.msg_time.tv_sec*1000000+t.msg_time.tv_usec);
-
+  Time vrpnTime=t.msg_time.tv_sec*1000000000+t.msg_time.tv_usec*1000;
+  Time deltaTime;
+  if(caller->previousTime!=TIME_INFINITE) {
+    deltaTime=vrpnTime-caller->previousTime;
+  } else {
+    deltaTime=TIME_INFINITE;
+  }
+  caller->previousTime=vrpnTime;
+  
   // check if something is nan
   for (int i = 0; i < 3; i++) {
@@ -178 +187 @@
   caller->output->SetValueNoMutex(6, 0, pos.z);
 
-  caller->output->SetDataTime(time);
+  caller->output->SetDataTime(time,deltaTime);
   caller->output->ReleaseMutex();
 

trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h

@@ -67 +67 @@
   vrpn_Tracker_Remote *tracker;
   void Update(void);
+  flair::core::Time previousTime;
 };