Changeset 447 in flair-src for trunk/lib/FlairSensorActuator/src

Timestamp:

Sep 16, 2021, 2:01:56 PM (3 years ago)

Author:

Sanahuja Guillaume

Message:

vrpnlite handle disconection

File:

• trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp

@@ -128 +128 @@
     mutex->ReleaseMutex();
   } else if (connectionType==VrpnClient::VrpnLite) {
-    if(trackables.size()<0xffff) {
-      uint16_t id=trackables.size();
+    if(trackables.size()<INT16_MAX) {
+      int16_t id=trackables.size()+1;//avoid 0; positive values for adding, negative for removing
       mutex->GetMutex();
       trackables.push_back(obj);
@@ -162 +162 @@
 void VrpnClient_impl::RemoveTrackable(VrpnObject_impl *obj) {
   mutex->GetMutex();
+  //send remove notification to vrpnlite
+  if (connectionType==VrpnClient::VrpnLite) {
+    for (size_t i = 0; i < trackables.size(); i++) {
+      if(trackables.at(i)==obj) {
+        int16_t id=-(i+1);//avoid 0; positive values for adding, negative for removing
+        
+        char char_array[obj->self->ObjectName().length() + sizeof(id)];
+        strcpy(char_array, obj->self->ObjectName().c_str());
+        dataSocket->HostToNetwork((char*)(&id),sizeof(id));
+        memcpy(&char_array[obj->self->ObjectName().length()],&id,sizeof(id));
+        dataSocket->SendMessage(char_array,obj->self->ObjectName().length() + sizeof(id));
+        break;
+      }
+    }
+  }
+  
+  //update vector
   if (connectionType==VrpnClient::Vrpn || connectionType==VrpnClient::VrpnLite) {
     for (vector<VrpnObject_impl *>::iterator it = trackables.begin();it < trackables.end(); it++) {