Changeset 448 in flair-src for trunk/lib/FlairSensorActuator

Timestamp:

Sep 20, 2021, 5:16:50 PM (3 years ago)

Author:

Sanahuja Guillaume

Message:

handle ack in vrpnlite

File:

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

trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp

@@ -202 +202 @@
         timeout.tv_sec=0;
         timeout.tv_usec=100000;
+  uint16_t vrpnliteCounter=0;
                         
   while (!self->ToBeStopped()) {
@@ -321 +322 @@
       
       mutex->ReleaseMutex();
+      
+      if(trackables.size()!=0) {
+        vrpnliteCounter++;//send ack to monitor connection on vrpnlite
+        //on bth, vrpn is configured to 50Hz, send ack at 1Hz
+        if(vrpnliteCounter==50) {
+          vrpnliteCounter=0;
+          char data=0;
+          dataSocket->SendMessage(&data,sizeof(char));
+        }
+      }
     }
   }