Updating FlightGear protocol

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@49 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

3 files changed, 38 insertions, 48 deletions

diff --git a/FaceTrackNoIR/ClientFiles/FlightGear/Nasal/headtracker.xml b/FaceTrackNoIR/ClientFiles/FlightGear/Nasal/headtracker.xml
index 0d6e8005..d8bd1d0a 100644
--- a/FaceTrackNoIR/ClientFiles/FlightGear/Nasal/headtracker.xml
+++ b/FaceTrackNoIR/ClientFiles/FlightGear/Nasal/headtracker.xml
@@ -1,19 +1,6 @@
 <?xml version="1.0"?>
 
 <PropertyList>
-	<input>
-		<keyboard>
-			<key n="61">
-				<name>= (equal sign)</name>
-				<desc>Reset Head Tracker</desc>
-				<binding>
-					<command>nasal</command>
-					<script>headtracker.reset()</script>
-				</binding>
-			</key>
-		</keyboard>
-	</input>
-
 	<nasal>
 		<headtracker>
 			<script>
@@ -21,12 +8,10 @@
 					new: func(prop) {
 						var m = { parents: [Value] };
 						m.prop = props.globals.getNode(prop, 1);
-						m.lowpass = aircraft.lowpass.new(0.7);
 						m.value = 0;
 						return m;
 					},
 					apply: func(value) {
-						value = me.lowpass.filter(value);
 						me.prop.setDoubleValue(me.prop.getValue() - me.value + value);
 						me.value = value;
 					},
@@ -79,7 +64,6 @@
 
 				loop();
 
-				gui.popupTip("press '=' (equal sign) to reset head tracker", 20);
 			</script>
 		</headtracker>
 	</nasal>
diff --git a/FaceTrackNoIR/FGServer.cpp b/FaceTrackNoIR/FGServer.cpp
index 53cd68ff..292c194b 100644
--- a/FaceTrackNoIR/FGServer.cpp
+++ b/FaceTrackNoIR/FGServer.cpp
@@ -62,22 +62,6 @@ QHostAddress sender;
 quint16 senderPort;

 

 	//

-	// Create UDP-sockets if they don't exist already.

-	// They must be created here, because they must be in the Tracker thread (Tracker::run())

-	//

-	if (inSocket == 0) {

-		qDebug() << "FGServer::sendHeadposeToGame creating sockets";

-		inSocket = new QUdpSocket();

-		// Connect the inSocket to the port, to receive messages

-//	inSocket->bind(QHostAddress::LocalHost, 5551);

-		inSocket->bind(QHostAddress::Any, destPort+1);

-	}

-

-	if (outSocket == 0) {

-		outSocket = new QUdpSocket();

-	}

-

-	//

 	// Copy the Raw measurements directly to the client.

 	//

 	TestData.x = virtPosX;

@@ -94,28 +78,32 @@ quint16 senderPort;
 

 	//! [1]

 //	no_bytes = outSocket->writeDatagram((const char *) &TestData, sizeof( TestData ), QHostAddress::LocalHost, 5550);

-	no_bytes = outSocket->writeDatagram((const char *) &TestData, sizeof( TestData ), destIP, destPort);

-	if ( no_bytes > 0) {

-//		qDebug() << "FGServer::writePendingDatagrams says: bytes send =" << no_bytes << sizeof( double );

-	}

-	else {

-		qDebug() << "FGServer::writePendingDatagrams says: nothing sent!";

+	if (outSocket != 0) {

+		no_bytes = outSocket->writeDatagram((const char *) &TestData, sizeof( TestData ), destIP, destPort);

+		if ( no_bytes > 0) {

+	//		qDebug() << "FGServer::writePendingDatagrams says: bytes send =" << no_bytes << sizeof( double );

+		}

+		else {

+			qDebug() << "FGServer::writePendingDatagrams says: nothing sent!";

+		}

 	}

 

 	//

 	// FlightGear keeps sending data, so we must read that here.

 	//

-	while (inSocket->hasPendingDatagrams()) {

+	if (inSocket != 0) {

+		while (inSocket->hasPendingDatagrams()) {

 

-		QByteArray datagram;

-		datagram.resize(inSocket->pendingDatagramSize());

+			QByteArray datagram;

+			datagram.resize(inSocket->pendingDatagramSize());

 

-		inSocket->readDatagram( (char * ) &cmd, sizeof(cmd), &sender, &senderPort);

+			inSocket->readDatagram( (char * ) &cmd, sizeof(cmd), &sender, &senderPort);

 

-		fg_cmd = cmd;									// Let's just accept that command for now...

-		if ( cmd > 0 ) {

-			qDebug() << "FGServer::sendHeadposeToGame hasPendingDatagrams, cmd = " << cmd;

-			headTracker->handleGameCommand ( cmd );		// Send it upstream, for the Tracker to handle

+			fg_cmd = cmd;									// Let's just accept that command for now...

+			if ( cmd > 0 ) {

+				qDebug() << "FGServer::sendHeadposeToGame hasPendingDatagrams, cmd = " << cmd;

+				headTracker->handleGameCommand ( cmd );		// Send it upstream, for the Tracker to handle

+			}

 		}

 	}

 }

@@ -139,6 +127,26 @@ bool FGServer::checkServerInstallationOK( HANDLE handle )
 	inSocket = 0;

 	outSocket = 0;

 

+	//

+	// Create UDP-sockets.

+	//

+	if (inSocket == 0) {

+		qDebug() << "FGServer::sendHeadposeToGame creating insocket";

+		inSocket = new QUdpSocket();

+

+		// Connect the inSocket to the port, to receive messages

+		if (!inSocket->bind(QHostAddress::Any, destPort+1)) {

+			QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to bind UDP-port",QMessageBox::Ok,QMessageBox::NoButton);

+			delete inSocket;

+			inSocket = 0;

+			return false;

+		}

+	}

+

+	if (outSocket == 0) {

+		outSocket = new QUdpSocket();

+	}

+

 	return true;

 }

 

diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 91c386c0..5a2d07a2 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -321,8 +321,6 @@ void Tracker::run() {
 

 	float rawrotX, rawrotY, rawrotZ;				// Locals...

 	float rawposX, rawposY, rawposZ;

-	//float new_camera_position.pitch, new_camera_position.yaw, new_camera_position.roll;							// Locals...

-	//float new_camera_position.x, new_camera_position.y, new_camera_position.z;

 

 	SYSTEMTIME now;

 	long newHeadPoseTime;