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#include "ftnoir_tracker_base.h"
#include <QThread>
#include <QUdpSocket>
#include <QMessageBox>
#include "Windows.h"
#include "math.h"
class FTNoIR_Tracker_UDP : public ITracker, QThread
{
public:
FTNoIR_Tracker_UDP();
~FTNoIR_Tracker_UDP();
void Release();
void Initialize();
void StartTracker();
void GiveHeadPoseData(THeadPoseData *data);
bool setParameterValue(const int index, const float newvalue);
protected:
void run(); // qthread override run method
private:
// Handles to neatly terminate thread...
HANDLE m_StopThread;
HANDLE m_WaitThread;
// UDP socket-variables
QUdpSocket *inSocket; // Receive from ...
QUdpSocket *outSocket; // Send to ...
QHostAddress destIP; // Destination IP-address
int destPort; // Destination port-number
QHostAddress srcIP; // Source IP-address
int srcPort; // Source port-number
THeadPoseData newHeadPose; // Structure with new headpose
//parameter list for the filter-function(s)
enum
{
kPortAddress=0, // Index in QList
kNumFilterParameters // Indicate number of parameters used
};
QList<std::pair<float,float>> parameterRange;
QList<float> parameterValueAsFloat;
};
FTNoIR_Tracker_UDP::FTNoIR_Tracker_UDP()
{
inSocket = 0;
outSocket = 0;
// Create events
m_StopThread = CreateEvent(0, TRUE, FALSE, 0);
m_WaitThread = CreateEvent(0, TRUE, FALSE, 0);
//allocate memory for the parameters
parameterValueAsFloat.clear();
parameterRange.clear();
// Add the parameters to the list
parameterRange.append(std::pair<float,float>(1000.0f,9999.0f));
parameterValueAsFloat.append(0.0f);
setParameterValue(kPortAddress,5551.0f);
newHeadPose.x = 0.0f;
newHeadPose.y = 0.0f;
newHeadPose.z = 0.0f;
newHeadPose.yaw = 0.0f;
newHeadPose.pitch = 0.0f;
newHeadPose.roll = 0.0f;
//
// Create UDP-sockets if they don't exist already.
// They must be created here, because they must be in the new thread (FTNoIR_Tracker_UDP::run())
//
if (inSocket == 0) {
qDebug() << "FTNoIR_Tracker_UDP::run() creating insocket";
inSocket = new QUdpSocket();
// Connect the inSocket to the port, to receive messages
if (!inSocket->bind(QHostAddress::Any, (int) parameterValueAsFloat[kPortAddress], QUdpSocket::ShareAddress )) {
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to bind UDP-port",QMessageBox::Ok,QMessageBox::NoButton);
delete inSocket;
inSocket = 0;
}
}
}
FTNoIR_Tracker_UDP::~FTNoIR_Tracker_UDP()
{
// Trigger thread to stop
::SetEvent(m_StopThread);
// Wait until thread finished
if (isRunning()) {
::WaitForSingleObject(m_WaitThread, INFINITE);
}
// Close handles
::CloseHandle(m_StopThread);
::CloseHandle(m_WaitThread);
if (inSocket) {
inSocket->close();
delete inSocket;
}
if (outSocket) {
outSocket->close();
delete outSocket;
}
}
/** QThread run @override **/
void FTNoIR_Tracker_UDP::run() {
int no_bytes;
QHostAddress sender;
quint16 senderPort;
//
// Read the data that was received.
//
forever {
// Check event for stop thread
if(::WaitForSingleObject(m_StopThread, 0) == WAIT_OBJECT_0)
{
// Set event
::SetEvent(m_WaitThread);
qDebug() << "FTNoIR_Tracker_UDP::run() terminated run()";
return;
}
if (inSocket != 0) {
while (inSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(inSocket->pendingDatagramSize());
inSocket->readDatagram( (char * ) &newHeadPose, sizeof(newHeadPose), &sender, &senderPort);
}
}
else {
qDebug() << "FTNoIR_Tracker_UDP::run() insocket not ready: exit run()";
return;
}
//for lower cpu load
usleep(10000);
yieldCurrentThread();
}
}
void FTNoIR_Tracker_UDP::Release()
{
delete this;
}
void FTNoIR_Tracker_UDP::Initialize()
{
return;
}
void FTNoIR_Tracker_UDP::StartTracker()
{
start( QThread::TimeCriticalPriority );
return;
}
void FTNoIR_Tracker_UDP::GiveHeadPoseData(THeadPoseData *data)
{
data->x = newHeadPose.x;
data->y = newHeadPose.y;
data->z = newHeadPose.z;
data->yaw = newHeadPose.yaw;
data->pitch = newHeadPose.pitch;
data->roll = newHeadPose.roll;
return;
}
bool FTNoIR_Tracker_UDP::setParameterValue(const int index, const float newvalue)
{
if ((index >= 0) && (index < parameterValueAsFloat.size()))
{
//
// Limit the new value, using the defined range.
//
if (newvalue < parameterRange[index].first) {
parameterValueAsFloat[index] = parameterRange[index].first;
}
else {
if (newvalue > parameterRange[index].second) {
parameterValueAsFloat[index] = parameterRange[index].second;
}
else {
parameterValueAsFloat[index] = newvalue;
}
}
// updateParameterString(index);
return true;
}
else
{
return false;
}
};
////////////////////////////////////////////////////////////////////////////////
// Factory function that creates instances if the Tracker object.
// Export both decorated and undecorated names.
// GetTracker - Undecorated name, which can be easily used with GetProcAddress
// Win32 API function.
// _GetTracker@0 - Common name decoration for __stdcall functions in C language.
#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
FTNOIR_TRACKER_BASE_EXPORT TRACKERHANDLE __stdcall GetTracker()
{
return new FTNoIR_Tracker_UDP;
}
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