diff options
| author | Wim Vriend <facetracknoir@gmail.com> | 2011-01-22 15:21:34 +0000 |
|---|---|---|
| committer | Wim Vriend <facetracknoir@gmail.com> | 2011-01-22 15:21:34 +0000 |
| commit | 445ebbfa3edc12bd79469a61c25257fe853c3768 (patch) | |
| tree | 4dc48cdf1387dbc1021ef35748914af651642061 /FTNoIR_Tracker_UDP/ftnoir_tracker_udp.cpp | |
| parent | edd74a92a7d6e3c11d2409ba34085073185af43f (diff) | |
Work on DLL-FTNoir-Tracker.
git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@41 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb
Diffstat (limited to 'FTNoIR_Tracker_UDP/ftnoir_tracker_udp.cpp')
| -rw-r--r-- | FTNoIR_Tracker_UDP/ftnoir_tracker_udp.cpp | 181 |
1 files changed, 181 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_UDP/ftnoir_tracker_udp.cpp b/FTNoIR_Tracker_UDP/ftnoir_tracker_udp.cpp new file mode 100644 index 00000000..005671cb --- /dev/null +++ b/FTNoIR_Tracker_UDP/ftnoir_tracker_udp.cpp @@ -0,0 +1,181 @@ +#include "ftnoir_tracker_base.h"
+#include <QThread>
+#include <QUdpSocket>
+#include "Windows.h"
+
+class FTNoIR_Tracker_UDP : public ITracker, QThread
+{
+public:
+ FTNoIR_Tracker_UDP();
+ ~FTNoIR_Tracker_UDP();
+
+ int Foo(int n);
+ void Release();
+ void Initialize();
+ void StartTracker();
+ void GiveHeadPoseData(THeadPoseData *data);
+
+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
+};
+
+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);
+
+ newHeadPose.x = 1.0f;
+ newHeadPose.y = 2.0f;
+ newHeadPose.z = 3.0f;
+ newHeadPose.yaw = 4.0f;
+ newHeadPose.pitch = 5.0f;
+ newHeadPose.roll = 6.0f;
+}
+
+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->disconnectFromHost();
+ inSocket->waitForDisconnected();
+ delete inSocket;
+ }
+
+ if (outSocket) {
+ outSocket->disconnectFromHost();
+ outSocket->waitForDisconnected();
+ delete outSocket;
+ }
+}
+
+/** QThread run @override **/
+void FTNoIR_Tracker_UDP::run() {
+
+int no_bytes;
+QHostAddress sender;
+quint16 senderPort;
+
+ //
+ // 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
+ inSocket->bind(QHostAddress::Any, destPort+1);
+ }
+
+ //
+ // 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;
+ }
+
+ while (inSocket->hasPendingDatagrams()) {
+
+ QByteArray datagram;
+ datagram.resize(inSocket->pendingDatagramSize());
+
+ inSocket->readDatagram( (char * ) &newHeadPose, sizeof(newHeadPose), &sender, &senderPort);
+ }
+
+ //for lower cpu load
+ usleep(5000);
+ yieldCurrentThread();
+
+ }
+}
+
+int FTNoIR_Tracker_UDP::Foo(int n)
+{
+ return n * n;
+}
+
+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)
+{
+
+ newHeadPose.x += 1.0f;
+ newHeadPose.y += 2.0f;
+ newHeadPose.z += 3.0f;
+ newHeadPose.yaw += 4.0f;
+ newHeadPose.pitch += 5.0f;
+ newHeadPose.roll += 6.0f;
+
+ 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;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// 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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