PPJoy working

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@11 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

8 files changed, 167 insertions, 72 deletions

diff --git a/FaceTrackNoIR/FaceTrackNoIR.cpp b/FaceTrackNoIR/FaceTrackNoIR.cpp
index 05de8edd..de73a0b4 100644
--- a/FaceTrackNoIR/FaceTrackNoIR.cpp
+++ b/FaceTrackNoIR/FaceTrackNoIR.cpp
@@ -380,7 +380,7 @@ void FaceTrackNoIR::startTracker( ) {
 	//

 	// Create the Tracker and setup

 	//

-	tracker = new Tracker;

+	tracker = new Tracker ( ui.iconcomboBox->currentIndex() );

 

 	// Show the video widget

 	ui.video_frame->show();

diff --git a/FaceTrackNoIR/PPJoyServer.cpp b/FaceTrackNoIR/PPJoyServer.cpp
index 46a66c44..53b6322b 100644
--- a/FaceTrackNoIR/PPJoyServer.cpp
+++ b/FaceTrackNoIR/PPJoyServer.cpp
@@ -95,25 +95,32 @@ void PPJoyServer::run() {
 	Digital= JoyState.Digital;						// Keep a pointer to the digital array for easy updating

 	JoyState.NumDigital= NUM_DIGITAL;				// Number of digital values

 

+	/* Make sure we could open the device! */

+	/* MessageBox in run() does not work! (runtime error...)*/

+	if (h == INVALID_HANDLE_VALUE) {

+		return;

+	}

 

 	forever

 	{

 	    // Check event for stop thread

-		if(::WaitForSingleObject(m_StopThread, 0) == WAIT_OBJECT_0)

-		{

+		if(::WaitForSingleObject(m_StopThread, 0) == WAIT_OBJECT_0) {

 			// Set event

 			::SetEvent(m_WaitThread);

 			return;

 		}

 

-		Analog[0] = scale2AnalogLimits( virtRotX, -90.0f, 90.0f );	// Pitch

+		// The effective angle for faceTracking will be < 90 degrees, so we assume a smaller range here

+		Analog[0] = scale2AnalogLimits( virtRotX, -50.0f, 50.0f );	// Pitch

 		qDebug() << "PPJoyServer says: Pitch =" << Analog[0] << " VirtRotX =" << virtRotX ;

-		Analog[1] = scale2AnalogLimits( virtRotY, -90.0f, 90.0f );	// Yaw

-		Analog[2] = scale2AnalogLimits( virtRotZ, -90.0f, 90.0f );	// Roll

-		Analog[3] = virtPosX + analogDefault;						// X

+		Analog[1] = scale2AnalogLimits( virtRotY, -50.0f, 50.0f );	// Yaw

+		Analog[2] = scale2AnalogLimits( virtRotZ, -50.0f, 50.0f );	// Roll

+

+		// The effective movement for faceTracking will be < 50 cm, so we assume a smaller range here

+		Analog[3] = scale2AnalogLimits( virtPosX, -40.0f, 40.0f );						// X

 

-		Analog[5] = virtPosY + analogDefault;						// Y (5?)

-		Analog[6] = virtPosZ + analogDefault;						// Z (6?)

+		Analog[5] = scale2AnalogLimits( virtPosY, -40.0f, 40.0f );						// Y (5?)

+		Analog[6] = scale2AnalogLimits( virtPosZ, -40.0f, 40.0f );						// Z (6?)

 

 		checkAnalogLimits();

 

diff --git a/FaceTrackNoIR/Release/BuildLog.htm b/FaceTrackNoIR/Release/BuildLog.htm
index 695a0f33..2d07dae3 100644
--- a/FaceTrackNoIR/Release/BuildLog.htm
+++ b/FaceTrackNoIR/Release/BuildLog.htm
diff --git a/FaceTrackNoIR/Release/mt.dep b/FaceTrackNoIR/Release/mt.dep
index 07307278..506fca00 100644
--- a/FaceTrackNoIR/Release/mt.dep
+++ b/FaceTrackNoIR/Release/mt.dep
@@ -1 +1 @@
-Manifest resource last updated at 20:05:54.09 on vr 11-06-2010 

+Manifest resource last updated at 11:22:50.41 on za 12-06-2010 

diff --git a/FaceTrackNoIR/Release/vc90.idb b/FaceTrackNoIR/Release/vc90.idb
index a737ef03..1015061a 100644
--- a/FaceTrackNoIR/Release/vc90.idb
+++ b/FaceTrackNoIR/Release/vc90.idb
diff --git a/FaceTrackNoIR/images/PPJoy.ico b/FaceTrackNoIR/images/PPJoy.ico
index 321e5888..f94f8d65 100644
--- a/FaceTrackNoIR/images/PPJoy.ico
+++ b/FaceTrackNoIR/images/PPJoy.ico
diff --git a/FaceTrackNoIR/tracker.cpp b/FaceTrackNoIR/tracker.cpp
index 724475f2..666f9c34 100644
--- a/FaceTrackNoIR/tracker.cpp
+++ b/FaceTrackNoIR/tracker.cpp
@@ -57,8 +57,12 @@ THeadPoseDOF Tracker::X;
 THeadPoseDOF Tracker::Y;

 THeadPoseDOF Tracker::Z;

 

-/** constructor empty **/

-Tracker::Tracker() {

+/** constructor **/

+Tracker::Tracker( int clientID ) {

+

+	// Remember the selected client, from the ListBox

+	// If the Tracker runs, this can NOT be changed...

+	selectedClient = (FTNoIR_Client) clientID;

 

 	// Create events

 	m_StopThread = CreateEvent(0, TRUE, FALSE, 0);

@@ -85,17 +89,48 @@ Tracker::Tracker() {
         QMessageBox::warning(0,"faceAPI Error",e.what(),QMessageBox::Ok,QMessageBox::NoButton);

 	}

 

-	server_FT = new FTServer;							// Create the new thread (on the heap)

-	server_FG = new FGServer ( this );					// Create the new thread (on the heap)

-	server_PPJoy = new PPJoyServer ( this );			// Create the new thread (on the heap)

+	//

+	// Initialize all server-handles. Only start the server, that was selected in the GUI.

+	//

+	server_FT = 0;

+	server_FG = 0;

+	server_PPJoy = 0;

+	switch (selectedClient) {

+		case FREE_TRACK:

+			server_FT = new FTServer;					// Create Free-track protocol-server

+			break;

+

+		case FLIGHTGEAR:

+			server_FG = new FGServer ( this );			// Create FlightGear protocol-server

+			break;

+

+		case FTNOIR:

+			break;

+

+		case PPJOY:

+			server_PPJoy = new PPJoyServer ( this );	// Create PPJoy protocol-server

+			break;

+

+		default:

+			// should never be reached

+		break;

+	}

+

 }

 

 /** destructor empty **/

 Tracker::~Tracker() {

 

-	server_FT->deleteLater();

-	server_FG->deleteLater();

-	server_PPJoy->deleteLater();

+	// Stop the started server(s)

+	if (server_FT) {

+		server_FT->deleteLater();

+	}

+	if (server_FG) {

+		server_FG->deleteLater();

+	}

+	if (server_PPJoy) {

+		server_PPJoy->deleteLater();

+	}

 

 	// Trigger thread to stop

 	::SetEvent(m_StopThread);

@@ -143,15 +178,22 @@ void Tracker::setup(QWidget *head, FaceTrackNoIR *parent) {
 	// and create the necessary mapping to shared memory.

 	// The handle of the MainWindow is sent to 'The Game', so it can send a message back.

 	//

-	DLL_Ok = server_FT->FTCheckClientDLL();

-	DLL_Ok = server_FT->FTCreateMapping( mainApp->winId() );

+	if (server_FT) {

+		DLL_Ok = server_FT->FTCheckClientDLL();

+		DLL_Ok = server_FT->FTCreateMapping( mainApp->winId() );

 

-	qDebug() << "FaceTrackNoIR says: Window Handle =" << mainApp->winId();

+		server_FT->start();								// Start the thread

+	}

+

+	// FlightGear

+	if (server_FG) {

+		server_FG->start();								// Start the thread

+	}

 

-//	return;

-	server_FT->start();									// Should start at the push of a button?

-	server_FG->start();									// 

-	server_PPJoy->start();								// 

+	// PPJoy virtual joystick

+	if (server_PPJoy) {

+		server_PPJoy->start();							// Start the thread

+	}

 }

 

 /** QThread run method @override **/

@@ -305,14 +347,15 @@ void Tracker::run() {
 			//

 			// Copy the Raw values directly to Free-track server

 			//

-			server_FT->setHeadRotX( Tracker::Pitch.headPos );			// rads

-			server_FT->setHeadRotY( Tracker::Yaw.headPos );

-			server_FT->setHeadRotZ( Tracker::Roll.headPos);

-

-			server_FT->setHeadPosX( Tracker::X.headPos * 1000.0f);		// From m to mm

-			server_FT->setHeadPosY( Tracker::Y.headPos * 1000.0f);

-			server_FT->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);

-

+			if (server_FT) {

+				server_FT->setHeadRotX( Tracker::Pitch.headPos );			// rads

+				server_FT->setHeadRotY( Tracker::Yaw.headPos );

+				server_FT->setHeadRotZ( Tracker::Roll.headPos);

+

+				server_FT->setHeadPosX( Tracker::X.headPos * 1000.0f);		// From m to mm

+				server_FT->setHeadPosY( Tracker::Y.headPos * 1000.0f);

+				server_FT->setHeadPosZ( ( Tracker::Z.headPos - Tracker::Z.initial_headPos ) * 1000.0f);

+			}

 		}

 

 		//

@@ -333,9 +376,7 @@ void Tracker::run() {
 		}

 

 		if (Tracker::do_tracking && Tracker::confid) {

-			//

-			// Also send the Virtual Pose to FT-server and FG-server

-			//

+			// Pitch

 			if (Tracker::useFilter) {

 				Pitch.newPos = lowPassFilter ( getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos, 

 											   &Pitch.prevPos, dT, Tracker::Pitch.red );

@@ -343,9 +384,8 @@ void Tracker::run() {
 			else {

 				Pitch.newPos = getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos;

 			}

-			server_FT->setVirtRotX ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );

-			server_PPJoy->setVirtRotX ( getDegreesFromRads (Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos ) );

 

+			// Yaw

 			if (Tracker::useFilter) {

 				Yaw.newPos = lowPassFilter ( getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos, 

 											   &Yaw.prevPos, dT, Tracker::Yaw.red );

@@ -353,9 +393,8 @@ void Tracker::run() {
 			else {

 				Yaw.newPos = getSmoothFromList( &Yaw.rawList ) - Yaw.offset_headPos;

 			}

-			server_FT->setVirtRotY ( Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos );

-			server_PPJoy->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos ) );

 

+			// Roll

 			if (Tracker::useFilter) {

 				Roll.newPos = lowPassFilter ( getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos, 

 											   &Roll.prevPos, dT, Tracker::Roll.red );

@@ -363,45 +402,76 @@ void Tracker::run() {
 			else {

 				Roll.newPos = getSmoothFromList( &Roll.rawList ) - Roll.offset_headPos;

 			}

-			server_FT->setVirtRotZ ( Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos );

-			server_PPJoy->setVirtRotZ ( getDegreesFromRads (Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos ) );

-

-			server_FT->setVirtPosX ( ( Tracker::X.invert   * Tracker::X.sens     * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);

-			server_FT->setVirtPosY ( ( Tracker::Y.invert   * Tracker::Y.sens     * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );

-			server_FT->setVirtPosZ ( ( Tracker::Z.invert   * Tracker::Z.sens     * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );

-

-			server_PPJoy->setVirtPosX ( ( Tracker::X.invert   * Tracker::X.sens     * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);

-			server_PPJoy->setVirtPosY ( ( Tracker::Y.invert   * Tracker::Y.sens     * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );

-			server_PPJoy->setVirtPosZ ( ( Tracker::Z.invert   * Tracker::Z.sens     * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );

-

-			server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * (getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos) ) );

-			server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert   * Tracker::Yaw.sens   * (getSmoothFromList( &Yaw.rawList )   - Yaw.offset_headPos) ) );

-			server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::Roll.invert  * Tracker::Roll.sens  * (getSmoothFromList( &Roll.rawList )  - Roll.offset_headPos) ) );

-			server_FG->setVirtPosX ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) );

-			server_FG->setVirtPosY ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) );

-			server_FG->setVirtPosZ ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) );

+

+			//

+			// Also send the Virtual Pose to selected Protocol-Server

+			//

+			// Free-track

+			if (server_FT) {

+				server_FT->setVirtRotX ( Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos );

+				server_FT->setVirtRotY ( Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos );

+				server_FT->setVirtRotZ ( Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos );

+

+				server_FT->setVirtPosX ( ( Tracker::X.invert   * Tracker::X.sens     * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 1000.0f);

+				server_FT->setVirtPosY ( ( Tracker::Y.invert   * Tracker::Y.sens     * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 1000.0f );

+				server_FT->setVirtPosZ ( ( Tracker::Z.invert   * Tracker::Z.sens     * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 1000.0f );

+			}

+

+			// FlightGear

+			if (server_FG) {

+				server_FG->setVirtRotX ( getDegreesFromRads ( Tracker::Pitch.invert * Tracker::Pitch.sens * (getSmoothFromList( &Pitch.rawList ) - Pitch.offset_headPos) ) );

+				server_FG->setVirtRotY ( getDegreesFromRads ( Tracker::Yaw.invert   * Tracker::Yaw.sens   * (getSmoothFromList( &Yaw.rawList )   - Yaw.offset_headPos) ) );

+				server_FG->setVirtRotZ ( getDegreesFromRads ( Tracker::Roll.invert  * Tracker::Roll.sens  * (getSmoothFromList( &Roll.rawList )  - Roll.offset_headPos) ) );

+				server_FG->setVirtPosX ( Tracker::X.invert * Tracker::X.sens * (getSmoothFromList( &X.rawList ) - X.offset_headPos) );

+				server_FG->setVirtPosY ( Tracker::Y.invert * Tracker::Y.sens * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) );

+				server_FG->setVirtPosZ ( Tracker::Z.invert * Tracker::Z.sens * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) );

+			}

+

+			// PPJoy virtual joystick

+			if (server_PPJoy) {

+				server_PPJoy->setVirtRotX ( getDegreesFromRads (Tracker::Pitch.invert * Tracker::Pitch.sens * Pitch.newPos ) );

+				server_PPJoy->setVirtRotY ( getDegreesFromRads (Tracker::Yaw.invert   * Tracker::Yaw.sens   *  Yaw.newPos ) );

+				server_PPJoy->setVirtRotZ ( getDegreesFromRads (Tracker::Roll.invert  * Tracker::Roll.sens  * Roll.newPos ) );

+

+				server_PPJoy->setVirtPosX ( ( Tracker::X.invert   * Tracker::X.sens     * (getSmoothFromList( &X.rawList ) - X.offset_headPos) ) * 100.0f);

+				server_PPJoy->setVirtPosY ( ( Tracker::Y.invert   * Tracker::Y.sens     * (getSmoothFromList( &Y.rawList ) - Y.offset_headPos) ) * 100.0f );

+				server_PPJoy->setVirtPosZ ( ( Tracker::Z.invert   * Tracker::Z.sens     * (getSmoothFromList( &Z.rawList ) - Z.offset_headPos - Tracker::Z.initial_headPos) ) * 100.0f );

+			}

 		}

 		else {

 			//

 			// Go to initial position

 			//

-			server_FT->setVirtRotX ( 0.0f );

-			server_FT->setVirtRotY ( 0.0f );

-			server_FT->setVirtRotZ ( 0.0f );

-			server_FT->setVirtPosX ( 0.0f );

-			server_FT->setVirtPosY ( 0.0f );

-			server_FT->setVirtPosZ ( 0.0f );

-

-			server_FG->setVirtRotX ( 0.0f );

-			server_FG->setVirtRotY ( 0.0f );

-			server_FG->setVirtRotZ ( 0.0f );

-			server_FG->setVirtPosX ( 0.0f );

-			server_FG->setVirtPosY ( 0.0f );

-			server_FG->setVirtPosZ ( 0.0f );

+			if (server_FT) {

+				server_FT->setVirtRotX ( 0.0f );

+				server_FT->setVirtRotY ( 0.0f );

+				server_FT->setVirtRotZ ( 0.0f );

+				server_FT->setVirtPosX ( 0.0f );

+				server_FT->setVirtPosY ( 0.0f );

+				server_FT->setVirtPosZ ( 0.0f );

+			}

+

+			if (server_FG) {

+				server_FG->setVirtRotX ( 0.0f );

+				server_FG->setVirtRotY ( 0.0f );

+				server_FG->setVirtRotZ ( 0.0f );

+				server_FG->setVirtPosX ( 0.0f );

+				server_FG->setVirtPosY ( 0.0f );

+				server_FG->setVirtPosZ ( 0.0f );

+			}

+

+			if (server_PPJoy) {

+				server_PPJoy->setVirtRotX ( 0.0f );

+				server_PPJoy->setVirtRotY ( 0.0f );

+				server_PPJoy->setVirtRotZ ( 0.0f );

+				server_PPJoy->setVirtPosX ( 0.0f );

+				server_PPJoy->setVirtPosY ( 0.0f );

+				server_PPJoy->setVirtPosZ ( 0.0f );

+			}

 		}

 

 		//for lower cpu load 

-		msleep(25);

+		msleep(15);

 		yieldCurrentThread(); 

 	}

 }

diff --git a/FaceTrackNoIR/tracker.h b/FaceTrackNoIR/tracker.h
index 732d2a8d..10021ffb 100644
--- a/FaceTrackNoIR/tracker.h
+++ b/FaceTrackNoIR/tracker.h
@@ -46,6 +46,22 @@
 using namespace sm::faceapi;

 using namespace sm::faceapi::qt;

 

+enum AngleName {

+	PITCH = 0,

+	YAW = 1,

+	ROLL = 2,

+	X = 3,

+	Y = 4,

+	Z = 5

+};

+

+enum FTNoIR_Client {

+	FREE_TRACK = 0,

+	FLIGHTGEAR = 1,

+	FTNOIR = 2,

+	PPJOY = 3

+};

+

 class FaceTrackNoIR;				// pre-define parent-class to avoid circular includes

 

 //

@@ -73,6 +89,8 @@ private:
 	HANDLE m_StopThread;

 	HANDLE m_WaitThread;

 

+	FTNoIR_Client selectedClient;

+

 	/** face api variables **/

 	APIScope *faceapi_scope;

     QSharedPointer<EngineBase> _engine;

@@ -125,7 +143,7 @@ protected:
 	void run();

 

 public:

-	Tracker();

+	Tracker( int clientID );

 	~Tracker();

 

 	void setup(QWidget *head, FaceTrackNoIR *parent);