2 files changed, 16 insertions, 26 deletions

diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
index 12699a58..854cedbb 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
@@ -25,13 +25,7 @@
 #include "ftnoir_tracker_udp.h"
 #include "facetracknoir/plugin-support.h"
 
-FTNoIR_Tracker::FTNoIR_Tracker() : should_quit(false)
-{
-    should_quit = false;
-
-    for (int i = 0; i < 6; i++)
-        newHeadPose[i] = 0;
-}
+FTNoIR_Tracker::FTNoIR_Tracker() : last_recv_pose { 0,0,0, 0,0,0 }, should_quit(false) {}
 
 FTNoIR_Tracker::~FTNoIR_Tracker()
 {
@@ -40,22 +34,22 @@ FTNoIR_Tracker::~FTNoIR_Tracker()
 }
 
 void FTNoIR_Tracker::run() {
-	forever {
+    QByteArray datagram;
+    datagram.resize(sizeof(last_recv_pose));
+    for (;;) {
         if (should_quit)
             break;
-        while (inSocket.hasPendingDatagrams()) {
-                QMutexLocker foo(&mutex);
-				QByteArray datagram;
-                datagram.resize(sizeof(newHeadPose));
-                inSocket.readDatagram((char * ) newHeadPose, sizeof(double[6]));
+        QMutexLocker foo(&mutex);
+        while (sock.hasPendingDatagrams()) {
+            sock.readDatagram((char * ) last_recv_pose, sizeof(double[6]));
         }
-		usleep(10000);
-	}
+        msleep(1);
+    }
 }
 
 void FTNoIR_Tracker::StartTracker(QFrame*)
 {
-    (void) inSocket.bind(QHostAddress::Any, (int) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
+    (void) sock.bind(QHostAddress::Any, (int) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
 	start();
 }
 
diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
index 1d5de19b..a6f2e6d3 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
@@ -16,31 +16,28 @@ struct settings {
     {}
 };
 
-class FTNoIR_Tracker : public ITracker, public QThread
+class FTNoIR_Tracker : public ITracker, protected QThread
 {
 public:
 	FTNoIR_Tracker();
     ~FTNoIR_Tracker();
     void StartTracker(QFrame *);
     void GetHeadPoseData(double *data);
-    volatile bool should_quit;
 protected:
-	void run();												// qthread override run method
+	void run() override;
 private:
-    QUdpSocket inSocket;
-    QHostAddress destIP;
-    QHostAddress srcIP;
-    double newHeadPose[6];
+    QUdpSocket sock;
+    double last_recv_pose[6];
     QMutex mutex;
     settings s;
+    volatile bool should_quit;
 };
 
 class TrackerControls: public QWidget, public ITrackerDialog
 {
     Q_OBJECT
 public:
-
-	explicit TrackerControls();
+	TrackerControls();
     void registerTracker(ITracker *) {}
     void unRegisterTracker() {}
 private:
@@ -59,4 +56,3 @@ public:
 	void getDescription(QString *strToBeFilled);
 	void getIcon(QIcon *icon);
 };
-