diff options
| -rw-r--r-- | facetracknoir/clientfiles/FlightGear/Linux/usage.txt | 4 | ||||
| -rw-r--r-- | facetracknoir/clientfiles/FlightGear/Nasal/headtracker.xml | 83 | ||||
| -rw-r--r-- | facetracknoir/clientfiles/FlightGear/Protocol/headtracker.xml | 27 | ||||
| -rw-r--r-- | ftnoir_protocol_fg/fgtypes.h | 2 | ||||
| -rw-r--r-- | ftnoir_protocol_fg/ftnoir_protocol_fg.cpp | 143 | ||||
| -rw-r--r-- | ftnoir_protocol_fg/ftnoir_protocol_fg.h | 12 |
6 files changed, 21 insertions, 250 deletions
diff --git a/facetracknoir/clientfiles/FlightGear/Linux/usage.txt b/facetracknoir/clientfiles/FlightGear/Linux/usage.txt index 14c77ad0..48cee837 100644 --- a/facetracknoir/clientfiles/FlightGear/Linux/usage.txt +++ b/facetracknoir/clientfiles/FlightGear/Linux/usage.txt @@ -1,4 +1,6 @@ -fgfs --generic=socket,in,25,localhost,5542,udp,headtracker ~/opt/fgdata/Nasal/headtracker.xml +Copy Protocol/headtracker.xml to fgdata/Protocol/headtracker.xml + +$ fgfs --generic=socket,in,25,localhost,5542,udp,headtracker Adjust paths as necessary. diff --git a/facetracknoir/clientfiles/FlightGear/Nasal/headtracker.xml b/facetracknoir/clientfiles/FlightGear/Nasal/headtracker.xml deleted file mode 100644 index d8bd1d0a..00000000 --- a/facetracknoir/clientfiles/FlightGear/Nasal/headtracker.xml +++ /dev/null @@ -1,83 +0,0 @@ -<?xml version="1.0"?> - -<PropertyList> - <nasal> - <headtracker> - <script> - var Value = { - new: func(prop) { - var m = { parents: [Value] }; - m.prop = props.globals.getNode(prop, 1); - m.value = 0; - return m; - }, - apply: func(value) { - me.prop.setDoubleValue(me.prop.getValue() - me.value + value); - me.value = value; - }, - }; - - - var x = Value.new("/sim/current-view/x-offset-m"); - var y = Value.new("/sim/current-view/y-offset-m"); - var z = Value.new("/sim/current-view/z-offset-m"); - var h = Value.new("/sim/current-view/heading-offset-deg"); - var p = Value.new("/sim/current-view/pitch-offset-deg"); - var r = Value.new("/sim/current-view/roll-offset-deg"); - - - var resetting = 0; - var status = nil; - - var reset = func { - if (status != 1) { - setprop("/sim/headtracker/control", 1); - resetting = 1; - view.resetViewPos(); - view.resetViewDir(); - x.value = y.value = z.value = h.value = p.value = r.value = 0; - } - } - - setlistener("/sim/headtracker/status", func(n) { - var s = n.getValue(); - if (!status and s) { - setprop("/sim/headtracker/control", 0); - resetting = 0; - } - status = s; - }, 1, 0); - - - var loop = func { - if (!view.index and !resetting) { - x.apply(getprop("/sim/headtracker/x-m")); - y.apply(getprop("/sim/headtracker/y-m")); - z.apply(getprop("/sim/headtracker/z-m")); - - h.apply(getprop("/sim/headtracker/heading-deg")); - p.apply(getprop("/sim/headtracker/pitch-deg")); - r.apply(-1 * getprop("/sim/headtracker/roll-deg")); - } - settimer(loop, 0); - } - - loop(); - - </script> - </headtracker> - </nasal> - - <sim> - <headtracker> - <x-m type="double">0</x-m> - <y-m type="double">0</y-m> - <z-m type="double">0</z-m> - <heading-deg type="double">0</heading-deg> - <pitch-deg type="double">0</pitch-deg> - <roll-deg type="double">0</roll-deg> - <status type="int">0</status> - <control type="int">0</control> - </headtracker> - </sim> -</PropertyList> diff --git a/facetracknoir/clientfiles/FlightGear/Protocol/headtracker.xml b/facetracknoir/clientfiles/FlightGear/Protocol/headtracker.xml index cd1d0dad..8c14119a 100644 --- a/facetracknoir/clientfiles/FlightGear/Protocol/headtracker.xml +++ b/facetracknoir/clientfiles/FlightGear/Protocol/headtracker.xml @@ -11,57 +11,44 @@ <chunk> <name>x</name> <type>double</type> - <node>/sim/headtracker/x-m</node> + <node>/sim/current-view/x-offset-m</node> </chunk> <chunk> <name>y</name> <type>double</type> - <node>/sim/headtracker/y-m</node> + <node>/sim/current-view/y-offset-m</node> </chunk> <chunk> <name>z</name> <type>double</type> - <node>/sim/headtracker/z-m</node> + <node>/sim/current-view/z-offset-m</node> </chunk> <chunk> <name>heading</name> <type>double</type> - <node>/sim/headtracker/heading-deg</node> + <node>/sim/current-view/heading-offset-deg</node> </chunk> <chunk> <name>pitch</name> <type>double</type> - <node>/sim/headtracker/pitch-deg</node> + <node>/sim/current-view/pitch-offset-deg</node> </chunk> <chunk> <name>roll</name> <type>double</type> - <node>/sim/headtracker/roll-deg</node> + <node>/sim/current-view/roll-offset-deg</node> </chunk> <chunk> <name>status</name> <type>int</type> - <node>/sim/headtracker/status</node> + <node>/sim/current-view/headtracker-debug-status</node> </chunk> </input> - - <output> - <binary_mode>true</binary_mode> - <binary_footer>none</binary_footer> - <byte_order>host</byte_order> - <record_length>4</record_length> - - <chunk> - <name>control</name> - <type>int</type> - <node>/sim/headtracker/control</node> - </chunk> - </output> </generic> </PropertyList> diff --git a/ftnoir_protocol_fg/fgtypes.h b/ftnoir_protocol_fg/fgtypes.h index 049de318..0f29be3d 100644 --- a/ftnoir_protocol_fg/fgtypes.h +++ b/ftnoir_protocol_fg/fgtypes.h @@ -17,7 +17,7 @@ // // x,y,z position in metres, heading, pitch and roll in degrees... // -#pragma pack(push, 1) +#pragma pack(push, 2) struct TFlightGearData { double x, y, z, h, p, r; int status; diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp index 643f9dd5..5aa3487e 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.cpp @@ -31,33 +31,16 @@ #include <ftnoir_tracker_base/ftnoir_tracker_types.h> // For Todd and Arda Kutlu -//#define SEND_ASCII_DATA -//#define LOG_OUTPUT -/** constructor **/ FTNoIR_Protocol::FTNoIR_Protocol() { - blnConnectionActive = false; - loadSettings(); + loadSettings(); } -/** destructor **/ FTNoIR_Protocol::~FTNoIR_Protocol() { - if (inSocket != 0) { - inSocket->close(); - delete inSocket; - } - - if (outSocket != 0) { - outSocket->close(); - delete outSocket; - } } -// -// Load the current Settings from the currently 'active' INI-file. -// void FTNoIR_Protocol::loadSettings() { QSettings settings("opentrack"); // Registry settings (in HK_USER) @@ -68,7 +51,7 @@ void FTNoIR_Protocol::loadSettings() { bool blnLocalPC = iniFile.value ( "LocalPCOnly", 1 ).toBool(); if (blnLocalPC) { - destIP = QHostAddress::LocalHost; + destIP = QHostAddress::LocalHost; } else { QString destAddr = iniFile.value ( "IP-1", 192 ).toString() + "." + iniFile.value ( "IP-2", 168 ).toString() + "." + iniFile.value ( "IP-3", 2 ).toString() + "." + iniFile.value ( "IP-4", 1 ).toString(); @@ -80,87 +63,19 @@ void FTNoIR_Protocol::loadSettings() { } -// -// Update Headpose in Game. -// void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) { -int no_bytes; -QHostAddress sender; -quint16 senderPort; + int no_bytes; + QHostAddress sender; + quint16 senderPort; - // - // Copy the Raw measurements directly to the client. - // FlightData.x = headpose[TX] * 1e-2; FlightData.y = headpose[TY] * 1e-2; FlightData.z = headpose[TZ] * 1e-2; FlightData.p = headpose[Pitch]; FlightData.h = headpose[Yaw]; FlightData.r = headpose[Roll]; - FlightData.status = fg_cmd; - - // - // Try to send an UDP-message to the FlightGear - // - -#ifdef SEND_ASCII_DATA - sprintf_s(data, "%.2f %.2f %.2f %.2f %.2f %.2f\n\0", FlightData.x, FlightData.y, FlightData.z, FlightData.p, FlightData.h, FlightData.r); - - if (outSocket != 0) { - no_bytes = outSocket->writeDatagram((const char *) &data, strlen( data ), destIP, destPort); - if ( no_bytes > 0) { - qDebug() << "FGServer::writePendingDatagrams says: bytes send =" << data; - } - else { - qDebug() << "FGServer::writePendingDatagrams says: nothing sent!"; - } - } - -#endif - - #ifdef LOG_OUTPUT - // Use this for some debug-output to file... - QFile datafile(QCoreApplication::applicationDirPath() + "\\FG_output.txt"); - if (datafile.open(QFile::WriteOnly | QFile::Append)) { - QTextStream out(&datafile); - out << "output:\t" << FlightData.x << "\t" << FlightData.y << "\t" << FlightData.z << "\t" << FlightData.p << "\t" << FlightData.h << "\t" << FlightData.r << '\n'; - } - #endif - - #ifndef SEND_ASCII_DATA - //! [1] - if (outSocket != 0) { - no_bytes = outSocket->writeDatagram((const char *) &FlightData, sizeof( FlightData ), destIP, destPort); - if ( no_bytes > 0) { - } - else { - qDebug() << "FGServer::writePendingDatagrams says: nothing sent!"; - } - } - #endif - - // - // FlightGear keeps sending data, so we must read that here. - // - if (inSocket != 0) { - while (inSocket->hasPendingDatagrams()) { - - QByteArray datagram; - datagram.resize(inSocket->pendingDatagramSize()); - - 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 - } - - if (!blnConnectionActive) { - blnConnectionActive = true; - } - } - } + FlightData.status = 1; + (void) outSocket.writeDatagram(reinterpret_cast<const char*>(&FlightData), sizeof(FlightData), destIP, static_cast<quint16>(destPort)); } // @@ -169,51 +84,9 @@ quint16 senderPort; // bool FTNoIR_Protocol::checkServerInstallationOK() { - // Init. the data - FlightData.x = 0.0f; - FlightData.y = 0.0f; - FlightData.z = 0.0f; - FlightData.h = 0.0f; - FlightData.p = 0.0f; - FlightData.r = 0.0f; - FlightData.status = 0; - fg_cmd = 1; - - 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; + return outSocket.bind(QHostAddress::Any, 0, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); } -//////////////////////////////////////////////////////////////////////////////// -// Factory function that creates instances if the Protocol object. - -// Export both decorated and undecorated names. -// GetProtocol - Undecorated name, which can be easily used with GetProcAddress -// Win32 API function. -// _GetProtocol@0 - Common name decoration for __stdcall functions in C language. -//#pragma comment(linker, "/export:GetProtocol=_GetProtocol@0") - extern "C" FTNOIR_PROTOCOL_BASE_EXPORT IProtocol* CALLING_CONVENTION GetConstructor() { return new FTNoIR_Protocol; diff --git a/ftnoir_protocol_fg/ftnoir_protocol_fg.h b/ftnoir_protocol_fg/ftnoir_protocol_fg.h index 40a83384..f399904b 100644 --- a/ftnoir_protocol_fg/ftnoir_protocol_fg.h +++ b/ftnoir_protocol_fg/ftnoir_protocol_fg.h @@ -36,7 +36,6 @@ #include <QUdpSocket> #include <QMessageBox> #include <QSettings> -#include <math.h> #include "facetracknoir/global-settings.h" #define FT_PROGRAMID "FT_ProgramID" @@ -52,15 +51,8 @@ public: return "FlightGear"; } private: - - bool blnConnectionActive; - - // Tracker *headTracker; // For upstream messages... - TFlightGearData FlightData; - QUdpSocket *inSocket; // Receive from FligthGear - QUdpSocket *outSocket; // Send to FligthGear - qint32 cmd; - qint32 fg_cmd; // Command from FlightGear + TFlightGearData FlightData; + QUdpSocket outSocket; // Send to FligthGear QHostAddress destIP; // Destination IP-address int destPort; // Destination port-number void loadSettings(); |