summaryrefslogtreecommitdiffhomepage
path: root/ftnoir_protocol_fg
diff options
context:
space:
mode:
Diffstat (limited to 'ftnoir_protocol_fg')
-rw-r--r--ftnoir_protocol_fg/fgtypes.h2
-rw-r--r--ftnoir_protocol_fg/ftnoir_protocol_fg.cpp143
-rw-r--r--ftnoir_protocol_fg/ftnoir_protocol_fg.h12
3 files changed, 11 insertions, 146 deletions
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();
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-16 10:36:06 +0000