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/********************************************************************************
* FaceTrackNoIR This program is a private project of some enthusiastic *
* gamers from Holland, who don't like to pay much for *
* head-tracking. *
* *
* Copyright (C) 2012 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage: http://facetracknoir.sourceforge.net/home/default.htm *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the *
* Free Software Foundation; either version 3 of the License, or (at your *
* option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but *
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, see <http://www.gnu.org/licenses/>. *
* *
********************************************************************************/
#include "ftnoir_tracker_udp.h"
FTNoIR_Tracker::FTNoIR_Tracker()
{
inSocket = 0;
outSocket = 0;
// Create events
m_StopThread = CreateEvent(0, TRUE, FALSE, 0);
m_WaitThread = CreateEvent(0, TRUE, FALSE, 0);
bEnableRoll = true;
bEnablePitch = true;
bEnableYaw = true;
bEnableX = true;
bEnableY = true;
bEnableZ = true;
portAddress = 5551;
newHeadPose.x = 0.0f;
newHeadPose.y = 0.0f;
newHeadPose.z = 0.0f;
newHeadPose.yaw = 0.0f;
newHeadPose.pitch = 0.0f;
newHeadPose.roll = 0.0f;
}
FTNoIR_Tracker::~FTNoIR_Tracker()
{
// 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->close();
delete inSocket;
}
if (outSocket) {
outSocket->close();
delete outSocket;
}
}
/** QThread run @override **/
void FTNoIR_Tracker::run() {
int no_bytes;
QHostAddress sender;
quint16 senderPort;
//
// 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::run() terminated run()";
return;
}
if (inSocket != 0) {
while (inSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(inSocket->pendingDatagramSize());
inSocket->readDatagram( (char * ) &newHeadPose, sizeof(newHeadPose), &sender, &senderPort);
}
}
else {
qDebug() << "FTNoIR_Tracker::run() insocket not ready: exit run()";
return;
}
//for lower cpu load
usleep(10000);
// yieldCurrentThread();
}
}
void FTNoIR_Tracker::Initialize( QFrame *videoframe )
{
qDebug() << "FTNoIR_Tracker::Initialize says: Starting ";
loadSettings();
//
// Create UDP-sockets if they don't exist already.
// They must be created here, because they must be in the new thread (FTNoIR_Tracker::run())
//
if (inSocket == 0) {
qDebug() << "FTNoIR_Tracker::Initialize() creating insocket";
inSocket = new QUdpSocket();
// Connect the inSocket to the port, to receive messages
if (!inSocket->bind(QHostAddress::Any, (int) portAddress, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint)) {
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to bind UDP-port",QMessageBox::Ok,QMessageBox::NoButton);
delete inSocket;
inSocket = 0;
}
}
return;
}
void FTNoIR_Tracker::StartTracker( HWND parent_window )
{
start( QThread::TimeCriticalPriority );
return;
}
void FTNoIR_Tracker::StopTracker( bool exit )
{
//
// OK, the thread is not stopped, doing this. That might be dangerous anyway...
//
if (exit || !exit) return;
return;
}
bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
{
if (bEnableX) {
data->x = newHeadPose.x;
}
if (bEnableX) {
data->y = newHeadPose.y;
}
if (bEnableX) {
data->z = newHeadPose.z;
}
if (bEnableX) {
data->yaw = newHeadPose.yaw;
}
if (bEnableX) {
data->pitch = newHeadPose.pitch;
}
if (bEnableX) {
data->roll = newHeadPose.roll;
}
return true;
}
//
// Load the current Settings from the currently 'active' INI-file.
//
void FTNoIR_Tracker::loadSettings() {
qDebug() << "FTNoIR_Tracker::loadSettings says: Starting ";
QSettings settings("Abbequerque Inc.", "FaceTrackNoIR"); // Registry settings (in HK_USER)
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
qDebug() << "FTNoIR_Tracker::loadSettings says: iniFile = " << currentFile;
iniFile.beginGroup ( "FTNClient" );
bEnableRoll = iniFile.value ( "EnableRoll", 1 ).toBool();
bEnablePitch = iniFile.value ( "EnablePitch", 1 ).toBool();
bEnableYaw = iniFile.value ( "EnableYaw", 1 ).toBool();
bEnableX = iniFile.value ( "EnableX", 1 ).toBool();
bEnableY = iniFile.value ( "EnableY", 1 ).toBool();
bEnableZ = iniFile.value ( "EnableZ", 1 ).toBool();
portAddress = (float) iniFile.value ( "PortNumber", 5550 ).toInt();
iniFile.endGroup ();
}
////////////////////////////////////////////////////////////////////////////////
// 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 ITrackerPtr __stdcall GetTracker()
{
return new FTNoIR_Tracker;
}
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