summaryrefslogtreecommitdiffhomepage
path: root/FaceTrackNoIR/tracker.cpp
blob: 80080df7e2f2c530bf944b991078f7e9aae259de (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
/********************************************************************************
* FaceTrackNoIR		This program is a private project of the 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/>.				*
*********************************************************************************/
/*
	Modifications (last one on top):
		20120921 - WVR: Fixed centering when no filter is selected.
		20120917 - WVR: Added Mouse-buttons to ShortKeys.
		20120827 - WVR: Signal tracking = false to Curve-widget(s) when quitting run(). Also when Alternative Pitch curve is used.
		20120805 - WVR: The FunctionConfig-widget is used to configure the Curves. It was tweaked some more, because the Accela filter now also
						uses the Curve(s). ToDo: make the ranges configurable by the user. Development on the Toradex IMU makes us realize, that
						a fixed input-range may not be so handy after all..
		20120427 - WVR: The Protocol-code was already in separate DLLs, but the ListBox was still filled ´statically´. Now, a Dir() of the
						EXE-folder is done, to locate Protocol-DLLs. The Icons were also moved to the DLLs
		20120317 - WVR: The Filter and Tracker-code was moved to separate DLLs. The calling-method
						was changed accordingly.
						The face-tracker member-functions NotifyZeroed and refreshVideo were added, as 
						requested by Stanislaw.
		20110411 - WVR: Finished moving all Protocols to separate C++ projects. Every protocol now
						has it's own Class, that's inside it's own DLL. This reduces the size of the program,
						makes it more structured and enables a more sophisticated installer.
		20110328 - WVR: Changed the camera-structs into class-instances. This makes initialisation
						easier and hopefully solves the remaining 'start-up problem'.
		20110313 - WVR: Removed 'set_initial'. Less is more.
		20110109 - WVR: Added setZero option to define behaviour after STOP tracking via shortkey.
		20110104 - WVR: Removed a few nasty bugs (it was impossible to stop tracker without crash).
		20101224 - WVR: Removed the QThread inheritance of the Base Class for the protocol-servers.
						Again, this drastically simplifies the code in the protocols.
		20101217 - WVR: Created Base Class for the protocol-servers. This drastically simplifies
						the code needed here.
		20101024 - WVR: Added shortkey to disable/enable one or more axis during tracking.
		20101021 - WVR: Added FSUIPC server for FS2004.
		20101011 - WVR: Added SimConnect server.
		20101007 - WVR: Created 6DOF-curves and drastically changed the tracker for that.
						Also eliminated a 'glitch' in the process.
		20100607 - WVR: Re-installed Rotation Neutral Zone and improved reaction
						after 'start/stop'. MessageBeep when confidence is back...
		20100604 - WVR: Created structure for DOF-data and changed timing of
						ReceiveHeadPose end run().
		20100602 - WVR: Implemented EWMA-filtering, according to the example of
						Melchior Franz. Works like a charm...
		20100601 - WVR: Added DirectInput keyboard-handling. '=' used for center,
						'BACK' for start (+center)/stop.
		20100517 - WVR: Added upstream command(s) from FlightGear
		20100523 - WVR: Checkboxes to invert 6DOF's was implemented. Multiply by
						1 or (-1).
*/
#include "tracker.h"
#include "FaceTrackNoIR.h"

//
// Definitions for testing purposes
//
//#define USE_HEADPOSE_CALLBACK
//#define USE_DEBUG_CLIENT

// Flags
bool Tracker::confid = false;
bool Tracker::do_tracking = true;
bool Tracker::do_center = false;
bool Tracker::do_inhibit = false;
bool Tracker::do_game_zero = false;
bool Tracker::do_axis_reverse = false;

bool Tracker::useFilter = false;
bool Tracker::setZero = true;
bool Tracker::setEngineStop = true;
HANDLE Tracker::hTrackMutex = 0;

bool Tracker::useAxisReverse = false;							// Use Axis Reverse
float Tracker::YawAngle4ReverseAxis = 40.0f;					// Axis Reverse settings
float Tracker::Z_Pos4ReverseAxis = -20.0f;
float Tracker::Z_PosWhenReverseAxis = 50.0f;


T6DOF Tracker::current_camera(0,0,0,0,0,0);						// Used for filtering
T6DOF Tracker::target_camera(0,0,0,0,0,0);
T6DOF Tracker::new_camera(0,0,0,0,0,0);
T6DOF Tracker::output_camera(0,0,0,0,0,0);						// Position sent to game protocol

THeadPoseDOF Tracker::Pitch("PitchUp", "PitchDown", 50, 180);	// One structure for each of 6DOF's
THeadPoseDOF Tracker::Yaw("Yaw", "", 50, 180);
THeadPoseDOF Tracker::Roll("Roll", "", 50, 180);
THeadPoseDOF Tracker::X("X","", 50, 180);
THeadPoseDOF Tracker::Y("Y","", 50, 180);
THeadPoseDOF Tracker::Z("Z","", 50, 180);

TShortKey Tracker::CenterKey;									// ShortKey to Center headposition
TShortKey Tracker::StartStopKey;								// ShortKey to Start/stop tracking
TShortKey Tracker::InhibitKey;									// ShortKey to inhibit axis while tracking
TShortKey Tracker::GameZeroKey;									// ShortKey to Set Game Zero
//TShortKey Tracker::AxisReverseKey;							// ShortKey to start/stop axis reverse while tracking

int Tracker::CenterMouseKey;									// ShortKey to Center headposition
int Tracker::StartStopMouseKey;									// ShortKey to Start/stop tracking
int Tracker::InhibitMouseKey;									// ShortKey to inhibit axis while tracking
int Tracker::GameZeroMouseKey;									// ShortKey to Set Game Zero

//ITrackerPtr Tracker::pTracker;								// Pointer to Tracker instance (in DLL)
IProtocolPtr Tracker::pProtocol;								// Pointer to Protocol instance (in DLL)
IFilterPtr Tracker::pFilter;									// Pointer to Filter instance (in DLL)


/** constructor **/
Tracker::Tracker( FaceTrackNoIR *parent ) {
QString libName;
importGetTracker getIT;
QLibrary *trackerLib;
importGetFilter getFilter;
QLibrary *filterLib;
importGetProtocol getProtocol;
QLibrary *protocolLib;
QFrame *video_frame;

	// Retieve the pointer to the parent
	mainApp = parent;

	// Create events
	m_StopThread = CreateEvent(0, TRUE, FALSE, 0);
	m_WaitThread = CreateEvent(0, TRUE, FALSE, 0);

	Tracker::hTrackMutex = CreateMutexA(NULL, false, "HeadPose_mutex");

	//
	// Initialize the headpose-data
	//
	Tracker::Yaw.initHeadPoseData();
	Tracker::Pitch.initHeadPoseData();
	Tracker::Roll.initHeadPoseData();
	Tracker::X.initHeadPoseData();
	Tracker::Y.initHeadPoseData();
	Tracker::Z.initHeadPoseData();

	//
	// Locate the video-frame, for the DLL
	//
	video_frame = 0;
	video_frame = mainApp->getVideoWidget();
	qDebug() << "Tracker::setup VideoFrame = " << video_frame;

	//
	// Load the Tracker-engine DLL, get the tracker-class from it and do stuff...
	//
	pTracker = NULL;
	libName = mainApp->getCurrentTrackerName();
	if (!libName.isEmpty()) {
		trackerLib = new QLibrary(libName);
		getIT = (importGetTracker) trackerLib->resolve("GetTracker");
			
		if (getIT) {
			ITracker *ptrXyz(getIT());							// Get the Class
			if (ptrXyz)
			{
				pTracker = ptrXyz;
				pTracker->Initialize( video_frame, 1 );
				qDebug() << "Tracker::setup Function Resolved!";
			}
		}
		else {
			QMessageBox::warning(0,"FaceTrackNoIR Error", "Facetracker DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
		}
	}

	//
	// Load the DLL with the protocol-logic and retrieve a pointer to the Protocol-class.
	//
	libName = mainApp->getCurrentProtocolName();
	if (!libName.isEmpty()) {
		protocolLib = new QLibrary(libName);
		getProtocol = (importGetProtocol) protocolLib->resolve("GetProtocol");
		if (getProtocol) {
			IProtocolPtr ptrXyz(getProtocol());
			if (ptrXyz)
			{
				pProtocol = ptrXyz;
				pProtocol->Initialize();
				qDebug() << "Protocol::setup Function Resolved!";
			}
		}
		else {
			QMessageBox::warning(0,"FaceTrackNoIR Error", "Protocol-DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
			return;
		}
	}

#	ifdef USE_DEBUG_CLIENT
	debug_Client = QSharedPointer<ExcelServer>(new ExcelServer ( this ));		// Create Excel protocol-server
#   endif

	//
	// Load the DLL with the filter-logic and retrieve a pointer to the Filter-class.
	//
	libName = mainApp->getCurrentFilterName();
	filterLib = new QLibrary(libName);
	
	getFilter = (importGetFilter) filterLib->resolve("GetFilter");
	if (getFilter) {
		IFilterPtr ptrXyz(getFilter());
		if (ptrXyz)
		{
			pFilter = ptrXyz;
			qDebug() << "Filter::setup Function Resolved!";
		}
	}
	else {
		QMessageBox::warning(0,"FaceTrackNoIR Error", "Filter-DLL not loaded",QMessageBox::Ok,QMessageBox::NoButton);
		return;
	}

	// Load the settings from the INI-file
	loadSettings();
}

/** destructor empty **/
Tracker::~Tracker() {

	// Stop the Tracker
	if (pTracker) {
		qDebug() << "Tracker::~Tracker Calling pTracker->StopTracker()...";
		pTracker->StopTracker( true );
		qDebug() << "Tracker::~Tracker After Calling pTracker->StopTracker()...";
	}

	// Trigger thread to stop
	::SetEvent(m_StopThread);

	// Wait until thread finished
	if (isRunning()) {
		::WaitForSingleObject(m_WaitThread, INFINITE);
	}

	//
	// Remove the Tracker
	// 20120615, WVR: As suggested by Stanislaw
	if (pTracker) {
		delete pTracker;
		pTracker = NULL;
	}

	// Close handles
	::CloseHandle(m_StopThread);
	::CloseHandle(m_WaitThread);

	if (Tracker::hTrackMutex != 0) {
		::CloseHandle( Tracker::hTrackMutex );
	}

#       ifdef USE_DEBUG_CLIENT
	debug_Client->deleteLater();		// Delete Excel protocol-server
#       endif
	
	qDebug() << "Tracker::~Tracker Finished...";

}

/** setting up the tracker engine **/
void Tracker::setup() {
	bool DLL_Ok;

	// retrieve pointers to the User Interface and the main Application
	pTracker->StartTracker( mainApp->winId() );

	//
	// Check if the Protocol-server files were installed OK.
	// Some servers also create a memory-mapping, for Inter Process Communication.
	// The handle of the MainWindow is sent to 'The Game', so it can send a message back.
	//
	if (pProtocol) {

		DLL_Ok = pProtocol->checkServerInstallationOK( mainApp->winId() );
		if (!DLL_Ok) {
			QMessageBox::information(mainApp, "FaceTrackNoIR error", "Protocol is not (correctly) installed!");
		}
	}

#       ifdef USE_DEBUG_CLIENT
	DLL_Ok = debug_Client->checkServerInstallationOK( mainApp->winId() );		// Check installation
	if (!DLL_Ok) {
		QMessageBox::information(mainApp, "FaceTrackNoIR error", "Excel Protocol is not (correctly) installed!");
	}
#       endif

}

/** QThread run method @override **/
void Tracker::run() {
/** Direct Input variables **/
//
// The DirectX stuff was found here: http://www.directxtutorial.com/tutorial9/e-directinput/dx9e2.aspx
//
LPDIRECTINPUT8 din;								// the pointer to our DirectInput interface
LPDIRECTINPUTDEVICE8 dinkeyboard;				// the pointer to the keyboard device
LPDIRECTINPUTDEVICE8 dinmouse;					// the pointer to the mouse device
BYTE keystate[256];								// the storage for the key-information
DIMOUSESTATE mousestate;						// the storage for the mouse-information
HRESULT retAcquire;
bool lastCenterKey = false;						// Remember state, to detect rising edge
bool lastStartStopKey = false;
bool lastInhibitKey = false;
bool lastGameZeroKey = false;

bool lastCenterMouseKey = false;				// Remember state, to detect rising edge
bool lastStartStopMouseKey = false;
bool lastInhibitMouseKey = false;
bool lastGameZeroMouseKey = false;

bool waitAxisReverse = false;
bool waitThroughZero = false;
double actualYaw = 0.0f;
double actualZ = 0.0f;
T6DOF offset_camera(0,0,0,0,0,0);
T6DOF gamezero_camera(0,0,0,0,0,0);
T6DOF gameoutput_camera(0,0,0,0,0,0);

	Tracker::do_tracking = true;				// Start initially
	Tracker::do_center = true;					// Center initially

	//
	// Test some Filter-stuff
	//
	if (pFilter) {
		QString filterName;
		//pFilter->getFullName(&filterName);
		//qDebug() << "Tracker::run() FilterName = " << filterName;
	}

	//
	// Setup the DirectInput for keyboard strokes
	//
    // create the DirectInput interface
    if (DirectInput8Create(GetModuleHandle(NULL), DIRECTINPUT_VERSION, IID_IDirectInput8, 
						   (void**)&din, NULL) != DI_OK) {    // COM stuff, so we'll set it to NULL
		   qDebug() << "Tracker::setup DirectInput8 Creation failed!" << GetLastError();
	}

    // create the keyboard device
	if (din->CreateDevice(GUID_SysKeyboard, &dinkeyboard, NULL) != DI_OK) {
		   qDebug() << "Tracker::setup CreateDevice function failed!" << GetLastError();
	}
    // create the mouse device
    din->CreateDevice(GUID_SysMouse, &dinmouse, NULL);

    // set the data format to keyboard format
	if (dinkeyboard->SetDataFormat(&c_dfDIKeyboard) != DI_OK) {
		   qDebug() << "Tracker::setup SetDataFormat function failed!" << GetLastError();
	}
    // set the data format to mouse format
    dinmouse->SetDataFormat(&c_dfDIMouse);

    // set the control you will have over the keyboard
	if (dinkeyboard->SetCooperativeLevel(mainApp->winId(), DISCL_NONEXCLUSIVE | DISCL_BACKGROUND) != DI_OK) {
		   qDebug() << "Tracker::setup SetCooperativeLevel function failed!" << GetLastError();
	}
    // set the control you will have over the mouse
    dinmouse->SetCooperativeLevel(mainApp->winId(), DISCL_NONEXCLUSIVE | DISCL_BACKGROUND);

	forever
	{

	    // Check event for stop thread
		if(::WaitForSingleObject(m_StopThread, 0) == WAIT_OBJECT_0)
		{
			dinkeyboard->Unacquire();			// Unacquire keyboard
			din->Release();						// Release DirectInput

			// Set event
			::SetEvent(m_WaitThread);
			qDebug() << "Tracker::run terminated run()";
			X.curvePtr->setTrackingActive( false );
			Y.curvePtr->setTrackingActive( false );
			Z.curvePtr->setTrackingActive( false );
			Yaw.curvePtr->setTrackingActive( false );
			Pitch.curvePtr->setTrackingActive( false );
			Pitch.curvePtrAlt->setTrackingActive( false );
			Roll.curvePtr->setTrackingActive( false );

			return;
		}
    
		//
		// Check the mouse
		//
		// get access if we don't have it already
		retAcquire = dinmouse->Acquire();
		if ( (retAcquire != DI_OK) && (retAcquire != S_FALSE) ) {
		   qDebug() << "Tracker::run Acquire function failed!" << GetLastError();
		}
		else {
			if (dinmouse->GetDeviceState(sizeof(DIMOUSESTATE), (LPVOID)&mousestate) != DI_OK) {
			   qDebug() << "Tracker::run GetDeviceState function failed!" << GetLastError();
			}
			else {
				//
				// Check the state of the StartStop MouseKey
				//
				if ( isMouseKeyPressed( &StartStopMouseKey, &mousestate ) && (!lastStartStopMouseKey) ) {
					Tracker::do_tracking = !Tracker::do_tracking;

					//
					// To start tracking again and to be at '0', execute Center command too
					//
					if (Tracker::do_tracking) {
						Tracker::confid = false;
						pTracker->StartTracker( mainApp->winId() );
					}
					else {
						if (setEngineStop) {						// Only stop engine when option is checked
							pTracker->StopTracker( false );
						}
					}
					qDebug() << "Tracker::run() says StartStop pressed, do_tracking =" << Tracker::do_tracking;
				}
				lastStartStopMouseKey = isMouseKeyPressed( &StartStopMouseKey, &mousestate );				// Remember

				//
				// Check the state of the Center MouseKey
				//
				if ( isMouseKeyPressed( &CenterMouseKey, &mousestate ) && (!lastCenterMouseKey) ) {
					Tracker::do_center = true;
					qDebug() << "Tracker::run() says Center MouseKey pressed";
				}
				lastCenterMouseKey = isMouseKeyPressed( &CenterMouseKey, &mousestate );						// Remember

				//
				// Check the state of the GameZero MouseKey
				//
				if ( isMouseKeyPressed( &GameZeroMouseKey, &mousestate ) && (!lastGameZeroMouseKey) ) {
					Tracker::do_game_zero = true;
					qDebug() << "Tracker::run() says GameZero MouseKey pressed";
				}
				lastGameZeroMouseKey = isMouseKeyPressed( &GameZeroMouseKey, &mousestate );					// Remember

				//
				// Check the state of the Inhibit MouseKey
				//
				if ( isMouseKeyPressed( &InhibitMouseKey, &mousestate ) && (!lastInhibitMouseKey) ) {
					Tracker::do_inhibit = !Tracker::do_inhibit;
					qDebug() << "Tracker::run() says Inhibit MouseKey pressed";
					//
					// Execute Center command too, when inhibition ends.
					//
					if (!Tracker::do_inhibit) {
						Tracker::do_center = true;
					}
				}
				lastInhibitMouseKey = isMouseKeyPressed( &InhibitMouseKey, &mousestate );					// Remember
			}
		}

		//
		// Check the keyboard
		//
		// get access if we don't have it already
		retAcquire = dinkeyboard->Acquire();
		if ( (retAcquire != DI_OK) && (retAcquire != S_FALSE) ) {
		   qDebug() << "Tracker::run Acquire function failed!" << GetLastError();
		}
		else {
			// get the input data
		   if (dinkeyboard->GetDeviceState(256, (LPVOID)keystate) != DI_OK) {
			   qDebug() << "Tracker::run GetDeviceState function failed!" << GetLastError();
		   }
		   else {
				//
				// Check the state of the Start/Stop key
				//
				if ( isShortKeyPressed( &StartStopKey, &keystate[0] ) && (!lastStartStopKey) ) {
					Tracker::do_tracking = !Tracker::do_tracking;

					//
					// To start tracking again and to be at '0', execute Center command too
					//
					if (Tracker::do_tracking) {
						Tracker::confid = false;
						pTracker->StartTracker( mainApp->winId() );
					}
					else {
						if (setEngineStop) {						// Only stop engine when option is checked
							pTracker->StopTracker( false );
						}
					}
					qDebug() << "Tracker::run() says StartStop pressed, do_tracking =" << Tracker::do_tracking;
				}
				lastStartStopKey = isShortKeyPressed( &StartStopKey, &keystate[0] );		// Remember

				//
				// Check the state of the Center key
				//
				if ( isShortKeyPressed( &CenterKey, &keystate[0] ) && (!lastCenterKey) ) {
					Tracker::do_center = true;
					qDebug() << "Tracker::run() says Center pressed";
				}
				lastCenterKey = isShortKeyPressed( &CenterKey, &keystate[0] );				// Remember

				//
				// Check the state of the GameZero key
				//
				if ( isShortKeyPressed( &GameZeroKey, &keystate[0] ) && (!lastGameZeroKey) ) {
					Tracker::do_game_zero = true;
					qDebug() << "Tracker::run() says GameZero pressed";
				}
				lastGameZeroKey = isShortKeyPressed( &GameZeroKey, &keystate[0] );			// Remember

				//
				// Check the state of the Inhibit key
				//
				if ( isShortKeyPressed( &InhibitKey, &keystate[0] ) && (!lastInhibitKey) ) {
					Tracker::do_inhibit = !Tracker::do_inhibit;
					qDebug() << "Tracker::run() says Inhibit pressed";
					//
					// Execute Center command too, when inhibition ends.
					//
					if (!Tracker::do_inhibit) {
						Tracker::do_center = true;
					}
				}
				lastInhibitKey = isShortKeyPressed( &InhibitKey, &keystate[0] );		// Remember
		   }
		}

		//
		// Reset the 'wait' flag. Moving above 90 with the key pressed, will (de-)activate Axis Reverse.
		//
//		qDebug() << "Tracker::run() says actualZ = " << actualZ << ", terwijl Z_Pos4 = " << Z_Pos4ReverseAxis;
		if (useAxisReverse) {
			Tracker::do_axis_reverse = ((fabs(actualYaw) > YawAngle4ReverseAxis) && (actualZ < Z_Pos4ReverseAxis));
		}
		else {
			Tracker::do_axis_reverse = false;
		}


		if (WaitForSingleObject(Tracker::hTrackMutex, 100) == WAIT_OBJECT_0) {

			THeadPoseData newpose;
			newpose.pitch = 0.0f;
			newpose.roll = 0.0f;
			newpose.yaw = 0.0f;
			newpose.x = 0.0f;
			newpose.y = 0.0f;
			newpose.z = 0.0f;

			Tracker::confid = pTracker->GiveHeadPoseData(&newpose);
			if ( Tracker::confid ) {
				addHeadPose(newpose);
			}

			//
			// If Center is pressed, copy the current values to the offsets.
			//
			if (Tracker::do_center) {
				
				MessageBeep (MB_ICONASTERISK);
				pTracker->notifyCenter();				// Send 'center' to the tracker

				//
				// Only copy valid values
				//
				if (Tracker::confid) {

					offset_camera.x     = getSmoothFromList( &X.rawList );
					offset_camera.y     = getSmoothFromList( &Y.rawList );
					offset_camera.z     = getSmoothFromList( &Z.rawList );
					offset_camera.pitch = getSmoothFromList( &Pitch.rawList );
					offset_camera.yaw   = getSmoothFromList( &Yaw.rawList );
					offset_camera.roll  = getSmoothFromList( &Roll.rawList );
				}

				Tracker::do_center = false;
			}

			//
			// If Set Game Zero is pressed, copy the current values to the offsets.
			// Change requested by Stanislaw
			//
			if (Tracker::confid && Tracker::do_game_zero) {
				if (!pTracker->notifyZeroed())
					gamezero_camera = gameoutput_camera;
//				gamezero_camera = gameoutput_camera;

				Tracker::do_game_zero = false;
			}

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

				// get values
				target_camera.x     = getSmoothFromList( &X.rawList );
				target_camera.y     = getSmoothFromList( &Y.rawList );
				target_camera.z     = getSmoothFromList( &Z.rawList );
				target_camera.pitch = getSmoothFromList( &Pitch.rawList );
				target_camera.yaw   = getSmoothFromList( &Yaw.rawList );
				target_camera.roll  = getSmoothFromList( &Roll.rawList );

				// do the centering
				target_camera = target_camera - offset_camera;

				if (Tracker::useFilter && pFilter) {
					pFilter->FilterHeadPoseData(&current_camera, &target_camera, &new_camera, Tracker::Pitch.newSample);
				}
				else {
					new_camera = target_camera;
				}
				output_camera.x = X.invert * X.curvePtr->getValue(new_camera.x);
				output_camera.y = Y.invert * Y.curvePtr->getValue(new_camera.y);
				output_camera.z = Z.invert * Z.curvePtr->getValue(new_camera.z);
				bool altp = new_camera.pitch < 0;
				if (altp) {
					output_camera.pitch = Pitch.invert * Pitch.curvePtrAlt->getValue(new_camera.pitch);
					Pitch.curvePtr->setTrackingActive( false );
					Pitch.curvePtrAlt->setTrackingActive( true );
				}
				else {
					output_camera.pitch = Pitch.invert * Pitch.curvePtr->getValue(new_camera.pitch);
					Pitch.curvePtr->setTrackingActive( true );
					Pitch.curvePtrAlt->setTrackingActive( false );
				}
				output_camera.yaw = Yaw.invert * Yaw.curvePtr->getValue(new_camera.yaw);
				output_camera.roll = Roll.invert * Roll.curvePtr->getValue(new_camera.roll);


				X.curvePtr->setTrackingActive( true );
				Y.curvePtr->setTrackingActive( true );
				Z.curvePtr->setTrackingActive( true );
				Yaw.curvePtr->setTrackingActive( true );
				Roll.curvePtr->setTrackingActive( true );

				//
				// Reverse Axis.
				//
				actualYaw = output_camera.yaw;					// Save the actual Yaw, otherwise we can't check for +90
				actualZ = output_camera.z;						// Also the Z
				if (Tracker::do_axis_reverse) {
					output_camera.z = Z_PosWhenReverseAxis;	// Set the desired Z-position
				}

				//
				// Reset value for the selected axis, if inhibition is active
				//
				if (Tracker::do_inhibit) {
					if (InhibitKey.doPitch) output_camera.pitch = 0.0f;
					if (InhibitKey.doYaw) output_camera.yaw = 0.0f;
					if (InhibitKey.doRoll) output_camera.roll = 0.0f;
					if (InhibitKey.doX) output_camera.x = 0.0f;
					if (InhibitKey.doY) output_camera.y = 0.0f;
					if (InhibitKey.doZ) output_camera.z = 0.0f;
				}

				//
				// Send the headpose to the game
				//
				if (pProtocol) {
					gameoutput_camera = output_camera + gamezero_camera;
					pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose );	// degrees & centimeters
				}
			}
			else {
				//
				// Go to initial position
				//
				if (pProtocol && setZero) {
					output_camera.pitch = 0.0f;
					output_camera.yaw = 0.0f;
					output_camera.roll = 0.0f;
					output_camera.x = 0.0f;
					output_camera.y = 0.0f;
					output_camera.z = 0.0f;
					gameoutput_camera = output_camera + gamezero_camera;
					pProtocol->sendHeadposeToGame( &gameoutput_camera, &newpose );				// degrees & centimeters
				}
				X.curvePtr->setTrackingActive( false );
				Y.curvePtr->setTrackingActive( false );
				Z.curvePtr->setTrackingActive( false );
				Yaw.curvePtr->setTrackingActive( false );
				Pitch.curvePtr->setTrackingActive( false );
				Pitch.curvePtrAlt->setTrackingActive( false );
				Roll.curvePtr->setTrackingActive( false );
			}
		}

		Tracker::Pitch.newSample = false;
		ReleaseMutex(Tracker::hTrackMutex);

		//for lower cpu load 
		usleep(10000);
		yieldCurrentThread(); 
	}
}

/** Add the headpose-data to the Lists **/
void Tracker::addHeadPose( THeadPoseData head_pose )
{
		// Pitch
		Tracker::Pitch.headPos = head_pose.pitch;									// degrees
		addRaw2List ( &Pitch.rawList, Pitch.maxItems, Tracker::Pitch.headPos );
//		Tracker::Pitch.confidence = head_pose.confidence;							// Just this one ...
		Tracker::Pitch.newSample = true;

		// Yaw
		Tracker::Yaw.headPos = head_pose.yaw;										// degrees
		addRaw2List ( &Yaw.rawList, Yaw.maxItems, Tracker::Yaw.headPos );

		// Roll
		Tracker::Roll.headPos = head_pose.roll;										// degrees
		addRaw2List ( &Roll.rawList, Roll.maxItems, Tracker::Roll.headPos );

		// X-position
		Tracker::X.headPos = head_pose.x;											// centimeters
		addRaw2List ( &X.rawList, X.maxItems, Tracker::X.headPos );

		// Y-position
		Tracker::Y.headPos = head_pose.y;											// centimeters
		addRaw2List ( &Y.rawList, Y.maxItems, Tracker::Y.headPos );

		// Z-position (distance to camera, absolute!)
		Tracker::Z.headPos = head_pose.z;											// centimeters
		addRaw2List ( &Z.rawList, Z.maxItems, Tracker::Z.headPos );
}

//
// Get the ProgramName from the Game and return it.
//
QString Tracker::getGameProgramName() {
QString str;
char dest[100];

	str = QString("No protocol active?");
	if (pProtocol) {
		pProtocol->getNameFromGame( dest );
		str = QString( dest );
	}
	return str;	
}

//
// Handle the command, send upstream by the game.
// Valid values are:
//		1	= reset Headpose
//
bool Tracker::handleGameCommand ( int command ) {

	qDebug() << "handleGameCommand says: Command =" << command;

	switch ( command ) {
		case 1:										// reset headtracker
			Tracker::do_center = true;
			break;
		default:
			break;
	}
	return false;
}

//
// Add the new Raw value to the QList.
// Remove the last item(s), depending on the set maximum list-items.
//
void Tracker::addRaw2List ( QList<float> *rawList, float maxIndex, float raw ) {
	//
	// Remove old values from the end of the QList.
	// If the setting for MaxItems was lowered, the QList is shortened here...
	//
	while (rawList->size() >= maxIndex) {
		rawList->removeLast();
	}
	
	//
	// Insert the newest at the beginning.
	//
	rawList->prepend ( raw );
}

//
// Get the raw headpose, so it can be displayed.
//
void Tracker::getHeadPose( THeadPoseData *data ) {
	data->x = Tracker::X.headPos;				// centimeters
	data->y = Tracker::Y.headPos;
	data->z = Tracker::Z.headPos;

	data->pitch = Tracker::Pitch.headPos;		// degrees
	data->yaw = Tracker::Yaw.headPos;
	data->roll = Tracker::Roll.headPos;
}

//
// Get the output-headpose, so it can be displayed.
//
void Tracker::getOutputHeadPose( THeadPoseData *data ) {
	data->x = output_camera.x;										// centimeters
	data->y = output_camera.y;
	data->z = output_camera.z;

	data->pitch = output_camera.pitch;	// degrees
	data->yaw   = output_camera.yaw;
	data->roll  = output_camera.roll;
}

//
// Get the Smoothed value from the QList.
//
float Tracker::getSmoothFromList ( QList<float> *rawList ) {
float sum = 0;

	if (rawList->isEmpty()) return 0.0f;

	//
	// Add the Raw values and divide.
	//
	for ( int i = 0; i < rawList->size(); i++) {
		sum += rawList->at(i);
	}
	return sum / rawList->size();
}

//
// Load the current Settings from the currently 'active' INI-file.
//
void Tracker::loadSettings() {
int NeutralZone;
int sensYaw, sensPitch, sensRoll;
int sensX, sensY, sensZ;

	qDebug() << "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() << "loadSettings says: iniFile = " << currentFile;

	//
	// Read the Tracking settings, to fill the curves.
	//
	iniFile.beginGroup ( "Tracking" );
	NeutralZone = iniFile.value ( "NeutralZone", 5 ).toInt();
	sensYaw = iniFile.value ( "sensYaw", 100 ).toInt();
	sensPitch = iniFile.value ( "sensPitch", 100 ).toInt();
	sensRoll = iniFile.value ( "sensRoll", 100 ).toInt();
	sensX = iniFile.value ( "sensX", 100 ).toInt();
	sensY = iniFile.value ( "sensY", 100 ).toInt();
	sensZ = iniFile.value ( "sensZ", 100 ).toInt();
	iniFile.endGroup ();

	//
	// Read the keyboard shortcuts.
	//
	iniFile.beginGroup ( "KB_Shortcuts" );
	
	// Center key
	CenterMouseKey = iniFile.value ( "MouseKey_Center", 0 ).toInt();
	CenterKey.keycode = iniFile.value ( "Keycode_Center", 0 ).toInt();
	CenterKey.shift = iniFile.value ( "Shift_Center", 0 ).toBool();
	CenterKey.ctrl = iniFile.value ( "Ctrl_Center", 0 ).toBool();
	CenterKey.alt = iniFile.value ( "Alt_Center", 0 ).toBool();

	// StartStop key
	StartStopMouseKey = iniFile.value ( "MouseKey_StartStop", 0 ).toInt();
	StartStopKey.keycode = iniFile.value ( "Keycode_StartStop", 0 ).toInt();
	StartStopKey.shift = iniFile.value ( "Shift_StartStop", 0 ).toBool();
	StartStopKey.ctrl = iniFile.value ( "Ctrl_StartStop", 0 ).toBool();
	StartStopKey.alt = iniFile.value ( "Alt_StartStop", 0 ).toBool();
	setZero = iniFile.value ( "SetZero", 1 ).toBool();
	setEngineStop = iniFile.value ( "SetEngineStop", 1 ).toBool();

	// Inhibit key
	InhibitMouseKey = iniFile.value ( "MouseKey_Inhibit", 0 ).toInt();
	InhibitKey.keycode = iniFile.value ( "Keycode_Inhibit", 0 ).toInt();
	InhibitKey.shift = iniFile.value ( "Shift_Inhibit", 0 ).toBool();
	InhibitKey.ctrl = iniFile.value ( "Ctrl_Inhibit", 0 ).toBool();
	InhibitKey.alt = iniFile.value ( "Alt_Inhibit", 0 ).toBool();
	InhibitKey.doPitch = iniFile.value ( "Inhibit_Pitch", 0 ).toBool();
	InhibitKey.doYaw = iniFile.value ( "Inhibit_Yaw", 0 ).toBool();
	InhibitKey.doRoll = iniFile.value ( "Inhibit_Roll", 0 ).toBool();
	InhibitKey.doX = iniFile.value ( "Inhibit_X", 0 ).toBool();
	InhibitKey.doY = iniFile.value ( "Inhibit_Y", 0 ).toBool();
	InhibitKey.doZ = iniFile.value ( "Inhibit_Z", 0 ).toBool();

	// Game Zero key
	GameZeroMouseKey = iniFile.value ( "MouseKey_GameZero", 0 ).toInt();
	GameZeroKey.keycode = iniFile.value ( "Keycode_GameZero", 0 ).toInt();
	GameZeroKey.shift = iniFile.value ( "Shift_GameZero", 0 ).toBool();
	GameZeroKey.ctrl = iniFile.value ( "Ctrl_GameZero", 0 ).toBool();
	GameZeroKey.alt = iniFile.value ( "Alt_GameZero", 0 ).toBool();

	// Axis Reverse key
	//AxisReverseKey.keycode = DIK_R;
	//AxisReverseKey.shift = false;
	//AxisReverseKey.ctrl = false;
	//AxisReverseKey.alt = false;

	// Reverse Axis
	useAxisReverse = iniFile.value ( "Enable_ReverseAxis", 0 ).toBool();
	YawAngle4ReverseAxis = iniFile.value ( "RA_Yaw", 40 ).toInt();
	Z_Pos4ReverseAxis = iniFile.value ( "RA_ZPos", 50 ).toInt();
	Z_PosWhenReverseAxis = iniFile.value ( "RA_ToZPos", 80 ).toInt();

	iniFile.endGroup ();
}

//
// Determine if the ShortKey (incl. CTRL, SHIFT and/or ALT) is pressed.
//
bool Tracker::isShortKeyPressed( TShortKey *key, BYTE *keystate ){
bool shift;
bool ctrl;
bool alt;

	//
	// First, check if the right key is pressed. If so, check the modifiers
	//
	if (keystate[key->keycode] & 0x80) {
		shift = ( (keystate[DIK_LSHIFT] & 0x80) || (keystate[DIK_RSHIFT] & 0x80) );
		ctrl  = ( (keystate[DIK_LCONTROL] & 0x80) || (keystate[DIK_RCONTROL] & 0x80) );
		alt   = ( (keystate[DIK_LALT] & 0x80) || (keystate[DIK_RALT] & 0x80) );
		
		//
		// If one of the modifiers is needed and not pressed, return false.
		//
		if (key->shift && !shift) return false;
		if (key->ctrl && !ctrl) return false;
		if (key->alt && !alt) return false;

		//
		// All is well!
		//
		return true;
	}
	else {
		return false;
	}
}

//
// Determine if the MouseKey is pressed.
//
bool Tracker::isMouseKeyPressed( int *key, DIMOUSESTATE *mousestate ){

	//
	// If key == NONE, or invalid: ready!
	//
	if ((*key <= 0) || (*key > 5)) {
		return false;
	}

	//
	// Now, check if the right key is pressed.
	//
	if (mousestate->rgbButtons[*key-1] & 0x80) {
		return true;
	}
	else {
		return false;
	}
}