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/********************************************************************************
* 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) 2010 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage *
* *
* 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/>. *
* *
* FGServer FGServer is the Class, that communicates headpose-data *
* to FlightGear, using UDP. *
* It is based on the (Linux) example made by Melchior FRANZ. *
********************************************************************************/
#include "ftnoir_protocol_fg.h"
#include <QFile>
#include "facetracknoir/global-settings.h"
#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();
}
/** 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)
QString currentFile = settings.value ( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
iniFile.beginGroup ( "FG" );
bool blnLocalPC = iniFile.value ( "LocalPCOnly", 1 ).toBool();
if (blnLocalPC) {
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();
destIP = QHostAddress( destAddr );
}
destPort = iniFile.value ( "PortNumber", 5550 ).toInt();
iniFile.endGroup ();
}
//
// Update Headpose in Game.
//
void FTNoIR_Protocol::sendHeadposeToGame( double *headpose, double *rawheadpose ) {
int no_bytes;
QHostAddress sender;
quint16 senderPort;
//
// Copy the Raw measurements directly to the client.
//
FlightData.x = headpose[TX];
FlightData.y = headpose[Pitch];
FlightData.z = headpose[TZ];
FlightData.p = headpose[TY];
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->writeD atagram((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]
// no_bytes = outSocket->writeDatagram((const char *) &FlightData, sizeof( FlightData ), QHostAddress::LocalHost, 5550);
if (outSocket != 0) {
no_bytes = outSocket->writeDatagram((const char *) &FlightData, sizeof( FlightData ), destIP, destPort);
if ( no_bytes > 0) {
// qDebug() << "FGServer::writePendingDatagrams says: bytes send =" << no_bytes << sizeof( double );
}
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;
}
}
}
}
//
// Check if the Client DLL exists and load it (to test it), if so.
// Returns 'true' if all seems OK.
//
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;
}
////////////////////////////////////////////////////////////////////////////////
// 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;
}
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