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
|
/********************************************************************************
* 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. *
********************************************************************************/
/*
Modifications (last one on top):
20110401 - WVR: Moved protocol to a DLL, convenient for installation etc.
20101224 - WVR: Base class is no longer inheriting QThread. sendHeadposeToGame
is called from run() of Tracker.cpp
*/
#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;
}
}
/** helper to Auto-destruct **/
void FTNoIR_Protocol::Release()
{
delete this;
}
void FTNoIR_Protocol::Initialize()
{
return;
}
//
// 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[RY];
FlightData.z = headpose[TZ];
FlightData.p = headpose[TY];
FlightData.h = headpose[RX];
FlightData.r = headpose[RZ];
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]
// 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;
}
|
