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#include "ftnoir_tracker_freepie-udp.h"
#include "opentrack/plugin-api.hpp"
#include <cinttypes>
#include <algorithm>
TrackerImpl::TrackerImpl() : pose { 0,0,0, 0,0,0 }, should_quit(false)
{
}
TrackerImpl::~TrackerImpl()
{
should_quit = true;
wait();
}
template<typename t>
static const t bound(t datum, t least, t max)
{
if (datum < least)
return least;
if (datum > max)
return max;
return datum;
}
void TrackerImpl::run() {
#pragma pack(push, 1)
struct {
uint8_t pad1;
uint8_t flags;
float fl[12];
} data;
#pragma pack(pop)
enum F {
flag_Raw = 1 << 0,
flag_Orient = 1 << 1,
Mask = flag_Raw | flag_Orient
};
(void) sock.bind(QHostAddress::Any, (int) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
while (!should_quit) {
int order[] = {
bound<int>(s.idx_x, 0, 2),
bound<int>(s.idx_y, 0, 2),
bound<int>(s.idx_z, 0, 2)
};
float orient[3];
bool filled = false;
while (sock.hasPendingDatagrams())
{
using t = decltype(data);
t tmp {0,0, {0,0,0, 0,0,0, 0,0,0, 0,0,0}};
(void) sock.readDatagram(reinterpret_cast<char*>(&tmp), sizeof(data));
int flags = tmp.flags & F::Mask;
switch (flags)
{
//default:
case flag_Raw:
continue;
case flag_Raw | flag_Orient:
for (int i = 0; i < 3; i++)
orient[i] = tmp.fl[i+9];
break;
case flag_Orient:
for (int i = 0; i < 3; i++)
orient[i] = tmp.fl[i];
break;
}
filled = true;
data = tmp;
}
if (filled)
{
static const int add_cbx[] = {
0,
90,
-90,
180,
-180,
};
int indices[] = { s.add_yaw, s.add_pitch, s.add_roll };
QMutexLocker foo(&mtx);
static constexpr double r2d = 57.295781;
for (int i = 0; i < 3; i++)
{
int val = 0;
int idx = indices[order[i]];
if (idx >= 0 && idx < (int)(sizeof(add_cbx) / sizeof(*add_cbx)))
val = add_cbx[idx];
pose[Yaw + i] = r2d * orient[order[i]] + val;
}
}
usleep(4000);
}
}
void TrackerImpl::start_tracker(QFrame*)
{
start();
}
void TrackerImpl::data(double *data)
{
QMutexLocker foo(&mtx);
data[Yaw] = pose[Yaw];
data[Pitch] = pose[Pitch];
data[Roll] = pose[Roll];
}
extern "C" OPENTRACK_EXPORT ITracker* GetConstructor()
{
return new TrackerImpl;
}
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