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
|
#include "ftnoir_tracker_freepie-udp.h"
#include "facetracknoir/plugin-support.h"
#include <stddef.h>
#include <cinttypes>
TrackerImpl::TrackerImpl() : pose { 0,0,0, 0,0,0 }, should_quit(false)
{
}
TrackerImpl::~TrackerImpl()
{
should_quit = true;
wait();
}
void TrackerImpl::run() {
struct {
uint8_t pad;
uint8_t flags;
union {
float rot[6];
struct {
float pad[9];
float rot[6];
} raw_rot;
};
} data;
enum F {
flag_Raw = 1 << 0,
flag_Orient = 1 << 1,
Mask = flag_Raw | flag_Orient
};
while (1) {
if (should_quit)
break;
{
float* orient = nullptr;
while (sock.hasPendingDatagrams())
{
data = decltype(data){0,0, 0,0,0};
int sz = sock.readDatagram(reinterpret_cast<char*>(&data), sizeof(data));
int flags = data.flags & F::Mask;
constexpr int minsz = offsetof(decltype(data), raw_rot) + sizeof(decltype(data)::raw_rot);
const bool flags_came_out_wrong = minsz > sz;
if (flags_came_out_wrong)
flags &= ~F::flag_Raw;
switch (flags)
{
case flag_Raw:
continue;
case flag_Raw | flag_Orient:
orient = data.raw_rot.rot;
break;
case flag_Orient:
orient = data.rot;
break;
}
}
if (orient)
{
QMutexLocker foo(&mtx);
for (int i = 0; i < 3; i++)
pose[Yaw + i] = orient[i];
}
}
usleep(4000);
}
}
void TrackerImpl::StartTracker(QFrame*)
{
(void) sock.bind(QHostAddress::Any, (int) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
start();
}
void TrackerImpl::GetHeadPoseData(double *data)
{
QMutexLocker foo(&mtx);
#if 0
if (s.enable_x)
data[TX] = pose[TX];
if (s.enable_y)
data[TY] = pose[TY];
if (s.enable_z)
data[TZ] = pose[TZ];
#endif
if (s.enable_yaw)
data[Yaw] = pose[Yaw];
if (s.enable_pitch)
data[Pitch] = pose[Pitch];
if (s.enable_roll)
data[Roll] = pose[Roll];
}
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
return new TrackerImpl;
}
|
