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#include "proto.hpp"
#include "ui_dialog.h"
#include "api/plugin-api.hpp"
#include <QQuaternion>
#include <QHostAddress>
#include "osc/OscOutboundPacketStream.h"
osc_proto::osc_proto()
{
auto reload_fn = [this] {
dest = QHostAddress{s.address };
port = (unsigned short)s.port;
};
connect(&*s.b, &bundle_::changed, this, reload_fn);
connect(&*s.b, &bundle_::reloading, this, reload_fn);
}
void osc_proto::pose(const double* data, const double*)
{
if (dest.isNull())
return;
static constexpr unsigned buffer_size = 1024;
char buffer[buffer_size] = {};
osc::OutboundPacketStream p{buffer, buffer_size};
auto q = QQuaternion::fromEulerAngles((float)data[Pitch], (float)data[Yaw], (float)-data[Roll]).normalized();
p << osc::BeginMessage("/bridge/quat") << q.scalar() << q.x() << q.y() << q.z() << osc::EndMessage;
sock.writeDatagram(p.Data(), (int)p.Size(), dest, port);
}
module_status osc_proto::initialize()
{
QString error;
dest = QHostAddress{s.address };
port = (unsigned short)s.port;
if (dest.isNull())
{
error = tr("Invalid destination address '%1'").arg(s.address);
goto fail;
}
if (!sock.bind())
{
error = tr("Error binding socket to INADDR_ANY");
goto fail;
}
return status_ok();
fail:
return { tr("%1: %2").arg(error, sock.errorString()) };
}
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