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
|
#include "ftnoir_tracker_freepie-udp.h"
#include "opentrack/plugin-api.hpp"
#include <cinttypes>
#include <algorithm>
#include <cmath>
#ifndef M_PI
# define M_PI 3.14159265358979323846
#endif
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)
};
double orient[3] = {0, 0, 0};
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 = 180 / M_PI;
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();
sock.moveToThread(this);
}
void TrackerImpl::data(double *data)
{
QMutexLocker foo(&mtx);
data[Yaw] = pose[Yaw];
data[Pitch] = pose[Pitch];
data[Roll] = pose[Roll];
}
OPENTRACK_DECLARE_TRACKER(TrackerImpl, TrackerDialog, TrackerMeta)
|
