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#include "ftnoir_tracker_s2bot.h"
#include "api/plugin-api.hpp"
#include <cinttypes>
#include <algorithm>
#include <cmath>
#include <QNetworkRequest>
#include <QNetworkReply>
tracker_s2bot::tracker_s2bot() : pose { 0,0,0, 0,0,0 }, m_nam (std::make_unique<QNetworkAccessManager>())
{
}
tracker_s2bot::~tracker_s2bot()
{
requestInterruption();
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;
}
#include <QFile>
#include <QTextStream>
void logtext(QString txt) {
//QFile caFile("c:/tools/log.txt");
//caFile.open(QIODevice::WriteOnly | QIODevice::Text | QIODevice::Append);
//QTextStream outStream(&caFile);
//outStream << txt;
//caFile.close();
}
void tracker_s2bot::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
};
logtext("GO");
if (s.freq == 0) s.freq = 10;
timer.setInterval(1000.0/s.freq);
timer.setSingleShot(false);
connect(&timer, &QTimer::timeout, [this]() {
logtext("timer ");
auto reply = m_nam->get(QNetworkRequest(QUrl("http://localhost:17317/poll")));
connect(reply, &QNetworkReply::finished, [this, reply]() {
logtext("reply ");
if (reply->error() == QNetworkReply::NoError) {
qDebug() << "Request submitted OK";
}
else {
qWarning() << "Request bounced:" << reply->attribute(QNetworkRequest::HttpStatusCodeAttribute) << reply->errorString();
return;
}
QByteArray ba = reply->readAll();
logtext("\nlength " + ba.length());
QStringList slist = QString(ba).split(QRegExp("[\r\n]"), QString::SkipEmptyParts);
int order[] = {
bound<int>(s.idx_x, 0, 3),
bound<int>(s.idx_y, 0, 3),
bound<int>(s.idx_z, 0, 3)
};
logtext(QString::number(s.idx_x()) + "\n\r");
logtext(QString::number(order[0]) + "\n\r");
double orient[4] = { 0, 0, 0, 0 };
static const int add_cbx[] = {
0,
90,
-90,
180,
-180,
};
int indices[] = { s.add_yaw, s.add_pitch, s.add_roll };
for (auto line : slist) {
QStringList keyval = line.split(" ");
if (keyval.count() < 2) continue;
if (keyval[0].startsWith("accelerometerX")) orient[0] = keyval[1].toInt();
else if (keyval[0].startsWith("accelerometerY")) orient[1] = keyval[1].toInt();
else if (keyval[0].startsWith("accelerometerZ")) orient[2] = keyval[1].toInt();
else if (keyval[0].startsWith("bearing")) orient[3] = keyval[1].toInt();
}
logtext("RAW: " + QString::number(orient[0]) + " " + QString::number(orient[1]) + " " + QString::number(orient[2]) + " " + QString::number(orient[3]) + "\n\r");
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] = orient[order[i]] + val; // * r2d if it was radians
}
logtext("Processed: " + QString::number(pose[Yaw]) + " " + QString::number(pose[Yaw + 1]) + " " + QString::number(pose[Yaw + 2]) + "\n\r");
reply->close();
reply->deleteLater();
});
});
timer.start();
exec();
//sock.bind(QHostAddress::Any, (unsigned short) s.freq, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint);
}
void tracker_s2bot::start_tracker(QFrame*)
{
start();
timer.moveToThread(this);
}
void tracker_s2bot::data(double *data)
{
QMutexLocker foo(&mtx);
data[Yaw] = pose[Yaw];
data[Pitch] = pose[Pitch];
data[Roll] = pose[Roll];
}
OPENTRACK_DECLARE_TRACKER(tracker_s2bot, dialog_s2bot, meta_s2bot)
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