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#include "ftnoir_tracker_s2bot.h"
#include "api/plugin-api.hpp"
#include "compat/math.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()
{
QThread::exit(0); // stop event loop
wait();
}
static constexpr int add_cbx[] =
{
0,
90,
-90,
180,
-180,
};
#ifdef __GNUG__
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
void tracker_s2bot::run() {
int freq = s.freq;
if (freq <= 0)
freq = 10;
timer.setInterval((int)(1000./freq));
timer.setSingleShot(false);
connect(&timer, &QTimer::timeout, [this] {
QNetworkRequest req{QUrl("http://localhost:17317/poll")};
req.setAttribute(QNetworkRequest::HttpPipeliningAllowedAttribute, true);
auto* reply = m_nam->get(req);
connect(reply, &QNetworkReply::finished, [this, reply] {
if (reply->error() == QNetworkReply::NoError) {
//qDebug() << "Request submitted OK";
}
else {
qWarning() << "Request bounced:" << reply->attribute(QNetworkRequest::HttpStatusCodeAttribute) << reply->errorString();
return;
}
const QStringList slist = QString::fromLatin1(reply->readAll()).split(QRegExp("[\r\n]+"), QString::SkipEmptyParts);
reply->close();
reply->deleteLater();
int order[] =
{
clamp(s.idx_x, 0, 3),
clamp(s.idx_y, 0, 3),
clamp(s.idx_z, 0, 3),
};
int add_indices[] = { s.add_yaw, s.add_pitch, s.add_roll, };
double orient[4] {};
for (auto const& line : slist)
{
QStringList keyval = line.split(' ');
if (keyval.count() < 2) continue;
if (keyval[0].startsWith("accelerometerZ")) orient[0] = keyval[1].toDouble();
else if (keyval[0].startsWith("accelerometerY")) orient[1] = keyval[1].toDouble();
else if (keyval[0].startsWith("accelerometerX")) orient[2] = keyval[1].toDouble();
else if (keyval[0].startsWith("bearing")) orient[3] = keyval[1].toDouble();
}
QMutexLocker foo(&mtx);
for (int i = 0; i < 3; i++)
{
const int axis = order[i];
const int add_idx = add_indices[i];
int add = 0;
if (add_idx >= 0 && add_idx < (int)std::size(add_cbx))
add = add_cbx[add_idx];
pose[Yaw + i] = orient[axis] + add; // * r2d if it was radians
}
});
});
timer.start();
exec();
timer.stop();
}
module_status tracker_s2bot::start_tracker(QFrame*)
{
start();
timer.moveToThread(this);
m_nam->moveToThread(this);
return status_ok();
}
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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