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/* Copyright (c) 2014, Stanislaw Halik <sthalik@misaki.pl>
* Permission to use, copy, modify, and/or distribute this
* software for any purpose with or without fee is hereby granted,
* provided that the above copyright notice and this permission
* notice appear in all copies.
*/
#include "ftnoir_tracker_udp.h"
#include "api/plugin-api.hpp"
#include <cmath>
#include <iterator>
udp::udp() :
last_recv_pose { 0,0,0, 0,0,0 },
last_recv_pose2 { 0,0,0, 0,0,0 }
{}
udp::~udp()
{
requestInterruption();
wait();
}
void udp::run()
{
QByteArray datagram;
datagram.resize(sizeof(last_recv_pose));
while (!isInterruptionRequested())
{
if (sock.hasPendingDatagrams())
{
QMutexLocker foo(&mutex);
bool ok = false;
do
{
const qint64 sz = sock.readDatagram(reinterpret_cast<char*>(last_recv_pose2), sizeof(double[6]));
if (sz > 0)
ok = true;
}
while (sock.hasPendingDatagrams());
if (ok)
{
for (unsigned i = 0; i < 6; i++)
{
int val = std::fpclassify(last_recv_pose2[i]);
if (val == FP_NAN || val == FP_INFINITE)
{
ok = false;
break;
}
}
}
if (ok)
{
for (unsigned i = 0; i < 6; i++)
last_recv_pose[i] = last_recv_pose2[i];
}
}
(void) sock.waitForReadyRead(73);
}
}
module_status udp::start_tracker(QFrame*)
{
if (!sock.bind(QHostAddress::Any, quint16(s.port), QUdpSocket::DontShareAddress))
return error(tr("Can't bind socket -- %1").arg(sock.errorString()));
sock.moveToThread(this);
start();
return status_ok();
}
void udp::data(double *data)
{
QMutexLocker foo(&mutex);
for (int i = 0; i < 6; i++)
data[i] = last_recv_pose[i];
int values[] = {
0,
90,
-90,
180,
-180,
};
int indices[] = {
s.add_yaw,
s.add_pitch,
s.add_roll,
};
for (int i = 0; i < 3; i++)
{
const int k = indices[i];
if (k >= 0 && k < std::distance(std::begin(values), std::end(values)))
data[Yaw + i] += values[k];
}
}
OPENTRACK_DECLARE_TRACKER(udp, dialog_udp, udp_receiver_dll)
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