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#include <iostream>
#include <algorithm>
#include "vrpn_Tracker.h"
#include "quat.h"
#include "vrpn_tracker.hpp"
namespace microcart
{
static void VRPN_CALLBACK vrpn_cb(void * param, const vrpn_TRACKERCB t);
Tracker::Tracker(std::string server) : Tracker(server.c_str())
{
}
Tracker::Tracker(const char * server) :
remote(server),
stop_flag(0),
trackerData({
.x = 0.0,
.y = 0.0,
.z = 0.0,
.pitch = 0.0,
.roll = 0.0,
.yaw = 0.0,
.fps = 0.0,
.timestamp = {
.tv_sec = 0,
.tv_usec = 0
}
})
{
remote.register_change_handler(this, vrpn_cb);
stop_flag = 0;
vrpn_thread = std::thread(&Tracker::vrpn_loop, this);
}
Tracker::~Tracker()
{
{
std::lock_guard<std::mutex> guard(vrpn_mutex);
stop_flag = 1;
}
vrpn_thread.join();
}
const struct TrackerData Tracker::getData(void)
{
std::lock_guard<std::mutex> guard(vrpn_mutex);
return trackerData;
}
void Tracker::vrpn_loop(void)
{
while (1) {
remote.mainloop();
{
std::lock_guard<std::mutex> guard(vrpn_mutex);
if (stop_flag) {
return;
}
}
}
}
void Tracker::callback(const vrpn_TRACKERCB t)
{
std::lock_guard<std::mutex> guard(vrpn_mutex);
q_vec_type euler;
q_to_euler(euler, t.quat);
trackerData.x = (double) t.pos[0];
trackerData.y = (double) t.pos[1];
trackerData.z = (double) t.pos[2];
trackerData.roll = (double) euler[2];
trackerData.pitch = (double) euler[1];
trackerData.yaw = (double) euler[0];
timeval elapsed_time;
timersub(&t.msg_time, &trackerData.timestamp, &elapsed_time);
trackerData.timestamp = t.msg_time;
double elapsed_time_usec = (double) elapsed_time.tv_usec +
((1000000.0) * (double) elapsed_time.tv_sec);
trackerData.fps = 1.0 / elapsed_time_usec;
auto td = trackerData;
std::for_each(cb_vector.begin(), cb_vector.end(),
[td](std::function<void(const TrackerData &)> &fn){
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fn(td);
});
}
void Tracker::addCallback(std::function<void(const TrackerData&)> cb)
{
cb_vector.push_back(cb);
}
static void VRPN_CALLBACK vrpn_cb(void * param, const vrpn_TRACKERCB t)
{
Tracker * inst = (Tracker *)(param);
inst->callback(t);
}
}
/* C Interface stuff */
struct ucart_vrpn_tracker {
microcart::Tracker * t;
};
extern "C"
{
struct ucart_vrpn_tracker * ucart_vrpn_tracker_createInstance(
const char * server)
{
try {
auto inst = new struct ucart_vrpn_tracker;
inst->t = new microcart::Tracker(server);
} catch(...) {
return NULL;
}
}
void ucart_vrpn_tracker_freeInstance(struct ucart_vrpn_tracker * inst)
{
delete inst->t;
delete inst;
}
int ucart_vrpn_tracker_addCallback(struct ucart_vrpn_tracker * inst,
void (*cb)(struct ucart_vrpn_TrackerData *))
{
try {
inst->t->addCallback([cb](const microcart::TrackerData & td) {
struct ucart_vrpn_TrackerData data;
data.x = td.x;
data.y = td.y;
data.z = td.z;
data.pitch = td.pitch;
data.roll = td.roll;
data.yaw = td.yaw;
(*cb)(&data);
});
} catch(...) {
return -1;
}
return 0;
}
int ucart_vrpn_tracker_getData(struct ucart_vrpn_tracker *inst,
struct ucart_vrpn_TrackerData *td)
{
try {
auto data = inst->t->getData();
td->x = data.x;
td->y = data.y;
td->z = data.z;
td->pitch = data.pitch;
td->roll = data.roll;
td->yaw = data.yaw;
return 0;
} catch(...) {
return -1;
}
}
}