142 lines
3.5 KiB
C++
142 lines
3.5 KiB
C++
#include"stdafx.h"
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#include"GeekTrackSDK.h"
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#include<stdio.h>
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#include<thread>
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#include<winsock2.h>
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#include<windows.h>
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#pragma comment(lib,"ws2_32.lib")
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/* max suppport diffrent device id. */
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#define MAX_SUPPORT_DEV_NUM 9
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struct GeekTrackNode_t {
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EulerAngles_t Pose;
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Quaternion_t Quat;
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bool devOnline;
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GeekTrackNode_t() {
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memset(&Pose, 0, sizeof(EulerAngles_t));
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memset(&Quat, 0, sizeof(Quaternion_t));
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devOnline = false;
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}
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};
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GeekTrackNode_t TrackNode[MAX_SUPPORT_DEV_NUM];
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SOCKET sock;
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sockaddr_in from, a;
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WSADATA wsdata;
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int fromlength = 0;
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std::thread* t;
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void GeekTrackUpdate() {
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char buf[256];
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int i = 0;
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while (1)
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{
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//printf("...\n");
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//从广播地址接收消息，注意用来绑定的地址和接收消息的地址是不一样的
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recvfrom(sock, buf, 256, 0, (struct sockaddr FAR*) &from, (int FAR*) & fromlength);
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Sleep(10);
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float q[4] = { 0.0f };
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int id = 0;
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//printf("%s\n", buf);
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int ret = sscanf_s(buf, "%d %f %f %f %f\n", &id, &q[0], &q[1], &q[2], &q[3]);
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if (ret > 0 && (id >= 0 && id < MAX_SUPPORT_DEV_NUM)) {
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float yaw = 0.0f, pitch = 0.0f, roll = 0.0f;
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//pitch = asin((-2.0 * ((double)q[3]*q[1] - (double)q[0]*q[2])));
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//yaw = atan2((double)q[2]*q[1] + (double)q[0]*q[3], 0.5 - (double)q[2]*q[2] - (double)q[3]*q[3]);
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//roll = atan2((double)q[2]*q[3] + (double)q[0]*q[1], 0.5 - (double)q[2]*q[2] - (double)q[1]*q[1]);
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float w, x, y, z;
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w = q[0]; x = q[1]; y = q[2]; z = q[3];
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double PI = 3.1415926;
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pitch = asin(-2.0f * (z * x - w * y)) * (180.0f / PI);
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yaw = atan2(y * x + w * z, 0.5f - y * y - z * z) * (180.0f / PI);
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roll = atan2(y * z + w * x, 0.5f - y * y - x * x) * (180.0f / PI);
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//yaw *= (180.0f / 3.141592f);
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//roll *= (180.0f / 3.141592f);
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//pitch *= (180.0f / 3.141592f);
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printf("yaw = %f, roll = %f, pitch = %f\n", yaw, roll, pitch);
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TrackNode[id].Quat.w = q[0];
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TrackNode[id].Quat.x = q[1];
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TrackNode[id].Quat.y = q[2];
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TrackNode[id].Quat.z = q[3];
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TrackNode[id].Pose.x = pitch;
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TrackNode[id].Pose.y = roll;
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TrackNode[id].Pose.z = yaw;
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TrackNode[id].devOnline = true;
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}
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ZeroMemory(buf, 256);
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}
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}
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void GeekTrack_Init() {
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static bool optval = false;
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//启动SOCKET库，版本为2.0
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if (optval == true) {
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return;
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}
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WSAStartup(0x0202, &wsdata);
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optval = true;
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//然后赋值给两个地址，一个用来绑定套接字，一个用来从网络上的广播地址接收消息；
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a.sin_family = AF_INET;
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a.sin_addr.s_addr = 0;
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a.sin_port = htons(9000);
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//from.sin_family = AF_INET;
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//from.sin_addr.s_addr = INADDR_BROADCAST;
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//from.sin_port = htons(5050);
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fromlength = sizeof(SOCKADDR);
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//用UDP初始化套接字
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sock = socket(AF_INET, SOCK_DGRAM, 0);
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// 设置该套接字为广播类型，
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//setsockopt(sock, SOL_SOCKET, SO_BROADCAST, (char FAR *)&optval, sizeof(optval));
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// 把该套接字绑定在一个具体的地址上
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bind(sock, (sockaddr*)&a, sizeof(sockaddr_in));
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t = new std::thread(GeekTrackUpdate);
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}
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EulerAngles_t GetEulerAngles(int devId) {
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if (devId >= 0 && devId < MAX_SUPPORT_DEV_NUM) {
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return TrackNode[devId].Pose;
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}
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EulerAngles_t Pose = {0.0f, 0.0f, 0.0f};
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return Pose;
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}
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Quaternion_t GetQuaternion(int devId) {
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if (devId >= 0 && devId < MAX_SUPPORT_DEV_NUM) {
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return TrackNode[devId].Quat;
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}
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Quaternion_t Quat = { 0.0f, 0.0f, 0.0f, 0.0f };
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return Quat;
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}
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int main()
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{
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GeekTrack_Init();
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int devId = 0;
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while (1) {
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Sleep(30);
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//printf("%d,%f,%f,%f\n", devId,TrackNode[devId].Pose.x, TrackNode[devId].Pose.y,
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// TrackNode[devId].Pose.z);
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}
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system("pause");
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return 0;
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}
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