void * handshakeWithdrone(char *droneIp, uint16_t dronePort, HANDSHAKE_DATA_T *handshakeData) {
void *handshakeHandler = NULL;
char *jsonStr = NULL;
int32_t bytesSent = 0;
char handshakeResponse[1024 * 1024] = {0};
int32_t handshakeResLen = 0;
HANDSHAKE_REQ_T handshakeRequest = { 0 };
printf("%s:%s:%d\n", __FILE__, __func__, __LINE__ );
handshakeHandler = initTcpClientSocket(dronePort, droneIp, NULL);
if (NULL == handshakeHandler) {
return NULL;
}
printf("%s:%s:%d Sending Handshake request\n", __FILE__, __func__, __LINE__ );
strncpy(handshakeRequest.controller_name, CONTROLLER_NAME, 64);
strncpy(handshakeRequest.controller_type, CONTROLLER_TYPE, 64);
handshakeRequest.d2c_port = D2C_PORT;
handshakeRequest.arstream2_client_stream_port = 5004;
handshakeRequest.arstream2_client_control_port = 5005;
jsonStr = convertToJson(&handshakeRequest);
if (NULL == jsonStr) {
printf("Json parsing failed \n");
closeTcpClient(handshakeHandler);
return NULL;
}
bytesSent = sendSyncDataToTcpServer(handshakeHandler, jsonStr, strlen(jsonStr), handshakeResponse, &handshakeResLen);
if (0 == bytesSent) {
free(jsonStr);
closeTcpClient(handshakeHandler);
return NULL;
}
printf("handshake data %s\n", handshakeResponse);
parseJsonToHandshakeData(handshakeResponse, handshakeData);
free(jsonStr);
return handshakeHandler;
}
web::json::value BabylonMesh::toJson()
{
auto jobj = BabylonAbstractMesh::toJson();
jobj[L"id"] = web::json::value::string(_id);
jobj[L"name"] = web::json::value::string(_id);
if (_parentId.size() > 0)
jobj[L"parentId"] = web::json::value::string(_parentId);
if (_materialId.size() > 0)
jobj[L"materialId"] = web::json::value::string(_materialId);
jobj[L"isEnabled"] = web::json::value::boolean(_isEnabled);
jobj[L"isVisible"] = web::json::value::boolean(_isVisible);
jobj[L"pickable"] = web::json::value::boolean(_pickable);
jobj[L"hasVertexAlpha"] = web::json::value::boolean(_hasVertexAlpha);
jobj[L"checkCollision"] = web::json::value::boolean(_checkCollision);
jobj[L"receiveShadows"] = web::json::value::boolean(_receiveShadows);
jobj[L"infiniteDistance"] = web::json::value::boolean(_infiniteDistance);
jobj[L"billboardMode"] = web::json::value::number(_billboardMode);
jobj[L"visibility"] = web::json::value::number(_visibility);
jobj[L"skeletonId"] = web::json::value::number(_skeletonId);
auto submeshesArray = web::json::value::array();
for (auto ix = 0u; ix < submeshes().size(); ++ix){
submeshesArray[ix] = submeshes()[ix].toJson();
}
jobj[L"subMeshes"] = submeshesArray;
jobj[L"showBoundingBox"] = web::json::value::boolean(_showBoundingBox);
jobj[L"showSubMeshesBoundingBox"] = web::json::value::boolean(_showSubMeshesBoundingBox);
jobj[L"applyFog"] = web::json::value::boolean(_applyFog);
jobj[L"alphaIndex"] = web::json::value::number(_alphaIndex);
if (_positions.size() > 0)
jobj[L"positions"] = convertToJson(_positions);
if (_normals.size() > 0)
jobj[L"normals"] = convertToJson(_normals);
if (_uvs.size() > 0)
jobj[L"uvs"] = convertToJson(_uvs);
if (_uvs2.size() > 0)
jobj[L"uvs2"] = convertToJson(_uvs2);
if (_uvs3.size() > 0)
jobj[L"uvs3"] = convertToJson(_uvs3);
if (_uvs4.size() > 0)
jobj[L"uvs4"] = convertToJson(_uvs4);
if (_uvs5.size() > 0)
jobj[L"uvs5"] = convertToJson(_uvs5);
if (_uvs6.size() > 0)
jobj[L"uvs6"] = convertToJson(_uvs6);
if (_colors.size() > 0)
jobj[L"colors"] = convertToJson(_colors);
if (_indices.size() > 0)
jobj[L"indices"] = convertToJson(_indices, false);
if (_boneIndices.size() > 0){
jobj[L"matricesIndices"] = convertToJson(_boneIndices);
}
if (_boneWeights.size() > 0){
jobj[L"matricesWeights"] = convertToJson(_boneWeights);
}
if (animations.size() == 0 && !associatedSkeleton){
jobj[L"autoAnimate"] = web::json::value::boolean(false);
jobj[L"autoAnimateLoop"] = web::json::value::boolean(false);
jobj[L"autoAnimateFrom"] = web::json::value::number(0);
jobj[L"autoAnimateTo"] = web::json::value::number(0);
}
else if (animations.size()>0){
jobj[L"autoAnimate"] = web::json::value::boolean(animations[0]->autoAnimate);
jobj[L"autoAnimateLoop"] = web::json::value::boolean(animations[0]->autoAnimateLoop);
jobj[L"autoAnimateFrom"] = web::json::value::number(animations[0]->autoAnimateFrom);
jobj[L"autoAnimateTo"] = web::json::value::number(animations[0]->autoAnimateTo);
}
else{
jobj[L"autoAnimate"] = web::json::value::boolean(associatedSkeleton->bones[0].animation->autoAnimate);
jobj[L"autoAnimateLoop"] = web::json::value::boolean(associatedSkeleton->bones[0].animation->autoAnimateLoop);
jobj[L"autoAnimateFrom"] = web::json::value::number(associatedSkeleton->bones[0].animation->autoAnimateFrom);
jobj[L"autoAnimateTo"] = web::json::value::number(associatedSkeleton->bones[0].animation->autoAnimateTo);
}
auto janimations = web::json::value::array();
for (const auto& anim : animations){
janimations[janimations.size()] = anim->toJson();
}
jobj[L"animations"] = janimations;
FbxMatrix identity;
identity.SetIdentity();
if (pivotMatrix != identity){
auto jpivot = web::json::value::array();
for (auto x = 0; x < 4; ++x){
for (auto y = 0; y < 4; ++y){
jpivot[x * 4 + y] = web::json::value::number( pivotMatrix[x][y]);
}
}
jobj[L"pivotMatrix"] = jpivot;
}
auto jinstances = web::json::value::array();
for (auto& instance : _instances) {
jinstances[jinstances.size()] = instance.toJson();
}
jobj[L"instances"] = jinstances;
return jobj;
}
