void vrpn_IMU_SimpleCombiner::mainloop()
{
// Call generic server mainloop, since we are a server
server_mainloop();
// Mainloop() all of the analogs that are defined and the button
// so that we will get all of the values fresh.
if (d_acceleration.ana != NULL) { d_acceleration.ana->mainloop(); }
if (d_rotational_vel.ana != NULL) { d_rotational_vel.ana->mainloop(); }
if (d_magnetometer.ana != NULL) { d_magnetometer.ana->mainloop(); }
// Update the matrix based on the change in time since the last
// update and the current values.
struct timeval now;
vrpn_gettimeofday(&now, NULL);
double delta_t = vrpn_TimevalDurationSeconds(now, d_prev_update_time);
update_matrix_based_on_values(delta_t);
d_prev_update_time = now;
// See if it has been long enough since our last report.
// If so, generate a new one.
double interval = vrpn_TimevalDurationSeconds(now, d_prevtime);
if (interval >= d_update_interval) {
// pack and deliver tracker report with info from the current matrix;
if (d_connection) {
char msgbuf[1000];
int len = encode_to(msgbuf);
if (d_connection->pack_message(len, vrpn_Tracker::timestamp,
position_m_id, d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "vrpn_IMU_SimpleCombiner: "
"cannot write pose message: tossing\n");
}
len = encode_vel_to(msgbuf);
if (d_connection->pack_message(len, vrpn_Tracker::timestamp,
velocity_m_id, d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "vrpn_IMU_SimpleCombiner: "
"cannot write velocity message: tossing\n");
}
} else {
fprintf(stderr, "vrpn_IMU_SimpleCombiner: "
"No valid connection\n");
}
// We just sent a report, so reset the time
d_prevtime = now;
}
}
int vrpn_Poser_Remote::client_send_pose_velocity_relative()
{
char msgbuf[1000];
vrpn_int32 len;
// Pack velocity delta
len = encode_vel_to(msgbuf);
if (d_connection->pack_message(len, p_timestamp,
req_velocity_relative_m_id, d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "vrpn_Poser_Remote: can't write a message: tossing\n");
return -1;
}
return 0;
}
void vrpn_Tracker_Crossbow::send_report(void) {
// Send the message on the connection
if (d_connection) {
char msgbuf[1000];
int len = encode_to(msgbuf);
if (d_connection->pack_message(len, timestamp, position_m_id, d_sender_id, msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr,"Tracker: cannot write message: tossing\n");
}
len = encode_acc_to(msgbuf);
if (d_connection->pack_message(len, timestamp, accel_m_id, d_sender_id, msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr,"Tracker: cannot write message: tossing\n");
}
len = encode_vel_to(msgbuf);
if (d_connection->pack_message(len, timestamp, velocity_m_id, d_sender_id, msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr,"Tracker: cannot write message: tossing\n");
}
} else {
fprintf(stderr,"Tracker: No valid connection\n");
}
}
