int main(int argc, char *argv[]) {
char *section = NULL;//"Default [ \nblablabla";
float heading, pitch, roll;
float tx, ty, tz;
unsigned int counter;
int retval;
if(argc > 1){
section = argv[1];
}
printf("Section: %s\n", section);
retval = linuxtrack_init(section);
while(linuxtrack_get_tracking_state() == INITIALIZING){
ltr_int_usleep(333333);
}
if (retval != 0) {
printf("Error %d detected! Aborting!\n", retval);
return retval;
};
printf("Trying to recenter!\n");
linuxtrack_recenter();
pthread_create(&reader, NULL, kbd_reader, NULL);
unsigned int cntr=-1;
while (!quit_flag) {
retval = linuxtrack_get_pose (&heading,&pitch,&roll,
&tx, &ty, &tz, &counter);
if(retval < 0){
printf("Problem reading update!\n");
break;
}
if(cntr != counter){
cntr = counter;
printf("hdg:%8.3f pitch:%8.3f roll:%8.3f ", heading, pitch, roll);
printf("tx:%8.3f y:%8.3f z:%8.3f\n", tx, ty, tz);
}
ltr_int_usleep(100000);
}
pthread_join(reader, NULL);
return 0;
}
int main(int argc, const char **argv)
{
(void)(argc);
(void)(argv);
int ret;
// Pre-emptively destory any previous device that might still be around
foohid_destroy(FoohidDevice, strlen(FoohidDevice));
// Create the virtual HID device
ret = foohid_create(FoohidDevice, strlen(FoohidDevice), (uint64_t)report_descriptor, sizeof(report_descriptor));
if (ret != 0) {
printf("Unable to create device.\n");
exit(1);
}
// Now initialise linuxTracker
bool trackingInitialised = intialise_tracking();
if (!trackingInitialised) {
printf("Initialisation of tracking failed: tracker not running or not found.\n");
foohid_destroy(FoohidDevice, strlen(FoohidDevice));
exit(1);
}
struct mouse_report_t mouse;
// Do some silly stuff
// for (int i = 0; i < 1000000; ++i) {
for (;;) {
if (linuxtrack_get_pose(&heading, &pitch, &roll, &x, &y, &z, &counter) > 0) {
printf("heading:%f pitch:%f roll:%f\n x:%f y:%f z:%f\n", heading, pitch, roll, x, y, z);
mouse.buttons = 0;
float nx = (130.0f + heading) / 260.0f;
float ny = (80.0f + pitch) / 160.0f;
mouse.x = (int)(nx * 1024.0f); //rand();
mouse.y = (int)(ny * 768.0f);; //rand();
mouse.x = 1;
mouse.y = 1;
printf("nx: %f, ny: %f mouse.x:%d mouse.y:%d\n", nx, ny, mouse.x, mouse.y);
// ignore return value, just for testing
ret = foohid_send(FoohidDevice, strlen(FoohidDevice), (uint64_t)&mouse, sizeof(mouse_report_t));
}
}
//linuxtrack_shutdown();
// Finally destroy ("disconnect") the virtual HID device again
ret = foohid_destroy(FoohidDevice, strlen(FoohidDevice));
if (ret != 0) {
printf("Unable to destroy device before exit.\n");
exit(1);
}
return 0;
}
