int main(int argc, char* argv[])
{
// Version number of the NatNet protocol, as reported by the server.
unsigned char natNetMajor;
unsigned char natNetMinor;
// Sockets
int sdCommand;
int sdData;
// Catch ctrl-c and terminate gracefully.
signal(SIGINT, terminate);
// Set addresses
readOpts( argc, argv );
// Use this socket address to send commands to the server.
struct sockaddr_in serverCommands = NatNet::createAddress(Globals::serverAddress, NatNet::commandPort);
// Create sockets
sdCommand = NatNet::createCommandSocket( Globals::localAddress );
sdData = NatNet::createDataSocket( Globals::localAddress );
// Start the CommandListener in a new thread.
CommandListener commandListener(sdCommand);
commandListener.start();
// Send a ping packet to the server so that it sends us the NatNet version
// in its response to commandListener.
NatNetPacket ping = NatNetPacket::pingPacket();
ping.send(sdCommand, serverCommands);
// Wait here for ping response to give us the NatNet version.
commandListener.getNatNetVersion(natNetMajor, natNetMinor);
// Start up a FrameListener in a new thread.
FrameListener frameListener(sdData, natNetMajor, natNetMinor);
frameListener.start();
// This infinite loop simulates a "worker" thread that reads the frame
// buffer each time through, and exits when ctrl-c is pressed.
printFrames(frameListener);
//timeStats(frameListener);
// Wait for threads to finish.
frameListener.stop();
commandListener.stop();
frameListener.join();
commandListener.join();
// Epilogue
close(sdData);
close(sdCommand);
return 0;
}
int main(int argc, char* argv[])
{
// Initialization
ros::init(argc, argv, "pub_mocap_data");
ros::NodeHandle nh;
ros::Publisher pub_mocap_data = nh.advertise<geometry_msgs::PoseWithCovarianceStamped>("pub_mocap_data/data", 1000);
pos_x = 0;
pos_y = 0;
pos_z = 0;
roll = 0;
pitch = 0;
yaw = 0;
/*************************** Data Log ****************************/
//Create the name of data log
/*char text[200];
time_t now = time(NULL);
struct tm *t = localtime(&now);
strftime(text,sizeof(text)-1,"%Y%m%d-%H%M%S",t);
ostringstream fn;
fn << "./" << text << ".txt";
string filename = fn.str();
// Convert string to char array
char* fnstr = new char[filename.size()+1];
fnstr[filename.size()] = 0;
memcpy(fnstr,filename.c_str(),filename.size());
output_file.open(fnstr);
* /
/************************** End Data Log *************************/
// Version number of the NatNet protocol, as reported by the server.
unsigned char natNetMajor;
unsigned char natNetMinor;
// Sockets
int sdCommand;
int sdData;
// Catch ctrl-c and terminate gracefully.
signal(SIGINT, terminate);
// Set addresses
readOpts( argc, argv );
// Use this socket address to send commands to the server.
struct sockaddr_in serverCommands = NatNet::createAddress(Globals::serverAddress, NatNet::commandPort);
// Create sockets
sdCommand = NatNet::createCommandSocket( Globals::localAddress );
sdData = NatNet::createDataSocket( Globals::localAddress );
// Start the CommandListener in a new thread.
CommandListener commandListener(sdCommand);
commandListener.start();
// Send a ping packet to the server so that it sends us the NatNet version
// in its response to commandListener.
NatNetPacket ping = NatNetPacket::pingPacket();
ping.send(sdCommand, serverCommands);
// Wait here for ping response to give us the NatNet version.
commandListener.getNatNetVersion(natNetMajor, natNetMinor);
// Start up a FrameListener in a new thread.
FrameListener frameListener(sdData, natNetMajor, natNetMinor);
frameListener.start();
// This infinite loop simulates a "worker" thread that reads the frame
// buffer each time through, and exits when ctrl-c is pressed.
ReceiveFrames(frameListener,pub_mocap_data);
//timeStats(frameListener);
// Wait for threads to finish.
frameListener.stop();
commandListener.stop();
frameListener.join();
commandListener.join();
// Epilogue
close(sdData);
close(sdCommand);
return 0;
}
