void output_ws_handle_data(obd_data_t *obd) {
if (!ws || ws->getReadyState() == WebSocket::CLOSED) {
delete ws;
res_init();
ws = WebSocket::from_url(url);
if (!ws)
return;
}
// We forget endianess exists...
std::vector<uint8_t> buf;
uint8_t* start = reinterpret_cast<uint8_t*>(obd);
// header that indicates type 1, which is telemetry
buf.push_back(1);
buf.insert(buf.end(), start, start + sizeof(obd_data_t));
ws->sendBinary(buf);
ws->poll();
ws->dispatchBinary(handle_binary_message);
}
int main(int argc, char* argv[]) {
using easywsclient::WebSocket;
WebSocket::pointer ws = NULL;
sixenseControllerData data;
sixenseInit();
int numctrl;
while (!(numctrl = sixenseGetNumActiveControllers()))
;
std::ostringstream msgbuf;
VRCom::Update* updateMsg = new VRCom::Update();
VRCom::Hydra* msg = new VRCom::Hydra();
updateMsg->set_allocated_hydra(msg);
VRCom::Joystick* joy = new VRCom::Joystick();
VRCom::Position* pos = new VRCom::Position();
VRCom::Rotation* rot = new VRCom::Rotation();
msg->set_allocated_pos(pos);
msg->set_allocated_rot(rot);
msg->set_allocated_joy(joy);
// open the websocket server connection
#ifdef _WIN32
INT rc;
WSADATA wsaData;
rc = WSAStartup(MAKEWORD(2, 2), &wsaData);
if (rc) {
printf("WSAStartup Failed.\n");
return 1;
}
#endif
std::string websocketAddr = "ws://192.168.11.34:4567";
if (argc > 1) {
websocketAddr = argv[1];
}
ws = WebSocket::from_url(websocketAddr);
assert(ws);
while(true) {
for (int i = 0; i < numctrl; i++) {
sixenseGetNewestData(i, &data);
//std::cerr << "controller: " << i << std::endl;
//std::cerr << "pos: " << data.pos[0] << ", " << data.pos[1] << ", " << data.pos[2] << std::endl;
// std::cerr << "rot: " << data.rot_quat[0] << ", " << data.rot_quat[1] << ", " << data.rot_quat[2] << ", " << data.rot_quat[3] << std::endl;
// std::cerr << "joystick: " << data.joystick_x << ", " << data.joystick_y << std::endl;
// std::cerr << "trigger: " << data.trigger << std::endl;
// std::cerr << "buttons: " << (data.buttons&SIXENSE_BUTTON_BUMPER) << " "
// << (data.buttons&SIXENSE_BUTTON_JOYSTICK) << " "
// << (data.buttons&SIXENSE_BUTTON_1) << " "
// << (data.buttons&SIXENSE_BUTTON_2) << " "
// << (data.buttons&SIXENSE_BUTTON_3) << " "
// << (data.buttons&SIXENSE_BUTTON_4) << " "
// << (data.buttons&SIXENSE_BUTTON_START) << std::endl;
msg->set_ctrl_num(i);
pos->set_x(data.pos[0]);
pos->set_y(data.pos[1]);
pos->set_z(data.pos[2]);
rot->set_x(data.rot_quat[0]);
rot->set_y(data.rot_quat[1]);
rot->set_z(data.rot_quat[2]);
rot->set_w(data.rot_quat[3]);
joy->set_x(data.joystick_x);
joy->set_y(data.joystick_y);
msg->set_trigger(data.trigger);
msg->set_buttons(data.buttons);
updateMsg->SerializeToOstream(&msgbuf);
ws->sendBinary(msgbuf.str());
ws->poll();
std::ostringstream().swap(msgbuf);
msgbuf.clear();
std::this_thread::sleep_for(std::chrono::milliseconds(20));
// msg.reset();
//std::cerr << data.pos[0] << std::endl;
//ws->send("5:1::{\"name\":\"hydra\",\"args\":\"bla\"}");
}
}
}
