void DisplayClient::appClientReceiveMulticast(int servicePort, SYNTRO_EHEAD *multiCast, int len)
{
// make sure this is for us
if (servicePort != m_receivePort) {
logWarn(QString("Multicast received to invalid port %1").arg(servicePort));
free(multiCast);
return;
}
// and the size we expect
if (len != (sizeof(SYNTRO_RECORD_HEADER) + sizeof(quint32))) {
logWarn(QString("Multicast length is unexpected : %1").arg(len - sizeof(SYNTRO_RECORD_HEADER)));
free(multiCast);
return;
}
// unpack the record, first get a pointer to the SYNTRO_RECORD_HEADER
SYNTRO_RECORD_HEADER *head = (SYNTRO_RECORD_HEADER *)(multiCast + 1);
// the led data is immediately after the SYNTRO_RECORD_HEADER in a single quint32
quint32 *values = (quint32 *)(head + 1);
// the BoneLedDisplay class catches this signal
emit newData(*values);
// ack the data
clientSendMulticastAck(servicePort);
// always free the record you are given
free(multiCast);
}
void SyntroPythonClient::appClientReceiveMulticast(int servicePort, SYNTRO_EHEAD *message, int length)
{
QMutexLocker lock(&m_lock);
while (servicePort >= m_receivedData.count())
m_receivedData.append(QQueue<QByteArray>());
m_receivedData[servicePort].append(QByteArray((const char *)(message + 1), length));
if (m_receivedData[servicePort].count() > 5) // stop queue getting too long
m_receivedData[servicePort].dequeue();
clientSendMulticastAck(servicePort);
free(message);
}
void StoreClient::appClientReceiveMulticast(int servicePort, SYNTRO_EHEAD *message, int len)
{
int sourceIndex;
sourceIndex = clientGetServiceData(servicePort);
if ((sourceIndex >= SYNTROSTORE_MAX_STREAMS) || (sourceIndex < 0)) {
logWarn(QString("Multicast received to out of range port %1").arg(servicePort));
free(message);
return;
}
if (m_sources[sourceIndex] != NULL) { // still active
m_sources[sourceIndex]->queueBlock(QByteArray(reinterpret_cast<char *>(message + 1), len));
clientSendMulticastAck(servicePort);
}
free(message);
}
void ViewClient::appClientReceiveMulticast(int servicePort, SYNTRO_EHEAD *multiCast, int totalLength)
{
SYNTRO_GLOVEDATA *data;
RTQuaternion palmQuat;
RTQuaternion thumbQuat;
RTQuaternion fingerQuat;
SYNTRO_RECORD_HEADER *head = (SYNTRO_RECORD_HEADER *)(multiCast + 1);
int recordType = SyntroUtils::convertUC2ToUInt(head->type);
if (recordType != SYNTRO_RECORD_TYPE_GLOVE) {
qDebug() << "Expecting nav record, received record type" << recordType;
} else {
data = (SYNTRO_GLOVEDATA *)(head + 1);
while (totalLength > (int)sizeof(SYNTRO_GLOVEDATA)) {
palmQuat.setScalar(data->fusionQPosePalm[0]);
palmQuat.setX(data->fusionQPosePalm[1]);
palmQuat.setY(data->fusionQPosePalm[2]);
palmQuat.setZ(data->fusionQPosePalm[3]);
thumbQuat.setScalar(data->fusionQPoseThumb[0]);
thumbQuat.setX(data->fusionQPoseThumb[1]);
thumbQuat.setY(data->fusionQPoseThumb[2]);
thumbQuat.setZ(data->fusionQPoseThumb[3]);
fingerQuat.setScalar(data->fusionQPoseFinger[0]);
fingerQuat.setX(data->fusionQPoseFinger[1]);
fingerQuat.setY(data->fusionQPoseFinger[2]);
fingerQuat.setZ(data->fusionQPoseFinger[3]);
emit newIMUData(palmQuat, thumbQuat, fingerQuat);
totalLength -= sizeof(SYNTRO_GLOVEDATA);
data++;
}
}
clientSendMulticastAck(servicePort);
free(multiCast);
}
