void comm_read() {
int nbytes;
double packet[15];
if ( tc_isValid( &connection) && tc_pending( &connection)) {
nbytes = tc_read(& connection, (char*)&packet, sizeof(packet));
// Satellite Position
// satellite->pos[0] = packet[0];
// satellite->pos[1] = packet[1];
// satellite->pos[2] = packet[2];
satellite->pos[0] = 0.0;
satellite->pos[1] = 0.0;
satellite->pos[2] = 0.0;
planet->pos[0] = -packet[0];
planet->pos[1] = -packet[1];
planet->pos[2] = -packet[2];
// Satellite Velocity
satellite->vel[0] = packet[3];
satellite->vel[1] = packet[4];
satellite->vel[2] = packet[5];
// Vehicle Body to World Rotation Matrix
satellite->R[0][0] = packet[6];
satellite->R[0][1] = packet[7];
satellite->R[0][2] = packet[8];
satellite->R[1][0] = packet[9];
satellite->R[1][1] = packet[10];
satellite->R[1][2] = packet[11];
satellite->R[2][0] = packet[12];
satellite->R[2][1] = packet[13];
satellite->R[2][2] = packet[14];
// The camera position is relative to the satellite position.
satellite_camera->pos[0] = satellite->pos[0] + camera_range * sin(camera_azimuth * (PI/180.0));
satellite_camera->pos[1] = satellite->pos[1] + camera_range * cos(camera_azimuth * (PI/180.0));
satellite_camera->pos[2] = satellite->pos[2] + 0.0;
// The camera is looking at the satellite.
satellite_camera->tgt[0] = satellite->pos[0];
satellite_camera->tgt[1] = satellite->pos[1];
satellite_camera->tgt[2] = satellite->pos[2];
// Camera up is in the positive World-Z direction;
satellite_camera->up[0] = 0.0;
satellite_camera->up[1] = 0.0;
satellite_camera->up[2] = 1.0;
glutPostRedisplay();
}
}
void move_ball() {
int nbytes ;
if ( tc_isValid(&connection) && tc_pending(&connection) ) {
nbytes = tc_read(&connection, (char*) &ball_position.x,
sizeof(double));
nbytes = tc_read(&connection, (char*) &ball_position.y,
sizeof(double));
}
glutPostRedisplay();
}
int main( int argc, char *argv[] ) {
int ctr;
int tc_rc;
BUFFER buffer ;
char other_tag[256] = "test_tag" ;
TrickErrorHndlr err_hndlr;
int *me ;
int status ;
if (argc >= 2) {
if (!strcmp(argv[1] , "-h")) {
fprintf(stderr,"usage: %s [tag_name]\n",argv[0]);
exit(0) ;
}
else {
strcpy(other_tag , argv[1]) ;
}
}
#ifndef __WIN32__
/* Register the interupt signal handler. */
{
struct sigaction sigact; /* sigaction() sys call parm */
memset ( &sigact , 0 , sizeof(struct sigaction)) ;
sigact.sa_flags = 0;
sigact.sa_handler = (void(*)())sigint_hndlr;
if ( sigaction( SIGINT, &sigact, NULL ) < 0 )
perror("sigaction() failed for SIGINT");
#if (__sun)
sigact.sa_handler = (void(*)())stupid;
if ( sigaction( SIGALRM, &sigact, NULL ) < 0 )
perror("sigaction() failed for SIGALRM");
#endif
}
#endif
memset((void *)&err_hndlr,'\0',sizeof(TrickErrorHndlr));
trick_error_init(&err_hndlr,
(TrickErrorFuncPtr)NULL,
(TrickErrorDataPtr)NULL,
TRICK_ERROR_TRIVIAL);
/* It is possible for multiple multiconnects to try and
initiate simultaneously causing some of the connects
to fail. This happens if all of the clients have the
same tag and are connecting to the same server. This is
the V.R. scenario. Continue trying to connect
until successful.
*/
do {
device = malloc(sizeof(TCDevice)) ;
memset((void *)device,'\0',sizeof(TCDevice));
status = tc_multiconnect(device , "client" , other_tag , &err_hndlr);
if (status != TC_SUCCESS) {
fprintf(stderr,"Error from tc_multiconnect... trying again\n");
}
} while (status != TC_SUCCESS) ;
ctr = 1;
me = ((int *)&buffer.f1 +1) ;
while( 1 ) {
while ( (tc_isValid(device)) && (!tc_pending(device)) )
#if __WIN32__
Sleep(1);
#else
usleep(1000);
#endif
if (tc_isValid(device)) {
tc_rc = tc_read(device,(char *)&buffer,sizeof(buffer));
if (tc_rc != 0) {
fprintf(stderr,"client: read msg %d from server:\n",ctr++);
fprintf(stderr," i1 = %08x, s1 = %d, c1 = %d, f1 = %f, d1 = %f\n",
buffer.i1, buffer.s1, buffer.c1, buffer.f1, buffer.d1 ) ;
fprintf(stderr," b1 = %d , b2 = %d, b3 = %d, b4 = %d, b5 = %d\n",
buffer.b1, buffer.b2, buffer.b3, buffer.b4, buffer.b5 ) ;
fprintf(stderr," me = %08x\n", *me ) ;
#if __WIN32__
Sleep(500) ;
#else
usleep(500000);
#endif
}
}
else {
fprintf(stderr,"Server side disconnected... exiting\n");
tc_disconnect(device);
break ;
}
}
} /* end main */
