/*
* Start checking received data from SIGService.
*/
void AvatarController::checkRecvSIGServiceData()
{
CheckRecvSIGServiceData checkRecvSIGServiceData;
// Execute in another thread.
boost::thread thCheckRecvData(boost::bind(&CheckRecvSIGServiceData::run, &checkRecvSIGServiceData, this->m_srv));
}
/**
* @brief main routine
*/
void OculusRiftDK1Device::run()
{
init();
this->readIniFile();
//this->setSigServiceName();
sigverse::SIGService sigService(this->serviceName);
this->initializeSigService(sigService);
// check receive SIGService data by another thread
CheckRecvSIGServiceData checkRecvSIGServiceData;
boost::thread thCheckRecvData(&CheckRecvSIGServiceData::run, &checkRecvSIGServiceData, &sigService);
bool sendSuccessPrev = false;
while (1)
{
if (_kbhit()){
int key = _getch();
if (key == 'r'){
pFusionResult->Reset();
std::cout << "Reset Orientation." << std::endl;
}
}
float r_yaw, r_pitch, r_roll;
OVR::Quatf q = pFusionResult->GetOrientation();
OVR::Matrix4f bodyFrameMatrix(q);
q.GetEulerAngles<OVR::Axis_Y, OVR::Axis_X, OVR::Axis_Z>(&r_yaw, &r_pitch, &r_roll);
// std::cout << "yaw, pitch, roll = " << r_yaw << "," << r_pitch << "," << r_roll << std::endl;
OculusRiftDK1SensorData sensorData;
sensorData.setEulerAngle(r_yaw, r_pitch, r_roll);
if (this->sendMessageFlag)
{
const std::string sensorDataMessage = sensorData.encodeSensorData();
const std::string messageHeader = this->generateMessageHeader();
const std::string message = messageHeader + sensorDataMessage;
this->sendMessage(sigService, message);
OculusRiftDK1SensorData tmp;
std::map<std::string, std::vector<std::string> > sensorDataMap = tmp.decodeSensorData(message);
tmp.setSensorData(sensorDataMap);
}
Sleep(10);
}
sigService.disconnect();
std::cout << "end program" << std::endl;
Sleep(2000);
}
///@brief Execute a device.
int MyoDevice::run()
{
try
{
// Read the initialize file.
this->readIniFile();
// Prepare to use SIGService.
this->sigService.setName(this->serviceName);
this->initializeSigService(sigService);
// check receive SIGService data by another thread
CheckRecvSIGServiceData checkRecvSIGServiceData;
boost::thread thCheckRecvData(&CheckRecvSIGServiceData::run, &checkRecvSIGServiceData, &this->sigService);
// First, we create a Hub with our application identifier. Be sure not to use the com.example namespace when
// publishing your application. The Hub provides access to one or more Myos.
myo::Hub hub("org.sigverse.myoplugin");
std::cout << "Attempting to find a Myo..." << std::endl;
// Next, we attempt to find a Myo to use. If a Myo is already paired in Myo Connect, this will return that Myo
// immediately.
// waitForMyo() takes a timeout value in milliseconds. In this case we will try to find a Myo for 10 seconds, and
// if that fails, the function will return a null pointer.
myo::Myo* myo = hub.waitForMyo(10000);
// If waitForMyo() returned a null pointer, we failed to find a Myo, so exit with an error message.
if (!myo)
{
throw std::runtime_error("Unable to find a Myo!");
}
// We've found a Myo.
std::cout << "Connected to a Myo armband!" << std::endl << std::endl;
// Next we enable EMG streaming on the found Myo.
myo->setStreamEmg(myo::Myo::streamEmgEnabled);
// Next we construct an instance of our DeviceListener, so that we can register it with the Hub.
DataCollector collector;
// Hub::addListener() takes the address of any object whose class inherits from DeviceListener, and will cause
// Hub::run() to send events to all registered device listeners.
hub.addListener(&collector);
// Finally we enter our main loop.
while (true)
{
// In each iteration of our main loop, we run the Myo event loop for a set number of milliseconds.
// In this case, we wish to update our display 20 times a second, so we run for 1000/20 milliseconds.
hub.run(1000/20);
// After processing events, we call the print() member function we defined above to print out the values we've
// obtained from any events that have occurred.
MyoSensorData sensorData = collector.getSensorData();
// Send message to SigServer.
std::string messageHeader = this->generateMessageHeader();
std::string sensorDataMessage = sensorData.encodeSensorData();
std::string message = messageHeader + sensorDataMessage;
this->sendMessage(this->sigService, message);
// std::cout << message << std::endl;
}
sigService.disconnect();
}
catch (std::exception &ex)
{
std::cout << "run ERR :" << ex.what() << std::endl;
throw ex;
}
return 0;
}
