//=============================================================================

// Copyright © 2010 NaturalPoint, Inc. All Rights Reserved.

//

// This software is provided by the copyright holders and contributors "as is" and

// any express or implied warranties, including, but not limited to, the implied

// warranties of merchantability and fitness for a particular purpose are disclaimed.

// In no event shall NaturalPoint, Inc. or contributors be liable for any direct,

// indirect, incidental, special, exemplary, or consequential damages

// (including, but not limited to, procurement of substitute goods or services;

// loss of use, data, or profits; or business interruption) however caused

// and on any theory of liability, whether in contract, strict liability,

// or tort (including negligence or otherwise) arising in any way out of

// the use of this software, even if advised of the possibility of such damage.

//=============================================================================

/**

NOTE BY DOUGLAS CHAN:

Some of the code for this project was based off of work by other people which is publically available online. I attempt to give credit to them here.

This code was based off of code found at many sources. The basis for a lot of it was the sample code found by downloading the NatNet Sdk from the

tracking tools website. http://www.naturalpoint.com/optitrack/products/natnet-sdk/

Code for sending commands and receiving orders from the android device was based off of the example server and client code posted on the microsoft website,

which can be found at http://msdn.microsoft.com/en-us/library/windows/desktop/ms737889(v=vs.85).aspx

I also referenced various stack overflow thread when looking for questions about the subtleties of C++.

Any similarities between my code and these examples is because I based my code off of them. I believe that I have cited all references for the code for this

part of the project.

**/

/*

SampleClient.cpp

This program connects to a NatNet server, receives a data stream, and writes that data stream

to an ascii file. The purpose is to illustrate using the NatNetClient class.

Usage [optional]:

SampleClient [ServerIP] [LocalIP] [OutputFilename]

[ServerIP] IP address of the server (e.g. 192.168.0.107) ( defaults to local machine)

[OutputFilename] Name of points file (pts) to write out. defaults to Client-output.pts

*/

#include <math.h>

#include <stdio.h>

#include <tchar.h>

#include <conio.h>

#include <winsock2.h>

#include <windows.h>

#include <winsock2.h>

#include <ws2tcpip.h>

#include <stdlib.h>

#include <stdio.h>

#include <queue>

#include <process.h>

#include <iostream>

#include "NatNetTypes.h"

#include "NatNetClient.h"

// Need to link with Ws2_32.lib, Mswsock.lib, and Advapi32.lib

#pragma comment (lib, "Ws2_32.lib")

#pragma comment (lib, "Mswsock.lib")

#pragma comment (lib, "AdvApi32.lib")

#pragma warning( disable : 4996 )

void _WriteHeader(FILE* fp, sDataDescriptions* pBodyDefs);

void _WriteFrame(FILE* fp, sFrameOfMocapData* data);

void _WriteFooter(FILE* fp);

void __cdecl DataHandler(sFrameOfMocapData* data, void* pUserData); // receives data from the server

void __cdecl MessageHandler(int msgType, char* msg); // receives NatNet error mesages

void resetClient();

int CreateClient(int iConnectionType);

double calculate_angle(sRigidBodyData trackable1, sRigidBodyData trackable2, sRigidBodyData trackable3);

double calculate_distance(sRigidBodyData trackable1, sRigidBodyData trackable2);

unsigned int MyServersDataPort = 3130;

unsigned int MyServersCommandPort = 3131;

NatNetClient* theClient;

FILE* fp;

char szMyIPAddress[128] = "";

char szServerIPAddress[128] = "";

#define PI 3.14159265358979323846

#define ROBOT_PORT "5000"

#define DEFAULT_BUFLEN 512

#define KITCHEN 2

#define TABLE_ONE 3

#define TABLE_TWO 4

#define TABLE_THREE 5

#define TABLE_FOUR 6

bool init_called = false;

sRigidBodyData location_data[7];

double distances[5][5]; //first number is table number, second is number of destination table

//int destination = KITCHEN;

int dests[11];

char state = '0';

char last_cmd = 'q'; //arbitrary character so that at the beginning it does not match any possible commands.

int num_same_cmds = 0;

int last_dest = -1;

struct command {

};

command acommand;

struct dest_container {

};

dest_container dest_cont;

unsigned int _stdcall send_cmd(void *cmd) {

}

int get_order() {

}

unsigned int _stdcall update_orders(void *not_used) {

}

void init() {

}

int _tmain(int argc, _TCHAR* argv[])

}

// Establish a NatNet Client connection

int CreateClient(int iConnectionType)

}

// DataHandler receives data from the server

void __cdecl DataHandler(sFrameOfMocapData* data, void* pUserData)

}

// MessageHandler receives NatNet error/debug messages

void __cdecl MessageHandler(int msgType, char* msg)

{

printf("\n%s\n", msg);

}

/* File writing routines */

void _WriteHeader(FILE* fp, sDataDescriptions* pBodyDefs)

}

void _WriteFrame(FILE* fp, sFrameOfMocapData* data)

}

void _WriteFooter(FILE* fp)

}

void resetClient()

}

double calculate_angle(sRigidBodyData trackable1, sRigidBodyData trackable2, sRigidBodyData trackable3){

}

double calculate_distance(sRigidBodyData trackable1, sRigidBodyData trackable2){

}

//HANDLE thread = (HANDLE)::_beginthreadex(NULL, 0, send_cmd, '0', 0, NULL);