ThirdParty-6/ParaView-5.0.1/Plugins/VR/vtkVRUIPipe.cxx

/*=========================================================================

   Program: ParaView
   Module:    vtkVRUIPipe.cxx

   Copyright (c) 2005,2006 Sandia Corporation, Kitware Inc.
   All rights reserved.

   ParaView is a free software; you can redistribute it and/or modify it
   under the terms of the ParaView license version 1.2.

   See License_v1.2.txt for the full ParaView license.
   A copy of this license can be obtained by contacting
   Kitware Inc.
   28 Corporate Drive
   Clifton Park, NY 12065
   USA

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 THE AUTHORS 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.

========================================================================*/
#include "vtkVRUIPipe.h"
#include <cassert>
#include <unistd.h>
#ifdef QTSOCK
#include <QTcpSocket>
#else
#include <QDebug>
#endif
#include "vtkVRUIServerState.h"

typedef unsigned short MessageTagPropocol;

// ----------------------------------------------------------------------------
#ifdef QTSOCK
vtkVRUIPipe::vtkVRUIPipe(QTcpSocket *socket)
{
  assert("pre: socket_exist" && socket!=0);
  this->Socket=socket;
}
#else
vtkVRUIPipe::vtkVRUIPipe(int socket)
{
  this->Socket=socket;
}
#endif

// ----------------------------------------------------------------------------
vtkVRUIPipe::~vtkVRUIPipe()
{
}

// ----------------------------------------------------------------------------
void vtkVRUIPipe::Send(MessageTag m)
{
  MessageTagPropocol message=m;
  //std::cout << "Sending : " << this->GetString( m ) << std::endl;
#ifdef QTSOCK
  this->Socket->write(reinterpret_cast<const char*>(&message),
                      sizeof(MessageTagPropocol));
  this->Socket->flush();
#else
  write(this->Socket, reinterpret_cast<const char*>(&message),
                      sizeof(MessageTagPropocol));
#endif
}

// ----------------------------------------------------------------------------
bool vtkVRUIPipe::WaitForServerReply(int vtkNotUsed( msecs ))
{
#ifdef QTSOCK
  //std::cout<< "in" <<std::endl;
  bool status = this->Socket->waitForReadyRead(500);
  //std::cout<< "out : " << status <<std::endl;
  return status;
#else
  return true;
#endif
}

// ----------------------------------------------------------------------------
vtkVRUIPipe::MessageTag vtkVRUIPipe::Receive()
{
  MessageTagPropocol message;

  qint64 bytes=0;

  while(bytes!=sizeof(MessageTagPropocol)) // 2
    {
    //std::cout<< "Waiting to recieve" <<std::endl;
#ifdef QTSOCK
    bytes=this->Socket->read(reinterpret_cast<char *>(&message),
                             sizeof(MessageTagPropocol));
#else
    bytes=read(this->Socket,reinterpret_cast<char *>(&message),
                             sizeof(MessageTagPropocol));
    if (bytes < 0) {
        qDebug() << "Socket read error";
    }
#endif
#ifdef VRUI_ENABLE_DEBUG
    if ( bytes )
      cout << "bytes=" << bytes << endl;

  cout << "sizeof=" << sizeof(MessageTagPropocol) <<  endl;
  std::cout << "Recieved : "
            << this->GetString( static_cast<MessageTag>( message ) )
            << static_cast<MessageTag>( message )
            << std::endl;
#endif
    }
  return static_cast<MessageTag>(message);
}

// ----------------------------------------------------------------------------
void vtkVRUIPipe::ReadLayout(vtkVRUIServerState *state)
{
  assert("pre: state_exists" && state!=0);

  int value;
#ifdef QTSOCK
  this->Socket->read(reinterpret_cast<char *>(&value),sizeof(int));
#else
  ssize_t bytes;
  bytes = read(this->Socket, reinterpret_cast<char *>(&value),sizeof(int));
    if (bytes < 0) {
#ifdef VRUI_ENABLE_DEBUG
        qDebug() << "Socket readlayout tracker error";
#endif
    }
#endif
  state->GetTrackerStates()->resize(value);
  int i=0;
  while(i<value)
    {
    (*(state->GetTrackerStates()))[i]=vtkVRUITrackerState::New();
    ++i;
    }

  cout << "number of trackers: " << value << endl;

#ifdef QTSOCK
  this->Socket->read(reinterpret_cast<char *>(&value),sizeof(int));
#else
  bytes = read(this->Socket, reinterpret_cast<char *>(&value),sizeof(int));
    if (bytes < 0) {
        qDebug() << "Socket readlayout buttons error";
    }
#endif
  state->GetButtonStates()->resize(value);

  cout << "number of buttons: " << value << endl;

#ifdef QTSOCK
  this->Socket->read(reinterpret_cast<char *>(&value),sizeof(int));
#else
  bytes = read(this->Socket, reinterpret_cast<char *>(&value),sizeof(int));
    if (bytes < 0) {
        qDebug() << "Socket readlayout valuators error";
    }
#endif
  state->GetValuatorStates()->resize(value);

  cout << "number of valuators: " << value << endl;
}

// ----------------------------------------------------------------------------
void vtkVRUIPipe::ReadState(vtkVRUIServerState *state)
{
  assert("pre: state_exists" && state!=0);

  // read all trackers states.
  std::vector<vtkSmartPointer<vtkVRUITrackerState> > *trackers=state->GetTrackerStates();
  size_t i=0;
  size_t c=trackers->size();

  quint64 readSize;

  while(i<c)
    {
    vtkVRUITrackerState *tracker=(*trackers)[i].GetPointer();
#ifdef QTSOCK
    readSize = this->Socket->read(reinterpret_cast<char *>(tracker->GetPosition()), 3*sizeof(float));
    if(readSize < 3 * sizeof(float)){qDebug() << "position: " << readSize;}
    readSize = this->Socket->read(reinterpret_cast<char *>(tracker->GetUnitQuaternion()), 4*sizeof(float));
    if(readSize < 4 * sizeof(float)){qDebug() << "quat:" << readSize;}
    readSize = this->Socket->read(reinterpret_cast<char *>(tracker->GetLinearVelocity()), 3*sizeof(float));
    if(readSize < 3 * sizeof(float)){qDebug() << "lv: " << readSize;}
    readSize = this->Socket->read(reinterpret_cast<char *>(tracker->GetAngularVelocity()), 3*sizeof(float));
    if(readSize < 3 * sizeof(float)){qDebug() << "av: " << readSize;}
#else
    readSize = read(this->Socket, reinterpret_cast<char *>(tracker->GetPosition()), 3*sizeof(float));
    if(readSize < 3 * sizeof(float)){qDebug() << "position: " << readSize;}
    readSize = read(this->Socket, reinterpret_cast<char *>(tracker->GetUnitQuaternion()), 4*sizeof(float));
    if(readSize < 4 * sizeof(float)){qDebug() << "quat:" << readSize;}
    readSize = read(this->Socket, reinterpret_cast<char *>(tracker->GetLinearVelocity()), 3*sizeof(float));
    if(readSize < 3 * sizeof(float)){qDebug() << "lv: " << readSize;}
    readSize = read(this->Socket, reinterpret_cast<char *>(tracker->GetAngularVelocity()), 3*sizeof(float));
    if(readSize < 3 * sizeof(float)){qDebug() << "av: " << readSize;}
#endif
    ++i;
    }
  // read all buttons states.
  std::vector<bool> *buttons=state->GetButtonStates();
  i=0;
  c=buttons->size();
  while(i<c)
    {
    bool value;
#ifdef QTSOCK
    readSize = this->Socket->read(reinterpret_cast<char *>(&value), sizeof(bool));
#else
    readSize = read(this->Socket, reinterpret_cast<char *>(&value), sizeof(bool));
#endif
    if(readSize < sizeof(bool)){qDebug() << "button : " << i <<  readSize;}
    (*buttons)[i]=value;
    ++i;
    }

  // read all valuators states.
  std::vector<float> *valuators=state->GetValuatorStates();
  i=0;
  c=valuators->size();
  while(i<c)
    {
    float value;
#ifdef QTSOCK
    readSize  = this->Socket->read(reinterpret_cast<char *>(&value), sizeof(float));
#else
    readSize  = read(this->Socket, reinterpret_cast<char *>(&value), sizeof(float));
#endif
    if(readSize < sizeof(float)){qDebug() << "analog : " << i <<  readSize;}
    (*valuators)[i]=value;
    ++i;
    }
}