Platform/Aperios1.3.2/GTCamHandler.cpp

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/** 
* @file  Platform/Aperios1.3.2/GTCamHandler.cpp
* @author Matthias Meyer
* 
*/

#include "GTCamHandler.h"

#include <stdio.h>
#include <iostream.h>

#include <tools/debugging/debugging.h>
#include "NetConfig.h"


/** 
* Constructor
*/
GTCamHandler::GTCamHandler() :
UDPEndpoint(2048,2048)
{

}


/**
* Init the handler
*/
void GTCamHandler::initGTCamHandler(GTCamWorldState* myState, GTCamTimeSyncHandler* myHandler)
{
//  timeOffset = 0;
//  lastPackageRevievedLocal = 0;
//  lastPackageRevievedRemote = 0;
  state = myState;
  timeSyncHandler = myHandler;
  packageCounter = 0;

  int camport = GTCAMPORT;//std port
  int syncport = GTCAMSYNCPORT;
  double version;

  //read port
  InConfigFile file("gtcam.cfg");
  // format: 
  // Version x.x
  // CAMPORT x
  // SYNCPORT x 
  // spaces and nl are ignored
  if(file.exists())
  {
    char buf[250];
    cout << "gtcam.cfg ";
    while(!file.eof())
    {
      file >> buf;
      cout << "gtcam.cfg " << buf;
      if ( strcmp(buf,"Version")==0 )
      {
        file >> version;
        cout << "Version " << version;
      }else
      if ( strcmp(buf,"CAMPORT")==0 )
      {
        file >> camport;
        cout << "CAMPORT " << camport;
      }
      if ( strcmp(buf,"SYNCPORT")==0 )
      {
        file >> syncport;
        cout << "SYNCPORT " << syncport;
      }
    }
  }


  bind(camport);  // GTCam data
}


/**
* Receive data
*/
void GTCamHandler::onReceive(void* data, int size)
{
  memcpy(state->camWorldstate,data,size);
  packageCounter++;

  // Start TimeSync every 100 packages
  if (packageCounter >= 100) {
    packageCounter = 0;
    timeSyncHandler->timeServer = this->ipOfLastPackage;
    timeSyncHandler->startTimeSync();
  }
  
 

  state->frameNumber = (unsigned long)(state->getTimestamp()/8) - timeSyncHandler->frameOffset;
  /*cout << "Calc: " << state->frameNumber << " = ("
                   << state->getTimestamp()/8 << ") "
                   << (unsigned long)(state->getTimestamp()/8) << " - "
                   << timeSyncHandler->frameOffset << " ----- "
                   << timeSyncHandler->image->frameNumber << " \n";
   */    
 state->setTimestamp(state->getTimestamp() - timeSyncHandler->offset);

}

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