PhantomMiddlewareSink.h

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/* ======================================================================== 
 * Copyright (C) 2006  Graz University of Technology
 *
 * This framework is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This framework is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this framework; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 * For further information please contact 
 * Dieter Schmalstieg
 * <schmalstieg@icg.tu-graz.ac.at>
 * Graz University of Technology, 
 * Institut for Computer Graphics and Vision,
 * Inffeldgasse 16a, 8010 Graz, Austria.
 * ========================================================================
 * PROJECT: OpenTracker
 * ======================================================================== */
 /* ======================================================================= */

#ifndef _PHANTOMMIDDLEWARESINK_H
#define _PHANTOMMIDDLEWARESINK_H

#include <cmath>

#include <OpenTracker/OpenTracker.h>
#include <OpenTracker/tool/OT_ACE_Log.h>
#include <phantom/MulticastSocket.hh>
#include <phantom/PhantomMessageV1.hh>

namespace ot {

class PhantomMiddlewareModule;

class OPENTRACKER_API PhantomMiddlewareSink : public Node
{
// Members
public:
  //OT_CORBA::Node_var corba_sink;
    int frequency;
    int cycle;
    int pid;
    unsigned char seq;
    short eid;
    std::string src;
    Phantom::Utils::MulticastSocketSender* mss;
    

// Methods
protected:
    PhantomMiddlewareSink( const char* multicast_group, int frequency_, int pid_, short eid_, const std::string& src_) :
      Node(), 
      frequency( frequency_ ),
      pid( pid_ ), 
      cycle ( 0 ),
      seq ( 0 ),
      eid ( eid_ )
      {
        mss = new Phantom::Utils::MulticastSocketSender(multicast_group);
        src = src_;
      }
    
      PhantomMiddlewareSink( const char* multicast_group, int frequency_, int pid_, short eid_):
      Node(), 
      frequency( frequency_ ),
      pid( pid_ ), 
      cycle ( 0 ),
      seq ( 0 ),
      eid ( eid_ )
        {
        mss = new Phantom::Utils::MulticastSocketSender(multicast_group);
        src = "";         
        }

    virtual ~PhantomMiddlewareSink() {
      delete mss;
      logPrintE("PhantomMiddlewareSink destructor\n");
    }

public:
    virtual int isEventGenerator()
    {
      return 1;
      //return 0;
    }

    int getEventId() {
      return eid;
    }
    
    virtual void onEventGenerated( Event& event, Node& generator)
    {
      cycle++;
      if ((cycle % frequency) == 0) {
        seq++;
        try {
          Phantom::PhantomMessageV1 pm(eid, seq);
          std::vector<float> position = event.getPosition();
          std::vector<float> orientation = event.getOrientation();
          float theta = 2.0f *atan2(orientation[1], orientation[3]);
          float alpha = MathUtils::Pi - theta;
          pm << pid;
          pm << (float) position[0];
          pm << (float) -position[2];
          pm << (float) position[1];
          pm << (float) (alpha / MathUtils::GradToRad);
          //      if (eid == 24) {
          //        pm << src;
          //      }
          (*mss) << pm;
        }
        catch (...) {}
        updateObservers( event );
      }
    }
 
 friend class PhantomMiddlewareModule;
};

}

#endif

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