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decoding VRPN message body

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This commit is contained in:
Hartmut Seichter 2025-06-27 16:04:08 +02:00
parent fc0fac7102
commit d082eb179d
2 changed files with 49 additions and 21 deletions
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68
SocketClient.gd
View file

@ -63,33 +63,61 @@ func _on_data(data : Array):
# kaboom we just send back the same cookie :) # kaboom we just send back the same cookie :)
self.send(bytes) self.send(bytes)
else: else:
# non-cookie messages # non-cookie
var peer := StreamPeerBuffer.new() var header := StreamPeerBuffer.new()
peer.data_array = bytes.slice(0,24) header.data_array = bytes.slice(0,aligned_size(20))
peer.big_endian = true header.big_endian = true
# Header # Header
var length = peer.get_32() # length of message var length = header.get_32() # length of message
var time_sec = peer.get_32() # time sec var time_sec = header.get_32() # time sec
var time_msec = peer.get_32() # time micro sec var time_msec = header.get_32() # time micro sec
var sender_id = peer.get_32() # sender id var sender_id = header.get_32() # sender id
var message_type = peer.get_32() # type of message (payload) var message_type = header.get_32() # type of message (payload)
var sequence_num = peer.get_32() # inofficial sequence number (padding) var sequence_num = header.get_32() # inofficial sequence number (padding)
print("length %d" % length) if false:
print("time_sec %d" % time_sec) print("length %d" % length)
print("time_msec %d" % time_msec) print("time_sec %d" % time_sec)
print("sender_id %d" % sender_id) print("time_msec %d" % time_msec)
print("message_type %d" % message_type) print("sender_id %d" % sender_id)
print("sequence_num %d" % sequence_num) print("message_type %d" % message_type)
print("sequence_num %d" % sequence_num)
#print(bytes)
# sender description
if message_type == -1:
var body := StreamPeerBuffer.new()
body.data_array = bytes.slice(24,length-24)
body.big_endian = true
var body_length = body.get_32()
print(body_length)
#var sender_name = peer.get_string(body_length)
#print("sender id {0} is {1}".format([sender_id,sender_name]))
# quat pos # quat pos
if message_type == 4: if message_type == 4:
peer.data_array = bytes.slice(24) var body := StreamPeerBuffer.new()
peer.big_endian = true
body.data_array = bytes.slice(24,length-24)
body.big_endian = true
var sensor_id = body.get_32()
var padding = body.get_32()
var pos = Vector3(body.get_float(),body.get_float(),body.get_float())
var quat_w = body.get_float()
var quat_x = body.get_float()
var quat_y = body.get_float()
var quat_z = body.get_float()
var quat = Quaternion(quat_x,quat_y,quat_z,quat_w)
#print("Pos_Quat ",sensor_id,pos,quat)
static func aligned_size(actual_size : int,alignment : int = 8) -> int:
return (actual_size + alignment - 1) & ~(alignment - 1)
func _on_connected(s : StreamPeerTCP): func _on_connected(s : StreamPeerTCP):
print("Connected to",s.get_connected_host()) # Replace with function body. print("Connected to",s.get_connected_host()) # Replace with function body.

2
vrpn.test.cfg
View file

@ -25,7 +25,7 @@
# int number_of_sensors # int number_of_sensors
# float rate_at_which_to_report_updates # float rate_at_which_to_report_updates
#vrpn_Tracker_NULL Tracker0 2 2.0 # vrpn_Tracker_NULL Tracker0 2 2.0
################################################################################ ################################################################################
# Spin Tracker. This is a "device" that reports a spinning rotation at the # Spin Tracker. This is a "device" that reports a spinning rotation at the