Root.tscn

@@ -1,13 +1,10 @@
-[gd_scene load_steps=3 format=3 uid="uid://bj5ykdjle10tt"]
+[gd_scene load_steps=2 format=3 uid="uid://bj5ykdjle10tt"]
 
 [ext_resource type="Script" uid="uid://vnywsf0rn1ax" path="res://SocketClient.gd" id="1_gxo8o"]
-[ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://VRPN.gd" id="2_24d08"]
 
 [node name="Node3D" type="Node3D"]
 script = ExtResource("1_gxo8o")
-
+vrpn_server = "212.201.64.122"
-[node name="VRPN" type="Node3D" parent="."]
-script = ExtResource("2_24d08")
 
 [connection signal="connected" from="." to="." method="_on_connected"]
 [connection signal="data" from="." to="." method="_on_data"]

SocketClient.gd

@@ -5,15 +5,12 @@ signal data(data:Array)
 signal disconnected
 signal error
 
-# Graphics Interaction Lab OptiTrack system @212.201.64.122
 
 @onready var _stream: StreamPeerTCP = StreamPeerTCP.new()
 
-@export var vrpn_server : String = "127.0.0.1"
+@export var vrpn_server : String = "localhost"
 @export var vrpn_port : int = 3883
 
-var session : VRPN.Session = VRPN.Session.new()
-
 func _ready() -> void:
 	self.connect_to_host(vrpn_server,vrpn_port)
 
@@ -70,7 +67,7 @@ func _on_data(data : Array):
 		# kaboom we just send back the same cookie :) 
 		self.send(bytes)
 	else:
-		VRPN.marshall_block(bytes,session)
+		VRPN.marshall_block(bytes)
 
 
 			

VRPN.gd

@@ -1,19 +1,11 @@
 extends Node
-class_name VRPN
 
-enum TrackingData { POS_QUAT, VELOCITY }
+class_name VRPN
 
 const magic_cookie_start : String = "vrpn: ver."
 
-class Session:
-	var sensors : Dictionary[int,String] = {}
-	var messages : Dictionary[int,String] = {}
-	func _init():
-		pass
 
-@export
+static func marshall_block(data : PackedByteArray) -> void:
-
-static func marshall_block(data : PackedByteArray,session : Session) -> void:
 	
 	# need to fix that 
 	var block_offset : int = 0
@@ -35,7 +27,7 @@ static func marshall_block(data : PackedByteArray,session : Session) -> void:
 		var message_type := header.get_32() as int # type of message (payload)
 		var sequence_num := header.get_32() as int # inofficial sequence number (padding)
 		
-		if false:
+		if true:
 			print("length       '%d'" % length)
 			print("time_sec     '%d'" % time_sec)
 			print("time_msec    '%d'" % time_msec)
@@ -44,46 +36,31 @@ static func marshall_block(data : PackedByteArray,session : Session) -> void:
 			print("sequence_num '%d'" % sequence_num)
 		
 		# print
-		#print("block_offset:{0} header_size:{1} length:{2}".format([block_offset,header_size,length]))
+		print("block_offset:{0} header_size:{1} length:{2}".format([block_offset,header_size,length]))
 		
-		marshall_body(data.slice(block_offset+header_size,block_offset+length),message_type,sender_id,session)
+		marshall_body(data.slice(block_offset+header_size,block_offset+length),message_type)
 		
 		# next datablock
 		block_offset += aligned_size(length)
 		
-static func decode_string(stream : StreamPeerBuffer) -> String:
-	var len = stream.get_32()
-	return stream.get_string(len)
-	
 		
-static func marshall_body(data : PackedByteArray,message_type : int, sender_id: int, session : Session):
+static func marshall_body(data : PackedByteArray,message_type : int):
 	var body := StreamPeerBuffer.new()
 	body.data_array = data
 	body.big_endian = true
-
+		# sender description
-	# only take message_type directly for negative (-1,-2)
+	match message_type:
-	# messages that provide dynamic descriptors
+		-1,-2:
-	if message_type < 0:
+			# get length of string
-		# message and sender descriptions
+			var body_length = body.get_32()
-		match message_type:
+			# get string
-			-1:
+			var sender_name = body.get_string(body_length)
-				var name = decode_string(body)
+			print("sender name is %s:" % sender_name)
-				print("sensor name is '%s' with '%d" % [name,sender_id])
+			#print(body.data_array)
-				session.sensors[sender_id] = name
+		4: # quat pos
-			-2:
-				var name = decode_string(body)
-				print("message name is '%s' for message_type '%d'" % [name,sender_id])
-				session.messages[sender_id] = name
-			# nothing to decode
-		return
-	
-	# now we use the string identifiers 
-	# because they are supposedly dynamically assigned
-	match session.messages[message_type]:
-		'vrpn_Tracker Pos_Quat': # quat pos
 			# get id
 			var sensor_id = body.get_32()
-			var padding = body.get_32() # padding 
+			var padding = body.get_32()
 			var pos = Vector3(body.get_double(),body.get_double(),body.get_double())
 			# VRPN quaternions are w,xyz
 			var quat_w = body.get_double()
@@ -91,10 +68,9 @@ static func marshall_body(data : PackedByteArray,message_type : int, sender_id:
 			var quat_y = body.get_double()
 			var quat_z = body.get_double()
 			var quat = Quaternion(quat_x,quat_y,quat_z,quat_w)
-			print("Sender:{0} Sensor:{1} Pos:{2} Quat:{3}".format([session.sensors[sender_id],sensor_id,pos,quat]))
+			print("sensor id {0} {1} {2}".format([sensor_id,pos,quat]))
 		_:
-			pass
+			print("unhandled message type {0}".format([message_type]))
-			#print("unhandled message type {0}".format([message_type]))
 
 
 static func aligned_size(actual_size : int, alignment : int = 8) -> int: