Revision 28:42ae7eed0b68, committed 2014-12-11

Comitter:

kalbers

Date:

Thu Dec 11 05:25:03 2014 +0000

Parent:

23:a8de4f87cada

Child:

29:50be685a3f54

Commit message:

Added Dataglove Receive Blocking that returns a glove structure.

Changed in this revision

--- a/DataGlove.cpp	Thu Dec 11 04:17:46 2014 +0000
+++ b/DataGlove.cpp	Thu Dec 11 05:25:03 2014 +0000
@@ -58,7 +58,14 @@
     GloveSocket.SendDataToGlove(SendBuf, 6);
 }
 
-void DataGlove::Receive()
+
+Glove DataGlove::ReceiveBlocking()
+{
+	while(Receive() == false);
+	return *gl;
+}
+
+bool DataGlove::Receive()
 {
     raw = false;
     numReceived += GloveSocket.GetDataFromBuffer(Buf, 1);
@@ -76,7 +83,7 @@
             if ((numReceived  - 3 )< pkglen) 
             {
                 if(numReceived == 0) notConnectedCount++;
-                return;
+                return false;
             }
             for (u = 3; u <= pkglen; u++)
             {
@@ -91,7 +98,8 @@
                 timeOfArrival = (Buf[6] << 24) + (Buf[7] << 16) + (Buf[8] << 8) + Buf[9];
                 id = (Buf[4] << 8) + Buf[5];
                 pkgtype = Buf[3];
-                if(ReceiveCount > 501 && ReceiveCount++%25 == 0) {//printf("%d %c\r\n", ReceiveCount, Buf[0]);
+                ReceiveCount++;
+                if(ReceiveCount > 501 && ReceiveCount%25 == 0) {//printf("%d %c\r\n", ReceiveCount, Buf[0]);
                 	printf("%f %f %f %f %f %f %f %f\r\n", corrected->roll, corrected->pitch, corrected->yaw, 
                 	corrected->fingers[0], corrected->fingers[1], corrected->fingers[2], 
                 	corrected->fingers[3], corrected->fingers[4]);
@@ -128,6 +136,7 @@
                 Buf[0] = 0; //Clear Token so no repeats.
                 notConnectedCount = 0;
                 numReceived = 0;
+                return true;
             }
             else
             {
@@ -136,7 +145,7 @@
             }
         }
         // Normalize the data for the first 1000 samples
-        if (ReceiveCount < 500) {
+        /*if (ReceiveCount < 500) {
         	correction->roll = (correction->roll*ReceiveCount + gl->roll)/(ReceiveCount+1);
         	correction->pitch = (correction->pitch*ReceiveCount + gl->pitch)/(ReceiveCount+1);
         	correction->yaw = (correction->yaw*ReceiveCount + gl->yaw)/(ReceiveCount+1);
@@ -149,7 +158,7 @@
         	corrected->yaw = gl->yaw - correction->yaw;
         	for (int iter = 0; iter < 5; iter++)
         		corrected->fingers[iter] = gl->fingers[iter] - correction->fingers[iter];
-        }
+        }*/
     }
     else {
         //printf("couldn't get data %d\r\n", notConnectedCount);
@@ -163,7 +172,7 @@
         numReceived = 0;
         notConnectedCount++;
     }
-    
+    return false;
 }
 
 void DataGlove::ExtractFingersQuat()
@@ -319,6 +328,7 @@
 {
 	return *gl;
 }
+
 bool DataGlove::CheckForNewValues()
 {
 	if(NewData == true)

--- a/DataGlove.h	Thu Dec 11 04:17:46 2014 +0000
+++ b/DataGlove.h	Thu Dec 11 05:25:03 2014 +0000
@@ -19,7 +19,8 @@
 		DataGlove();
 		~DataGlove();
 		void Init();
-		void Receive();
+		bool Receive();
+		Glove ReceiveBlocking();
 		
 		//Returns the latest glove values in a structure.
 		Glove GetCurrentValues();

--- a/GloveWifi.cpp	Thu Dec 11 04:17:46 2014 +0000
+++ b/GloveWifi.cpp	Thu Dec 11 05:25:03 2014 +0000
@@ -99,9 +99,8 @@
     {
         DropCount = 0;
     }
-    if(DropCount > 200)
+    if(DropCount > 20)
     {
-        printf("!\r\n");
         Reconnect();
         DropCount = 0;
     }