Где в этом коде выполняется итерация? ⇐ C++

[Anonymous]

I'm using NatNet SDK to receiving data from the cameras through tcp connection. In their example code below, it can print the stream data using DataHandler function while waiting for a while(c=_getchar()) loop. I have no idea why the code can both waiting for keyboard input and at the same time printing the camera's data in the DataHandler function in real time. I didn't see the code run in multi threads.

My second question is that how I can get the stream data in a for loop in the main function. If someone can tell me how to use that DataHandler to get data in the main function, that will be great.
//============================================================================= // Copyright ?2014 NaturalPoint, Inc. All Rights Reserved. // // This software is provided by the copyright holders and contributors "as is" and // any express or implied warranties, including, but not limited to, the implied // warranties of merchantability and fitness for a particular purpose are disclaimed. // In no event shall NaturalPoint, Inc. or contributors be liable for any direct, // indirect, incidental, special, exemplary, or consequential damages // (including, but not limited to, procurement of substitute goods or services; // loss of use, data, or profits; or business interruption) however caused // and on any theory of liability, whether in contract, strict liability, // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. //============================================================================= /* SampleClient.cpp This program connects to a NatNet server, receives a data stream, and writes that data stream to an ascii file. The purpose is to illustrate using the NatNetClient class. Usage [optional]: SampleClient [ServerIP] [LocalIP] [OutputFilename] [ServerIP] IP address of the server (e.g. 192.168.0.107) ( defaults to local machine) [OutputFilename] Name of points file (pts) to write out. defaults to Client-output.pts */ #include #include #include #include #include "NatNetTypes.h" #include "NatNetClient.h" #pragma warning( disable : 4996 ) void _WriteHeader(FILE* fp, sDataDescriptions* pBodyDefs); void _WriteFrame(FILE* fp, sFrameOfMocapData* data); void _WriteFooter(FILE* fp); void __cdecl DataHandler(sFrameOfMocapData* data, void* pUserData); // receives data from the server void __cdecl MessageHandler(int msgType, char* msg); // receives NatNet error mesages void resetClient(); int CreateClient(int iConnectionType); unsigned int MyServersDataPort = 3130; unsigned int MyServersCommandPort = 3131; int iConnectionType = ConnectionType_Multicast; //int iConnectionType = ConnectionType_Unicast; NatNetClient* theClient; FILE* fp; char szMyIPAddress[128] = ""; char szServerIPAddress[128] = ""; int analogSamplesPerMocapFrame = 0; int _tmain(int argc, _TCHAR* argv[]) { int iResult; // parse command line args if(argc>1) { strcpy(szServerIPAddress, argv[1]); // specified on command line printf("Connecting to server at %s...\n", szServerIPAddress); } else { strcpy(szServerIPAddress, ""); // not specified - assume server is local machine printf("Connecting to server at LocalMachine\n"); } if(argc>2) { strcpy(szMyIPAddress, argv[2]); // specified on command line printf("Connecting from %s...\n", szMyIPAddress); } else { strcpy(szMyIPAddress, ""); // not specified - assume server is local machine printf("Connecting from LocalMachine...\n"); } // Create NatNet Client iResult = CreateClient(iConnectionType); if(iResult != ErrorCode_OK) { printf("Error initializing client. See log for details. Exiting"); return 1; } else { printf("Client initialized and ready.\n"); } // send/receive test request printf("[SampleClient] Sending Test Request\n"); void* response; int nBytes; iResult = theClient->SendMessageAndWait("TestRequest", &response, &nBytes); if (iResult == ErrorCode_OK) { printf("[SampleClient] Received: %s", (char*)response); } // Retrieve Data Descriptions from server printf("\n\n[SampleClient] Requesting Data Descriptions..."); sDataDescriptions* pDataDefs = NULL; int nBodies = theClient->GetDataDescriptions(&pDataDefs); if(!pDataDefs) { printf("[SampleClient] Unable to retrieve Data Descriptions."); } else { printf("[SampleClient] Received %d Data Descriptions:\n", pDataDefs->nDataDescriptions ); for(int i=0; i < pDataDefs->nDataDescriptions; i++) { printf("Data Description # %d (type=%d)\n", i, pDataDefs->arrDataDescriptions.type); if(pDataDefs->arrDataDescriptions.type == Descriptor_MarkerSet) { // MarkerSet sMarkerSetDescription* pMS = pDataDefs->arrDataDescriptions.Data.MarkerSetDescription; printf("MarkerSet Name : %s\n", pMS->szName); for(int i=0; i < pMS->nMarkers; i++) printf("%s\n", pMS->szMarkerNames); } else if(pDataDefs->arrDataDescriptions.type == Descriptor_RigidBody) { // RigidBody sRigidBodyDescription* pRB = pDataDefs->arrDataDescriptions.Data.RigidBodyDescription; printf("RigidBody Name : %s\n", pRB->szName); printf("RigidBody ID : %d\n", pRB->ID); printf("RigidBody Parent ID : %d\n", pRB->parentID); printf("Parent Offset : %3.2f,%3.2f,%3.2f\n", pRB->offsetx, pRB->offsety, pRB->offsetz); } else if(pDataDefs->arrDataDescriptions.type == Descriptor_Skeleton) { // Skeleton sSkeletonDescription* pSK = pDataDefs->arrDataDescriptions.Data.SkeletonDescription; printf("Skeleton Name : %s\n", pSK->szName); printf("Skeleton ID : %d\n", pSK->skeletonID); printf("RigidBody (Bone) Count : %d\n", pSK->nRigidBodies); for(int j=0; j < pSK->nRigidBodies; j++) { sRigidBodyDescription* pRB = &pSK->RigidBodies[j]; printf(" RigidBody Name : %s\n", pRB->szName); printf(" RigidBody ID : %d\n", pRB->ID); printf(" RigidBody Parent ID : %d\n", pRB->parentID); printf(" Parent Offset : %3.2f,%3.2f,%3.2f\n", pRB->offsetx, pRB->offsety, pRB->offsetz); } } else if(pDataDefs->arrDataDescriptions.type == Descriptor_ForcePlate) { // Force Plate sForcePlateDescription* pFP = pDataDefs->arrDataDescriptions.Data.ForcePlateDescription; printf("Force Plate ID : %d\n", pFP->ID); printf("Force Plate Serial : %s\n", pFP->strSerialNo); printf("Force Plate Width : %3.2f\n", pFP->fWidth); printf("Force Plate Length : %3.2f\n", pFP->fLength); printf("Force Plate Electrical Center Offset (%3.3f, %3.3f, %3.3f)\n", pFP->fOriginX,pFP->fOriginY, pFP->fOriginZ); for(int iCorner=0; iCornerfCorners[iCorner][0],pFP->fCorners[iCorner][1],pFP->fCorners[iCorner][2]); printf("Force Plate Type : %d\n", pFP->iPlateType); printf("Force Plate Data Type : %d\n", pFP->iChannelDataType); printf("Force Plate Channel Count : %d\n", pFP->nChannels); for(int iChannel=0; iChannelnChannels; iChannel++) printf("\tChannel %d : %s\n", iChannel, pFP->szChannelNames[iChannel]); } else { printf("Unknown data type."); // Unknown } } } // Create data file for writing received stream into char szFile[MAX_PATH]; char szFolder[MAX_PATH]; GetCurrentDirectory(MAX_PATH, szFolder); if(argc > 3) sprintf(szFile, "%s\\%s", szFolder, argv[3]); else sprintf(szFile, "%s\\Client-output.pts",szFolder); fp = fopen(szFile, "w"); if(!fp) { printf("error opening output file %s. Exiting.", szFile); exit(1); } if(pDataDefs) _WriteHeader(fp, pDataDefs); // Ready to receive marker stream! printf("\nClient is connected to server and listening for data...\n"); int c; bool bExit = false; while(c =_getch()) { switch(c) { case 'q': bExit = true; break; case 'r': resetClient(); break; case 'p': sServerDescription ServerDescription; memset(&ServerDescription, 0, sizeof(ServerDescription)); theClient->GetServerDescription(&ServerDescription); if(!ServerDescription.HostPresent) { printf("Unable to connect to server. Host not present. Exiting."); return 1; } break; case 'f': { sFrameOfMocapData* pData = theClient->GetLastFrameOfData(); printf("Most Recent Frame: %d", pData->iFrame); } break; case 'm': // change to multicast iConnectionType = ConnectionType_Multicast; iResult = CreateClient(iConnectionType); if(iResult == ErrorCode_OK) printf("Client connection type changed to Multicast.\n\n"); else printf("Error changing client connection type to Multicast.\n\n"); break; case 'u': // change to unicast iConnectionType = ConnectionType_Unicast; iResult = CreateClient(iConnectionType); if(iResult == ErrorCode_OK) printf("Client connection type changed to Unicast.\n\n"); else printf("Error changing client connection type to Unicast.\n\n"); break; case 'c' : // connect iResult = CreateClient(iConnectionType); break; case 'd' : // disconnect // note: applies to unicast connections only - indicates to Motive to stop sending packets to that client endpoint iResult = theClient->SendMessageAndWait("Disconnect", &response, &nBytes); if (iResult == ErrorCode_OK) printf("[SampleClient] Disconnected"); break; default: break; } if(bExit) break; } // Done - clean up. theClient->Uninitialize(); _WriteFooter(fp); fclose(fp); return ErrorCode_OK; } // Establish a NatNet Client connection int CreateClient(int iConnectionType) { // release previous server if(theClient) { theClient->Uninitialize(); delete theClient; } // create NatNet client theClient = new NatNetClient(iConnectionType); // set the callback handlers theClient->SetVerbosityLevel(Verbosity_Warning); theClient->SetMessageCallback(MessageHandler); theClient->SetDataCallback( DataHandler, theClient ); // this function will receive data from the server // [optional] use old multicast group //theClient->SetMulticastAddress("224.0.0.1"); // print version info unsigned char ver[4]; theClient->NatNetVersion(ver); printf("NatNet Sample Client (NatNet ver. %d.%d.%d.%d)\n", ver[0], ver[1], ver[2], ver[3]); // Init Client and connect to NatNet server // to use NatNet default port assignments int retCode = theClient->Initialize(szMyIPAddress, szServerIPAddress); // to use a different port for commands and/or data: //int retCode = theClient->Initialize(szMyIPAddress, szServerIPAddress, MyServersCommandPort, MyServersDataPort); if (retCode != ErrorCode_OK) { printf("Unable to connect to server. Error code: %d. Exiting", retCode); return ErrorCode_Internal; } else { // get # of analog samples per mocap frame of data void* pResult; int ret = 0; int nBytes = 0; ret = theClient->SendMessageAndWait("AnalogSamplesPerMocapFrame", &pResult, &nBytes); if (ret == ErrorCode_OK) { analogSamplesPerMocapFrame = *((int*)pResult); printf("Analog Samples Per Mocap Frame : %d", analogSamplesPerMocapFrame); } // print server info sServerDescription ServerDescription; memset(&ServerDescription, 0, sizeof(ServerDescription)); theClient->GetServerDescription(&ServerDescription); if(!ServerDescription.HostPresent) { printf("Unable to connect to server. Host not present. Exiting."); return 1; } printf("[SampleClient] Server application info:\n"); printf("Application: %s (ver. %d.%d.%d.%d)\n", ServerDescription.szHostApp, ServerDescription.HostAppVersion[0], ServerDescription.HostAppVersion[1],ServerDescription.HostAppVersion[2],ServerDescription.HostAppVersion[3]); printf("NatNet Version: %d.%d.%d.%d\n", ServerDescription.NatNetVersion[0], ServerDescription.NatNetVersion[1], ServerDescription.NatNetVersion[2], ServerDescription.NatNetVersion[3]); printf("Client IP:%s\n", szMyIPAddress); printf("Server IP:%s\n", szServerIPAddress); printf("Server Name:%s\n\n", ServerDescription.szHostComputerName); } return ErrorCode_OK; } // DataHandler receives data from the server void __cdecl DataHandler(sFrameOfMocapData* data, void* pUserData) { NatNetClient* pClient = (NatNetClient*) pUserData; if(fp) _WriteFrame(fp,data); int i=0; printf("FrameID : %d\n", data->iFrame); printf("Timestamp : %3.2lf\n", data->fTimestamp); printf("Latency : %3.2lf\n", data->fLatency); // FrameOfMocapData params bool bIsRecording = ((data->params & 0x01)!=0); bool bTrackedModelsChanged = ((data->params & 0x02)!=0); if(bIsRecording) printf("RECORDING\n"); if(bTrackedModelsChanged) printf("Models Changed.\n"); // timecode - for systems with an eSync and SMPTE timecode generator - decode to values int hour, minute, second, frame, subframe; bool bValid = pClient->DecodeTimecode(data->Timecode, data->TimecodeSubframe, &hour, &minute, &second, &frame, &subframe); // decode to friendly string char szTimecode[128] = ""; pClient->TimecodeStringify(data->Timecode, data->TimecodeSubframe, szTimecode, 128); printf("Timecode : %s\n", szTimecode); // Other Markers printf("Other Markers [Count=%d]\n", data->nOtherMarkers); for(i=0; i < data->nOtherMarkers; i++) { printf("Other Marker %d : %3.2f\t%3.2f\t%3.2f\n", i, data->OtherMarkers[i][0], data->OtherMarkers[i][1], data->OtherMarkers[i][2]); } // Rigid Bodies printf("Rigid Bodies [Count=%d]\n", data->nRigidBodies); for(i=0; i < data->nRigidBodies; i++) { // params // 0x01 : bool, rigid body was successfully tracked in this frame bool bTrackingValid = data->RigidBodies[i].params & 0x01; printf("Rigid Body [ID=%d Error=%3.2f Valid=%d]\n", data->RigidBodies[i].ID, data->RigidBodies[i].MeanError, bTrackingValid); printf("\tx\ty\tz\tqx\tqy\tqz\tqw\n"); printf("\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t%3.2f\n", data->RigidBodies[i].x, data->RigidBodies[i].y, data->RigidBodies[i].z, data->RigidBodies[i].qx, data->RigidBodies[i].qy, data->RigidBodies[i].qz, data->RigidBodies[i].qw); printf("\tRigid body markers [Count=%d]\n", data->RigidBodies[i].nMarkers); for(int iMarker=0; iMarker < data->RigidBodies[i].nMarkers; iMarker++) { printf("\t\t"); if(data->RigidBodies[i].MarkerIDs) printf("MarkerID:%d", data->RigidBodies[i].MarkerIDs[iMarker]); if(data->RigidBodies[i].MarkerSizes) printf("\tMarkerSize:%3.2f", data->RigidBodies[i].MarkerSizes[iMarker]); if(data->RigidBodies[i].Markers) printf("\tMarkerPos:%3.2f,%3.2f,%3.2f\n" , data->RigidBodies[i].Markers[iMarker][0], data->RigidBodies[i].Markers[iMarker][1], data->RigidBodies[i].Markers[iMarker][2]); } } // skeletons printf("Skeletons [Count=%d]\n", data->nSkeletons); for(i=0; i < data->nSkeletons; i++) { sSkeletonData skData = data->Skeletons[i]; printf("Skeleton [ID=%d Bone count=%d]\n", skData.skeletonID, skData.nRigidBodies); for(int j=0; j< skData.nRigidBodies; j++) { sRigidBodyData rbData = skData.RigidBodyData[j]; printf("Bone %d\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t%3.2f\t%3.2f\n", rbData.ID, rbData.x, rbData.y, rbData.z, rbData.qx, rbData.qy, rbData.qz, rbData.qw ); printf("\tRigid body markers [Count=%d]\n", rbData.nMarkers); for(int iMarker=0; iMarker < rbData.nMarkers; iMarker++) { printf("\t\t"); if(rbData.MarkerIDs) printf("MarkerID:%d", rbData.MarkerIDs[iMarker]); if(rbData.MarkerSizes) printf("\tMarkerSize:%3.2f", rbData.MarkerSizes[iMarker]); if(rbData.Markers) printf("\tMarkerPos:%3.2f,%3.2f,%3.2f\n" , data->RigidBodies[i].Markers[iMarker][0], data->RigidBodies[i].Markers[iMarker][1], data->RigidBodies[i].Markers[iMarker][2]); } } } // labeled markers bool bOccluded; // marker was not visible (occluded) in this frame bool bPCSolved; // reported position provided by point cloud solve bool bModelSolved; // reported position provided by model solve printf("Labeled Markers [Count=%d]\n", data->nLabeledMarkers); for(i=0; i < data->nLabeledMarkers; i++) { bOccluded = ((data->LabeledMarkers[i].params & 0x01)!=0); bPCSolved = ((data->LabeledMarkers[i].params & 0x02)!=0); bModelSolved = ((data->LabeledMarkers[i].params & 0x04)!=0); sMarker marker = data->LabeledMarkers[i]; int modelID, markerID; theClient->DecodeID(marker.ID, &modelID, &markerID); printf("Labeled Marker [ModelID=%d, MarkerID=%d, Occluded=%d, PCSolved=%d, ModelSolved=%d] [size=%3.2f] [pos=%3.2f,%3.2f,%3.2f]\n", modelID, markerID, bOccluded, bPCSolved, bModelSolved, marker.size, marker.x, marker.y, marker.z); } // force plates if(data->nForcePlates==0) { printf("No Plates\n"); } printf("Force Plate [Count=%d]\n", data->nForcePlates); for(int iPlate=0; iPlate < data->nForcePlates; iPlate++) { printf("Force Plate %d\n", data->ForcePlates[iPlate].ID); for(int iChannel=0; iChannel < data->ForcePlates[iPlate].nChannels; iChannel++) { printf("\tChannel %d:\t", iChannel); if(data->ForcePlates[iPlate].ChannelData[iChannel].nFrames == 0) { printf("\tEmpty Frame\n"); } else if(data->ForcePlates[iPlate].ChannelData[iChannel].nFrames != analogSamplesPerMocapFrame) { printf("\tPartial Frame [Expected:%d Actual:%d]\n", analogSamplesPerMocapFrame, data->ForcePlates[iPlate].ChannelData[iChannel].nFrames); } for(int iSample=0; iSample < data->ForcePlates[iPlate].ChannelData[iChannel].nFrames; iSample++) printf("%3.2f\t", data->ForcePlates[iPlate].ChannelData[iChannel].Values[iSample]); printf("\n"); } } } // MessageHandler receives NatNet error/debug messages void __cdecl MessageHandler(int msgType, char* msg) { printf("\n%s\n", msg); } /* File writing routines */ void _WriteHeader(FILE* fp, sDataDescriptions* pBodyDefs) { int i=0; if(!pBodyDefs->arrDataDescriptions[0].type == Descriptor_MarkerSet) return; sMarkerSetDescription* pMS = pBodyDefs->arrDataDescriptions[0].Data.MarkerSetDescription; fprintf(fp, "\n\n"); fprintf(fp, "\n%s\n\n\n", pMS->szName); fprintf(fp, "\n"); for(i=0; i < pMS->nMarkers; i++) { fprintf(fp, "%s\n", pMS->szMarkerNames[i]); } fprintf(fp, "\n\n"); fprintf(fp, "\n"); fprintf(fp, "Frame#\t"); for(i=0; i < pMS->nMarkers; i++) { fprintf(fp, "M%dX\tM%dY\tM%dZ\t", i, i, i); } fprintf(fp,"\n"); } void _WriteFrame(FILE* fp, sFrameOfMocapData* data) { fprintf(fp, "%d", data->iFrame); for(int i =0; i < data->MocapData->nMarkers; i++) { fprintf(fp, "\t%.5f\t%.5f\t%.5f", data->MocapData->Markers[i][0], data->MocapData->Markers[i][1], data->MocapData->Markers[i][2]); } fprintf(fp, "\n"); } void _WriteFooter(FILE* fp) { fprintf(fp, "\n\n"); fprintf(fp, "\n"); } void resetClient() { int iSuccess; printf("\n\nre-setting Client\n\n."); iSuccess = theClient->Uninitialize(); if(iSuccess != 0) printf("error un-initting Client\n"); iSuccess = theClient->Initialize(szMyIPAddress, szServerIPAddress); if(iSuccess != 0) printf("error re-initting Client\n"); }

Источник: https://stackoverflow.com/questions/340 ... -this-code