trick/trick_sims/SIM_satellite/models/Satellite/src/SatGraphicsComm.cpp

#include <unistd.h>
#include <iostream>
#include "SatGraphicsComm.hh"

SatGraphicsComm::SatGraphicsComm() {

     syscmd = "Scene &";
     connection.port = 9000;
     connection.hostname = "localhost";

}

int SatGraphicsComm::connect() {

    int ret, num_attempts;

    system(syscmd);
    std::cout << "SatGraphicsComm: Starting graphics server using: \"" << syscmd << "\"" << std::endl;

    tc_error( &connection, 0);

    num_attempts = 0;
    while(1) {
        ret = tc_connect( &connection);
        if  (ret == TC_SUCCESS) {
            std::cerr << "SatGraphicsComm: CONNECT." << std::endl;
            break;
        } else {
            num_attempts ++;
            if ( num_attempts == 30 ) {
                std::cerr << "SatGraphicsComm: Couldn't connect to graphics server." << std::endl;
                return 1;
            }
        }
        sleep(1);
    }

    return 0;
}


int SatGraphicsComm::send_packet(Satellite* sat) {

    double packet[15];
//    double packet[24];

    packet[0] = sat->pos[0];
    packet[1] = sat->pos[1];
    packet[2] = sat->pos[2];

    packet[3] = sat->vel[0];
    packet[4] = sat->vel[1];
    packet[5] = sat->vel[2];

    packet[6]  = sat->R[0][0];
    packet[7]  = sat->R[0][1];
    packet[8]  = sat->R[0][2];
    packet[9]  = sat->R[1][0];
    packet[10] = sat->R[1][1];
    packet[11] = sat->R[1][2];
    packet[12] = sat->R[2][0];
    packet[13] = sat->R[2][1];
    packet[14] = sat->R[2][2];

//    packet[15] = sat->Rplat[0][0];
//    packet[16] = sat->Rplat[0][1];
//    packet[17] = sat->Rplat[0][2];
//    packet[18] = sat->Rplat[1][0];
//    packet[19] = sat->Rplat[1][1];
//    packet[20] = sat->Rplat[1][2];
//    packet[21] = sat->Rplat[2][0];
//    packet[22] = sat->Rplat[2][1];
//    packet[23] = sat->Rplat[2][2];

    tc_write(&connection, (char*)&packet, sizeof(packet));

    return 0;
}