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vrpn_Tracker_Fastrak.h

This is the verbatim text of the vrpn_Tracker_Fastrak.h include file.

// vrpn_Tracker_Fastrak.h
//      This file contains the class header for a Polhemus Fastrak Tracker.
// This file is based on the vrpn_3Space.h file, with modifications made
// to allow it to operate a Fastrak instead. The modifications are based
// on the old version of the Fastrak driver, which had been mainly copied
// from the Trackerlib driver and was very difficult to understand.
//      This version was written in the Summer of 1999 by Russ Taylor.
//      Later, it was updated to allow the extended reset commands needed
// to drive an IS-600 tracker.
//      Later (Summer of 2000), it was augmented to allow the button, analog,
// and timestamp capabilities of the InterSense IS-900 tracker.

#ifndef VRPN_TRACKER_FASTRAK_H
#define VRPN_TRACKER_FASTRAK_H

#include <time.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#ifndef _WIN32
#include <sys/time.h>
#endif

#include "vrpn_Tracker.h"
#include "vrpn_Button.h"
#include "vrpn_Analog.h"

const int vrpn_FASTRAK_MAX_STATIONS = 4;    //< How many stations can exist

class vrpn_Tracker_Fastrak: public vrpn_Tracker_Serial {
  
 public:


  vrpn_Tracker_Fastrak(const char *name, vrpn_Connection *c, 
                      const char *port = "/dev/ttyS1", long baud = 19200,
                      int enable_filtering = 1, int numstations = vrpn_FASTRAK_MAX_STATIONS,
                      const char *additional_reset_commands = NULL,
                      int is900_timestamps = 0);

  ~vrpn_Tracker_Fastrak();

  int   add_is900_button(const char *button_device_name, int sensor, int numbuttons = 5);

  int   add_is900_analog(const char *analog_device_name, int sensor,
            double c0Min = -1, double c0Low = 0, double c0Hi = 0, double c0Max = 1,
            double c1Min = -1, double c1Low = 0, double c1Hi = 0, double c1Max = 1);
    
 protected:
  
  virtual int get_report(void);
  virtual void reset();


  void swap_endian4(char *buffer);

  struct timeval reset_time;
  int   do_filter;              //< Should we turn on filtering for pos/orient?
  int   num_stations;           //< How many stations maximum on this Fastrak?
  char  add_reset_cmd[2048];    //< Additional reset commands to be sent

  // The following members provide support for the InterSense IS-900 features
  // that are beyond the standard Fastrak features.

  int   do_is900_timestamps;        //< Request and process IS-900 timestamps?
  struct timeval is900_zerotime;    //< When the IS-900 time counter was zeroed
  vrpn_Button_Server            *is900_buttons[vrpn_FASTRAK_MAX_STATIONS];      //< Pointer to button on each sensor (NULL if none)
  vrpn_Clipping_Analog_Server   *is900_analogs[vrpn_FASTRAK_MAX_STATIONS];      //< Pointer to analog on each sensor (NULL if none)
  vrpn_uint32   REPORT_LEN;         //< The length that the current report should be

  int   set_sensor_output_format(int sensor);

  int   report_length(int sensor);
};

#endif

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