# vrpn.cfg.SAMPLE for VRPN version 05.03

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# This file provides comments and examples for the vrpn.cfg file that is read
# by the vrpn_server application when it starts up. This is a generic server
# application that can start up many but not all servers (not the Phantom
# server, for example).
#
# This has sample lines for a vrpn.cfg file.  If you get a new device working,
# add a line for it here.  DO NOT remove lines from this file (unless
# devices are declared obsolete) - just change the actual vrpn.cfg to match
# your application.
#
# All examples in the file are preceeded by comment characters (#). To actually
# use one of these examples, remove that character from the beginning of all the
# examples that you want to use, and edit those lines to suit your environment.
################################################################################

################################################################################
################################################################################
# Tracker classes.  Lines here to start various tracker servers. A description is
# provided for each type of tracker for the arguments it takes, then an example
# configuration line is provided.
################################################################################

################################################################################
# NULL Tracker. This is a "device" that reports the Identity transformation for
# each of its sensors at the specified rate. It can be used to verify connections
# are working and for other tests of VRPN. There are three arguments:
#	char	name_of_this_device[]
#	int	number_of_sensors
#	float	rate_at_which_to_report_updates

#vrpn_Tracker_NULL	Tracker0	2	2.0

################################################################################
# Flock-of-birds Tracker. Runs an Ascension Flock of Birds tracker that is
# attached to a serial port on this machine. Note that there is another driver
# (listed below) that runs the Flock when each sensor is connected to its own
# serial line. Arguments:
#	char	name_of_this_device[]
#	int	number_of_sensors
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device

#vrpn_Tracker_Flock	Tracker0	4	/dev/ttyS0	115200

################################################################################
# Flock-of-birds in parallel Tracker. Runs an Ascension Flock of Birds tracker
# that has its source and each sensor plugged into its own serial port on this
# machine (perhaps through a Cyclades multi-port serial card). This mode of
# operation increases the throughput and decreases the latency of tracker reports.
# The arguments match those of the Flock-of-birds tracker from above, with the
# addition of the name of the serial ports for each of the sensors added at the
# end. Arguments (all on the same line):
#	char	name_of_this_device[]
#	int	number_of_sensors
#	char	name_of_serial_device_for_controller[]
#	int	baud_rate_of_serial_device
#	[one for each sensor]	char	name_of_serial_device_for_sensor[]

#vrpn_Tracker_Flock_Parallel	Tracker0	4	/dev/ttyC4	115200	/dev/ttyC0 /dev/ttyC1 /dev/ttyC2 /dev/ttyC3

################################################################################
# Fastrak Tracker. Runs a Polhemus Fastrak tracker that is attached to a serial
# port on this machine. This driver will also run an InterSense IS600 or IS900
# tracker, but you will want to include extra initialization code (as described
# below) to set up the ultrasonic pip information, wand devices, stylus devices
# and so forth. Arguments that go on the first line:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device
#
# It is possible to add additional commands that will be sent to the tracker
# by putting the backslash character (\) at the end of the config line. This
# will cause the following line to be read in and sent to the Fastrak during
# the reset routine. You can add additional lines by putting a slash at the
# end of each command line but the last. Each line will be sent to the Fastrak
# with a newline at the end of it. If a line starts with an asterisk (*), then
# it is treated as a line telling how long to sleep, with the integer number of
# seconds following the *.
#
# Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to
# the various sensors on the Isense900 are done by adding Stylus and
# Wand command lines before the reset command lines.  Each of these lines
# takes two arguments: the name of the button (for Stylus) or button and
# analog (for Wand) servers, and the sensor number (starting from 0).  The
# Wand line takes eight additional parameters, which specify the scaling
# and clipping behavior of the two directions on the analog joystick.  Each
# set of for is the min, lowzero, hizero, and max values: these are mapped
# to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0).
# Start with these at -1,0,0,1 and use the 'printcereal' program or some other
# method to read them and see what the range of acheivable values is.  Then,
# set them to slightly conservative values so that the whole range is covered
# and the analogs will report zero when the joystick is centered. The
# presence of these lines is indicated by placing them after any additional
# reset command lines, by ending the line preceding them with the front slash
# "/" character.
#
# Note that this frontslash and backslash-notation can only be used for the
# Fastrak/Isense tracker, not to extend the line for any other type of device
# listed in this configuration file.

#vrpn_Tracker_Fastrak	Fastrak0	/dev/ttyS0	19200

# IS600 and its pip settings
#vrpn_Tracker_Fastrak	Isense600	/dev/ttyS0	19200 \
#MCc\
#*5\
#MCM1,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,89\
#MCM1,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,87\
#MCM2,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,66\
#MCM2,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,71\
#MCM3,1,0.1237,-0.0762,-0.0424,0.00,0.00,-1.00,82\
#MCM3,2,0.1237,0.0762,-0.0424,0.00,0.00,-1.00,77\
#MCe\
#*10

# IS900 with a wand on the first sensor and a stylus on the third:
#vrpn_Tracker_Fastrak	Isense900	COM1	115200 /
#Wand		Wand0		0	-1.0 0.0 0.0 1.0  -1.0 0.0 0.0 1.0 /
#Stylus	Stylus0	2

################################################################################
# Dynasight Tracker. Runs an Origin System's DynaSight tracker connected to a
# serial port on this machine. arguments:
#	char	name_of_this_device[]
#	int	number_of_sensors
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device

#vrpn_Tracker_Dyna	Tracker0	1	/dev/ttyS0	19200

#vrpn_Tracker_Dyna	Tracker0	1	COM1		19200

################################################################################
# AnalogFly Tracker. This is a tracker that is intended to be used on top of
# a joystick or motion tracker of some kind to turn it into a moving or flying
# device. It could be used on top of any analog device, in fact.
#   This device basically takes in analog signals and puts out transformation
# matrices. It should supercede the JoyFly tracker, since it is more general.
#   There are two kinds of JoyFly's: absolute ones and differential ones.  For
# absolute ones, the analog value is mapped directly to position or orientation
# on each axis.  For differential ones, the values are used to create a
# "change" matrix that is applied once per interval, accumulating changes as
# it goes; this allows the user to "fly" along by holding a joystick forward,
# for example.
#   One analog channel is associated with each axis (X, Y, Z) and rotation about
# each axis (RX, RY, RZ). For each axis, the value is converted to a position
# (meters) or speed (meters/second) for absolute trackers; or int an orientation
# (revolutions) or angular velocity (revolutions/second) by first subtracting
# an offset, then thresholding it to see if it is far enough from zero, then
# (if it is) scaling it and taking it to a power (to allow nonlinear speedup
# as the stick is pushed far from center).
#   A button can be associated with a reset function, which will take the
# device back to center (identity transformation). The device will also recenter
# when the first connection is made to the server it is running on. (Centering
# has no effect on absolute JoyFlys).
#   Any axis or the reset button can be disabled by setting the name of its
# associated device to the string "NULL".
#   Note that you could have multiple of these devices running simultaneously,
# each with a different name and interaction metaphor. The user could then
# connect to their favorite one. Arguments:
#	char  name_of_this_device[]
#	float update_rate_to_send_tracker_reports
#	char  "absolute" or "differential"
#	[six lines follow, one for X Y Z RX RY RZ, each with:
#		char	axis_name[]			(X Y Z RX RY RZ in that order)
#		char	name_of_analog_device[]		(start with * for local)
#		int	channel_of_analog_device
#		float offset
#		float	threshold
#		float	scale
#		float	power
#	]
#	[New line to describe reset button, with:
#		char	"RESET"
#		char	name_of_button_device[]		(start with * for local)
#		int	which_button_to_use
#	]

#vrpn_Tracker_AnalogFly	Tracker0	60.0	relative
#X	*CerealBox0	4	0.0	0.021	1.0	1.0
#Y	*CerealBox0	5	0.0	0.021	1.0	1.0
#Z	*CerealBox0	6	0.0	0.021	3.0	1.0
#RX	*CerealBox0	0	0.0	0.021	1.0	1.0
#RY	*CerealBox0	1	0.0	0.021	1.0	1.0
#RZ	*CerealBox0	2	0.0	0.021	3.0	1.0
#RESET	*CerealBox	3

#vrpn_Tracker_AnalogFly	Tracker0	60.0	absolute
#X	NULL		0	0.0	0.0	1.0	1.0
#Y	NULL		0	0.0	0.0	1.0	1.0
#Z	NULL		0	0.0	0.0	1.0	1.0
#RX	*Radamec0	1	0.0	0.0	-0.0027777777	1.0
#RY	NULL		0	0.0	0.0	1.0	1.0
#RZ	*Radamec0	0	0.0	0.0	0.0027777777	1.0
#RESET	NULL	0

################################################################################
# XXX This device is superceded by the more-general vrpn_Tracker_AnalogFly
# JoyFly Tracker. A vrpn_Tracker that translates the vrpn_Joystick into
# Walkthrough- convention tracker reports. This is part of a two-part setup
# that allows you to use a joystick as a flying device. First, a joystick
# device has to be created (named joybox in our example) that will produce
# the analog inputs that the JoyFly tracker uses to determine the transformation.
# Then, the JoyFly device needs to be started and will listen to the device
# and produce tracker reports. If these are both run on the same server, then
# the JoyFly needs to use the "server" connection to hear from the Joystick
# device, which is indicated by placing a '*' in front of the name of the
# joystick device that it is to use. If the joystick device is remote from
# this server, then the full name of it should be used (joystick@foo.cs.unc.edu).
# XXX This device is superceded by the more-general vrpn_Tracker_AnalogFly
# Arguments:
#	char	name_of_this_device[]
#	char	source_joystick_name[]  (Begin with * for one sharing your connection)
#	char	joystick_configuration_file_name[]

#vrpn_JoyFly walk-joybox *joybox vrpn_Joyfly.cfg

################################################################################
# 3Space Tracker. Runs a Polhemus 3Space (not Fastrak) tracker that is attached
# to a serial port on this machine. Note that as of VRPN 04.07 there is some sort
# of bug in the 3Space orientation decoding; nobody has had enough need for this
# to fix it yet. Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device

#vrpn_Tracker_3Space	Tracker0	/dev/ttyS0	19200

################################################################################
################################################################################
# Non-tracker devices. Lines are provided here for the various non-tracker servers
# that can be started.

################################################################################
# Example Dial server. This is a "device" that reports constant rotations for
# each of its dials at the specified rate. It can be used to verify connections
# are working and for other tests of VRPN. There are four arguments:
#	char	name_of_this_device[]
#	int	number_of_dials
#	float	rate_at_which_the_dials_spin		(revolutions/second)
#	float	rate_at_which_to_report_updates	(udpates/second)

#vrpn_Dial_Example	Dial0	2	2.0	10.0

################################################################################
# CerealBox dial/button/analog. Runs a BG Systems CerealBox device that attaches
# to a serial port on this machine. As of VRPN version 04.07, 19200 is the
# only supported baud rate. The driver has been tested on an LV824-F-8e device.
# Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device
#	int	number_of_buttons_to_read (starting from 0)
#	int	number_of_analogs_to_read
#	int	number_of_encoders_to_read

#vrpn_CerealBox	Cereal0	/dev/cua0	19200	8 8 8

################################################################################
# Magellan button/analog. Runs a Logitech Magellan device that attaches
# to a serial port on this machine. As of VRPN version 04.12, 9600 is the
# only supported baud rate.
#
# Note that if you want to use the Magellan as a tracking device, you will
# need to run a vrpn_Tracker_AnalogFly device that listens to its analog
# outputs and converts them into tracker reports
#
# Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device

#vrpn_Magellan	Magellan0	/dev/cua0	9600

################################################################################
# NRL Immersion Box dial/button/analog. Runs a Immersion Interface Box device
# attached to a serial port. As of March 28, 2000 code to read the analog and
# angle encoders has not been implemented.  Also, baud rate on many SGI's is
# limited to 38400, but I have run the ibox at 115200 on PCs.
#       char    name_of_this_device[]
#       char    name_of_serial_device[]
#       int     baud_rate_of_serial_device
#       int     number_of_buttons_to_read (i.e. 4 ==> 0,1,2,3)
#       int     number_of_analogs_to_read
#       int     number_of_encoders_to_read

#vrpn_ImmersionBox      ibox    /dev/ttyd2      38400   4 0 0
#vrpn_ImmersionBox      ibox    com1            115200  4 0 0

################################################################################
# Wands button/analog, driver from Brown University. Runs a Wanda device
# attached to a serial port.  As of Aug 28, 2000 this driver was untested on
# Windows machines.  The code compiles fine for them, so it seems like things
# should work okay...
#
# Arguments:
#       char    name_of_this_device[]
#       char    name_of_serial_port_to_use[]
#       int     baud_rate_of_serial_device
#	  float   minimum_update_rate

#vrpn_Wanda      wanda    /dev/ttyd2      38400   60.0

################################################################################
# Radamec Serial Position Interface analog. Camera tracker that attaches
# to a serial port on this machine. Note that for normal operation, 38400 is the
# only supported baud rate.
#
# Note that if you want to use the Radamec SPI as a tracking device, you will
# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety)
# that listens to its analog outputs and converts them into tracker reports.
#
# Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_port[]
#	int	baud_rate_of_serial_port

#vrpn_Radamec_SPI	Analog0	/dev/ttyS16	38400

################################################################################
# SGI Dial and Button box, raw interface. Runs a dial-and-button box from SGI,
# talking to it through the raw serial interface (not using the GL interface
# supplied by SGI). This allows the box to be opened even if there is nobody
# logged on at the console. Note that to use this on an SGI, you will need to
# configure the port as a serial device, not as a button device, to get it to
# run. Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	[list of buttons to treat as toggles]	int	button_to_toggle

#vrpn_raw_SGIBox	Sgibox0	/dev/ttyS0	0 1 2 3

################################################################################
# SGI Dial and Button box, cooked interface. Runs a dial-and-button box from SGI,
# talking to it through the GL interface supplied by SGI. Note that this can
# only be used on an SGI, and the serial port must be configured as a dial/button
# device and the dial/button server from SGI must be running to use it. Arguments:
#	char	name_of_this_device[]
#	[list of buttons to treat as toggles]	int	button_to_toggle

#vrpn_SGIBOX	Sgibox0	1 2 

################################################################################
# UNC Python button device. UNC has developed a custom button input device, which
# is a 5-button controller that attaches to a parallel port and uses the sense
# lines to return the state of the buttons. This runs the device. Note that on
# Windows NT, you need to have installed the GiveIO driver for this code to
# work. It also works on Linux (no extra drivers needed), but on no other
# architecture. Arguments:
#	char	name_of_this_device[]
#	int	parallel_port_to_use_starting_with_1

#vrpn_Button_Python	Button0	1

################################################################################
# UNC Joystick driver. UNC has developed a custom-build joybox, with 7 analog
# and 2 button inputs (two 3-axis joysticks and a slider, with a button on top
# of each joystick). This will drive one of these devices, which attaches to
# a serial port on this computer. I'm not sure what the baud rate should be;
# David Harrison might know.
# This driver can be used in conjunction with the JoyFly driver to produce a
# tracker that uses the joystick to fly around. Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device
#	float	minimum_update_rate_from_analogs_even_if_they_dont_move

#vrpn_Joystick	Joybox0	/dev/ttyd1	19200	10.0

################################################################################
# Fakespace Pinch Glove. Drives a Fakespace Pinch Glove device connected to a 
# serial port on this machine. This device has ten buttons-two hands and five
# fingers on each hand. Buttons 0-4 are fingers for the right hand-thumb first 
# and pinkie last- while buttons 5-9 are for the left hand-thumb first. The
# Button is ON when it is touching another finger. Therefore there cannot
# be just one Button ON. Arguments:
#	char	name_of_this_device[]
#	char	name_of_serial_device[]
#	int	baud_rate_of_serial_device
 
# vrpn_Button_PinchGlove	PinchGlove0		COM1		9600