//==============================================================================
int CEyeTrack::ConnectISCAN( ){
int iRet;
if( IsRunning() ) {
CP_printf("Error in m_InitSerialThread()! Thread is already running.\n");
return 1;
}
iRet = g_SysGrantIO( LPT_BASE );
if( iRet ) {
iPortIO_Granted = 0;
printf("Error: Cannot grant I/O access, error: %d\n", iRet );
return 1;
}
iPortIO_Granted = 1;
PortOutput( LPT_CONTROL, RESET_ON);
Sleep(1);
PortOutput( LPT_CONTROL, GATE_OFF);
Sleep(1);
PortOutput( LPT_CONTROL, GATE_ON);
CP_printf("Connecting to %s port\n", x_aszComNames[ m_iComPortIdx-1]);
iRet = m_Serial.connect(x_aszComNames[ m_iComPortIdx-1], m_iBaudRate, m_iSerialParity);
if(iRet) {
CP_printf("Error in m_InitSerialThread, m_Serial.connect() failed\n");
return 1;
}
m_ReadCount = 0;
m_iMissCount = 0;
m_nMissedFrames = 0;
m_iPrevFrame = 0;
m_iReportSync = 1; // report next sync
// Init sliding buffer
SetBuffer(sizeof(IScanFrameStruct), ISCAN_BUFFER_SIZE);
ResetBuffer();
ResetTime();
m_StartReadingThread( );
if( !IsRunning() ) {
CP_printf("Error in m_InitSerialThread()! CreateThread() failed.\n");
PortOutput( LPT_CONTROL, GATE_OFF);
RemoveBuffer();
return 1;
}
CP_printf("Connected ISCAN\n");
CP_printf("Expected number of parameters: %d\n", N_DATA_ITEMS);
return 0;
}
//==============================================================================
int COptoTrack::ConnectOpto( ){
BOOL bRes;
int iErr;
int iFrameSize;
int iAttempt, nAttempts;
CP_printf("Connecting to OptoTrak...\n");
if( IsRunning() ) {
CP_printf(" OptoTrak is already connected!\n");
return 1;
}
m_iReadCount = 0;
m_iOptoFrameIdx = 0;
m_iPrevFrame = 0;
m_nMissedTimes = 0;
m_nMissedFrames = 0;
// Make several attempts to load system. If OptoTrack was just
// turned on, first attempt is unsuccessful
nAttempts = 2;
iErr = 1; // we exit the loop when iErr==0
for( iAttempt = 0; iAttempt < nAttempts && iErr; iAttempt++ ){
// Load OptoTrack transputers with system software
CP_printf("TransputerLoadSystem() Attempt %d of %d\n", iAttempt+1, nAttempts);
iErr = TransputerLoadSystem( "system" );
Sleep( 1000 ); // Wait one second to let the system finish loading.
}
if( iErr ) {
CP_printf("Error: %d attempts of TransputerLoadSystem() failed!\n", iAttempt);
m_PrintOptoError( iErr );
CP_printf("Make sure that both OptoTrak modules are turned on.\n");
CP_printf("Giving up on TransputerLoadSystem()\n");
return 1;
}
CP_printf("TransputerLoadSystem(): Ok \n");
// Initialize the transputer system.
iErr = TransputerInitializeSystem( 0 ); // 0 == don't create log files
if( iErr ) {
CP_printf("Error: TransputerInitializeSystem() failed!\n");
return 1;
}
CP_printf("TransputerInitializeSystem(): Ok \n");
// Set optional processing flags (this overrides settings in OPTOTRAK.INI).
iErr = OptotrakSetProcessingFlags(
// OPTO_LIB_POLL_REAL_DATA | // if this flag is set, CPU clocks are waisted
OPTO_CONVERT_ON_HOST | // Convert raw to 3D on PC
OPTO_RIGID_ON_HOST ); // Convert 3D to rigid on PC
if( iErr ) {
CP_printf("Error: OptotrakSetProcessingFlags() failed!\n");
return 1;
}
CP_printf("OptotrakSetProcessingFlags(): Ok \n");
// Load the standard camera parameters.
iErr = OptotrakLoadCameraParameters( "standard" );
if( iErr ) {
CP_printf("Error: OptotrakLoadCameraParameters() failed!\n");
return 1;
}
CP_printf("OptotrakLoadCameraParameters(): Ok \n");
// create sliding buffer
iFrameSize = sizeof(tOptoFrame) * m_nSensorsToWrite;
bRes = SetBuffer( iFrameSize, // Item size
int(BUFFER_SIZE_SECONDS * FRAME_RATE_HZ) ); // N items
if( !bRes ) {
CP_printf("Error: SetBuffer() failed!\n");
iErr = 1;
goto errExit;
}
// CP_printf("Raw frame size: %d \n\n", sizeof(tOptoFrame));
m_iPrevFrame = 0;
iErr = OptotrakSetStroberPortTable( m_anSensorsPerPort[0],
m_anSensorsPerPort[1],
m_anSensorsPerPort[2],
m_anSensorsPerPort[3] );
if( iErr ) {
CP_printf("Error: OptotrakSetStroberPortTable() failed!\n");
iErr = 1;
goto errExit;
}
// Set up collection
// This starts data acquisition
iErr = OptotrakSetupCollection(
m_nSensorsToRead, // Number of markers in the collection.
FRAME_RATE_HZ, // Frequency to collect data frames at.
2000.0f, // Marker frequency for marker maximum on-time.
30, // Dynamic or Static Threshold value to use.
160, // Minimum gain code amplification to use.
0, // Stream mode for the data buffers.
0.5f, // Marker Duty Cycle to use.
5.0f, // Voltage to supply strobers and LEDs
// 7.5f, // Voltage to supply strobers and LEDs
0.0f, // Number of seconds of data to collect.
0.0f, // Number of seconds to pre-trigger data by.
0 ); // No flags
// Possible flags (not used):
// OPTOTRAK_GET_NEXT_FRAME_FLAG // Don't receive the same frame twice
// | OPTOTRAK_BUFFER_RAW_FLAG
if( iErr ) {
CP_printf("Error: OptotrakSetupCollection() failed!\n");
iErr = 1;
goto errExit;
}
// manual warns of errors if we don't wait enough
// after calling OptotrakSetupCollection()
Sleep( 1000 );
// TODO: what should be the default state??
// iErr = OptotrakDeActivateMarkers();
// Start the thread
if( m_StartReadingThread( )) {
CP_printf("Error: m_StartReadingThread() failed!\n");
iErr = 1;
goto errExit;
}
CP_printf("Connected!\n");
return 0;
errExit:
DisconnectOpto();
return iErr;
}
