ISTracker::ISTracker(int TrackerPortNr)
: m_bTrackerFound(false)
{
// WORD station = 1;
Bool verbose = true;
/* Detect first tracker. If you have more than one InterSense device and
would like to have a specific tracker, connected to a known port,
initialized first, then enter the port number instead of 0. Otherwise,
tracker connected to the rs232 port with lower number is found first */
handle = ISD_OpenTracker((Hwnd)NULL, TrackerPortNr, FALSE, verbose);
/* Check value of handle to see if tracker was located */
if (handle < 1)
{
printf("Failed to detect InterSense tracking device\n");
return;
}
/* Get tracker configuration info */
ISD_GetTrackerConfig(handle, &Tracker, verbose);
/* Clear station configuration info to make sure GetAnalogData and other flags are FALSE */
memset((void *)Station, 0, sizeof(Station));
/* General procedure for changing any setting is to first retrieve current
configuration, make the change, and then apply it. Calling
ISD_GetStationConfig is important because you only want to change
some of the settings, leaving the rest unchanged. */
/*
if( Tracker.TrackerType == ISD_PRECISION_SERIES )
{
for( station = 1; station <= 4; station++ )
{
// fill ISD_STATION_INFO_TYPE structure with current station configuration
if( !ISD_GetStationConfig( handle,
&Station[station-1], station, verbose )) break;
if( CAMERA_TRACKER && Tracker.TrackerModel == ISD_IS900 )
{
Station[station-1].GetCameraData = TRUE;
// apply new configuration
if( !ISD_SetStationConfig( handle,
&Station[station-1], station, verbose )) break;
}
}
}
*/
// setting angleformat to Euler
if (ISD_GetStationConfig(handle, &Station[0], 0, verbose))
{
Station[0].AngleFormat = ISD_EULER;
ISD_SetStationConfig(handle, &Station[0], 0, verbose);
}
m_bTrackerFound = true;
}
int vrpn_Tracker_InterSense::set_sensor_output_format(int station)
{
char errStr[1024];
//Get the info about the station
ISD_GetStationConfig(m_Handle,&m_StationInfo[station],station+1,0);
//ISD_ResetHeading(m_Handle,station+1); //Not sure if this is needed
// [email protected] -
if (m_reset_at_start)
ISD_Boresight(m_Handle, station+1, true); // equivalent to ISD_ResetHeading for itrax, see isense.h
// First, try to set the orientation reporting format to quaternions if possible.
// But, some models of intersense trackers (like the intertrax series) will only report
// in euler angles
// Try to set the tracker to report in quaternion format
// (to avoid gimbal lock)
// [email protected] : Let's try, even if we are not a precision series
// It seems that this is OK with Intertrax2, what would happen to old Intertrax ?
// if (m_TrackerInfo.TrackerType == ISD_PRECISION_SERIES &&
if (
m_StationInfo[station].AngleFormat == ISD_EULER)
{
m_StationInfo[station].AngleFormat = ISD_QUATERNION;
if(!ISD_SetStationConfig(m_Handle,&m_StationInfo[station],station+1,FALSE))
{
sprintf(errStr,"Warning: Your tracker doesn't seem to support the quaternion format - couldn't set station config for Station%d. ",station+1);
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_WARNING(errStr);
m_StationInfo[station].AngleFormat = ISD_EULER;
}
}
// do is900 special things
// IS900 states (timestamp, button, analog).
if(m_TrackerInfo.TrackerModel == ISD_IS900) {
if (do_is900_timestamps) {
m_StationInfo[station].TimeStamped = TRUE;
if(!ISD_SetStationConfig(m_Handle,&m_StationInfo[station],station+1,FALSE))
{
sprintf(errStr,"Warning: Your tracker doesn't seem to support the IS900 timestamps - couldn't set station config for Station%d. ",station+1);
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_WARNING(errStr);
m_StationInfo[station].TimeStamped = FALSE;
}
}
if (is900_buttons[station] || is900_analogs[station]) {
m_StationInfo[station].GetInputs = TRUE;
if(!ISD_SetStationConfig(m_Handle,&m_StationInfo[station],station+1,FALSE))
{
sprintf(errStr,"Warning: Your tracker doesn't seem to support the IS900 buttons/analogs - couldn't set station config for Station%d. ",station+1);
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_WARNING(errStr);
m_StationInfo[station].GetInputs = FALSE;
}
}
}
return 0;
}
ISenseDirect::ISenseDirect(
const Array<std::string> &trackerEventNames,
const double &trackerUnitsToRoomUnitsScale,
const CoordinateFrame &deviceToRoom,
const Array<CoordinateFrame> &propToTracker,
const Array<CoordinateFrame> &finalOffset,
const Array< Array<std::string> > &buttonEventNames
)
{
_tEventNames = trackerEventNames;
_bEventNames = buttonEventNames;
_trackerUnitsToRoomUnitsScale = trackerUnitsToRoomUnitsScale;
_deviceToRoom = deviceToRoom;
_propToTracker = propToTracker;
_finalOffset = finalOffset;
for (int i=0;i<ISD_MAX_STATIONS;i++) {
for (int j=0;j<ISD_MAX_BUTTONS;j++) {
_btnStatus[i][j] = 0;
}
}
// Detect first tracker. If you have more than one InterSense device and
// would like to have a specific tracker, connected to a known port,
// initialized first, then enter the port number instead of 0. Otherwise,
// tracker connected to the rs232 port with lower number is found first
_handle = ISD_OpenTracker((Hwnd)NULL, 0, FALSE, TRUE);
// Check value of handle to see if tracker was located
if (_handle < 1) {
printf("Failed to detect InterSense tracking device\n");
exit(1);
}
// Get tracker configuration info
ISD_TRACKER_INFO_TYPE Tracker;
ISD_GetTrackerConfig( _handle, &Tracker, TRUE );
ISD_HARDWARE_INFO_TYPE hwInfo;
memset((void *) &hwInfo, 0, sizeof(hwInfo));
if ( ISD_GetSystemHardwareInfo( _handle, &hwInfo ) ) {
if( hwInfo.Valid ) {
_maxStations = hwInfo.Capability.MaxStations;
}
}
// Clear station configuration info to make sure GetAnalogData and other flags are FALSE
memset((void *) _stationInfo, 0, sizeof(_stationInfo));
// General procedure for changing any setting is to first retrieve current
// configuration, make the change, and then apply it. Calling
// ISD_GetStationConfig is important because you only want to change
// some of the settings, leaving the rest unchanged.
if ( Tracker.TrackerType == ISD_PRECISION_SERIES ) {
for (int station = 1; station <= _maxStations; station++ ) {
// fill ISD_STATION_INFO_TYPE structure with current station configuration
if( !ISD_GetStationConfig( _handle, &_stationInfo[station-1], station, TRUE ))
break;
}
}
}