예제 #1
0
vrpn_Tracker_PhaseSpace::vrpn_Tracker_PhaseSpace(const char *name, vrpn_Connection *c, const char* device, float frequency,int readflag, int slave)
  : vrpn_Tracker(name,c)
{
#ifdef DEBUG
  printf("%s %s %s %f %d\n", __PRETTY_FUNCTION__, name, device, frequency, readflag);
#endif

  if(d_connection) {
    // Register a handler for the update change callback
    if (register_autodeleted_handler(update_rate_id, handle_update_rate_request, this, d_sender_id))
      fprintf(stderr,"vrpn_Tracker: Can't register workspace handler\n");
  }

  this->slave = slave;
  this->frequency = frequency;

  numRigids = 0;
  numMarkers = 0;
  markers.reserve(VRPN_PHASESPACE_MAXMARKERS);
  rigids.reserve(VRPN_PHASESPACE_MAXRIGIDS);

  int owlflag = 0;
  if(slave) owlflag |= OWL_SLAVE;

  int ret = owlInit(device,owlflag);
  if(ret != owlflag) {
    fprintf(stderr, "owlInit error: 0x%x\n", ret);
    owlRunning = false;
    return;
  } else {
    owlRunning = true;
  }

  char msg[512];
  if(owlGetString(OWL_VERSION,msg)) {
    printf("OWL version: %s\n",msg);
  } else {
    printf("Unable to query OWL version.\n");
  }

  if(!slave) {
    //The master point tracker is index 0.  So all rigid trackers will start from 1.
    owlTrackeri(0, OWL_CREATE, OWL_POINT_TRACKER);
    if(!owlGetStatus()) {
      fprintf(stderr,"Error: Unable to create main point tracker.\n");
      return;
    }
  } else {
    printf("Ignoring tracker creation in slave mode.\n");
  }

  readMostRecent = readflag ? true : false;
  frame = 0;
}
예제 #2
0
파일: phasespace.c 프로젝트: nicb/psOSCd
void
phasespace_connect()
{
    int init_flags = slave() ? (OWL_SLAVE | PHASESPACE_INIT_FLAGS) : PHASESPACE_INIT_FLAGS;

    if (owlInit(phasespace_server(), init_flags) < 0)
    {
        psOSCd_log("Connection to PhaseSpace Server \"%s\" failed, aborting.\n", phasespace_server());
        exit(-1);
    }
    else
        psOSCd_debug("Connection to PhaseSpace Server \"%s\" succeeded.\n", phasespace_server());
}
void PhasespaceCore::initializeCommunication() {
  ROS_INFO_STREAM("[PhaseSpace] Initalizing the PhaseSpace...");

  // opens a socket and configures the communication channels to pass data between the OWL server and client; this
  // function will block until there is a connection or an error; returns the passed flags if OK
  if (owlInit(server_ip_.c_str(), init_flags_) < 0) {
    ROS_FATAL_STREAM("[PhaseSpace] Can't initialize the communication with OWL server: " << owlGetError());
    throw excp_;
  }

  // initializes a point tracker:
  //  - OWL_CREATE: tells the system to create a tracker
  //  - OWL_POINT_TRACKER: specifies the creation of a point tracker
  owlTrackeri(tracker_, OWL_CREATE, OWL_POINT_TRACKER);

  // creates the marker structures, each with the proper id:
  //  - MARKER Macro: builds a marker id out of a tracker id and marker index
  //  - OWL_SET_LED: the following 'i' is an integer representing the LED ID of the marker
  for (int i=0; i<init_marker_count_; i++) {
    owlMarkeri(MARKER(tracker_, i), OWL_SET_LED, i);
  }

  // enables the tracker (it has to be disabled when the markers have to be added)
  owlTracker(tracker_, OWL_ENABLE);

  // checking the status will block until all commands are processed and any errors are sent to the client
  if (!owlGetStatus()) {
    ROS_FATAL_STREAM("[PhaseSpace] Initialization generic error: " << owlGetError());
    throw excp_;
  }

  // sets frequency with default maximum value (OWL_MAX_FREQUENCY = 480 Hz):
  //  - OWL_FREQUENCY: specifies the rate at which the server streams data
  owlSetFloat(OWL_FREQUENCY, OWL_MAX_FREQUENCY);
  // enables the streaming of data
  owlSetInteger(OWL_STREAMING, OWL_ENABLE);
}