bool IntersenseAPIStandalone::open(const std::string& dsoLocation)
{
if (!mActive)
{
int port_num = convertPort(mPort);
mHandle = ISD_OpenTracker((Hwnd) NULL, port_num, true, true,
dsoLocation.c_str());
if (-1 != mHandle)
{
mActive = true;
const Bool got_config = ISD_GetTrackerConfig(mHandle, &mInfo, true);
if ( got_config )
{
/*
if ( tracker_info.LibVersion < 3.58 )
{
vprDEBUG(vprDBG_ALL, vprDBG_WARNING_LVL)
<< clrOutBOLD(clrYELLOW, "WARNING")
<< ": This driver only works with version 3.58 or newer of "
<< "the InterSense Library." << std::endl << vprDEBUG_FLUSH;
vprDEBUG(vprDBG_ALL, vprDBG_CRITICAL_LVL)
<< "Version " << tracker_info.LibVersion << " was loaded.\n"
<< vprDEBUG_FLUSH;
}
*/
printTrackerInfo(mInfo);
}
}
}
return mActive;
}
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;
}
void vrpn_Tracker_InterSense::reset()
{
#ifdef VRPN_INCLUDE_INTERSENSE
char errStr[1024];
int i;
m_Handle = ISD_OpenTracker(NULL,m_CommPort,FALSE,FALSE);
if(m_Handle == -1)
{
sprintf(errStr,"InterSense: Failed to open tracker '%s' on COM%d: ISD_OpenTracker returned -1",d_servicename,m_CommPort);
fprintf(stderr,errStr);
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_ERROR(errStr);
status = vrpn_TRACKER_FAIL;
}
else
{
//--------------------------------------------------------------------
// Now that the tracker has given a valid status report, set all of
// the parameters the way we want them. We rely on power-up setting
// based on the receiver select switches to turn on the receivers that
// the user wants.
//--------------------------------------------------------------------
// Set output format for each of the possible stations.
for (i = 0; i < ISD_MAX_STATIONS; i++) {
if (set_sensor_output_format(i)) {
return;
}
}
// Send the additional reset commands, if any, to the tracker.
// These commands come in lines, with character \015 ending each
// line.
if (strlen(add_reset_cmd) > 0) {
printf(" Intersense writing extended reset commands...\n");
if(!ISD_SendScript(m_Handle,add_reset_cmd))
{
sprintf(errStr,"Warning: Your tracker failed executing the additional command string. ");
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_WARNING(errStr);
}
}
// If we are using the IS-900 timestamps, clear the timer on the device and
// store the time when we cleared it. First, drain any characters in the output
// buffer to ensure we're sending right away. Then, send the reset command and
// store the time that we sent it, plus the estimated time for the characters to
// get across the serial line to the device at the current baud rate.
// Set time units to milliseconds (MT) and reset the time (MZ).
if (do_is900_timestamps) {
char clear_timestamp_cmd[] = "MT\015MZ\015";
if(!ISD_SendScript(m_Handle,clear_timestamp_cmd))
{
sprintf(errStr,"Warning: Your tracker failed executing the additional command string. ");
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_WARNING(errStr);
}
vrpn_gettimeofday(&is900_zerotime, NULL);
}
// Done with reset.
vrpn_gettimeofday(×tamp, NULL); // Set watchdog now
VRPN_MSG_WARNING("Reset Completed (this is good)");
status = vrpn_TRACKER_SYNCING; // We're trying for a new reading
}
#else
fprintf(stderr,"Intersense library not compiled into this version. Use Fastrak driver for IS-600/900 or recompile with VRPN_INCLUDE_INTERSENSE defined\n");
status = vrpn_TRACKER_FAIL;
#endif
}
vrpn_Tracker_InterSense::vrpn_Tracker_InterSense(const char *name,
vrpn_Connection *c,
int commPort, const char *additional_reset_commands,
int is900_timestamps, int reset_at_start) :
vrpn_Tracker(name,c), do_is900_timestamps(is900_timestamps),
m_reset_at_start(reset_at_start)
{
#ifdef VRPN_INCLUDE_INTERSENSE
char errStr[1024];
int i;
register_server_handlers();
if (additional_reset_commands == NULL) {
sprintf(add_reset_cmd, "");
} else {
vrpn_strcpy(add_reset_cmd, additional_reset_commands);
}
// Initially, set to no buttons or analogs on the stations. The
// methods to add buttons and analogs must be called to add them.
for (i = 0; i < ISD_MAX_STATIONS; i++) {
is900_buttons[i] = NULL;
is900_analogs[i] = NULL;
}
m_CommPort = commPort;
m_Handle = ISD_OpenTracker(NULL, commPort, FALSE, FALSE);
if(m_Handle == -1)
{
sprintf(errStr,"Failed to open tracker '%s' on COM%d: ISLIB_OpenTracker returned -1",name,commPort);
status = vrpn_TRACKER_FAIL;
return;
}
// ISD_TRACKER_INFO_TYPE trackerInfo;
ISD_GetTrackerConfig(m_Handle,&m_TrackerInfo,FALSE);
for (i = 0; i < ISD_MAX_STATIONS; i++) {
if (set_sensor_output_format(i)) {
sprintf(errStr,"Failed to reset sensor %d on tracker '%s' on COM%d",i, name,commPort);
status = vrpn_TRACKER_FAIL;
return;
}
}
//what is the update rate of this tracker?
//we might want to set the update rate of the mainloop to based on this value.
//for now we just print it out.
getTrackerInfo(errStr);
vrpn_gettimeofday(×tamp, NULL);
VRPN_MSG_INFO(errStr);
fprintf(stderr,errStr);
status = vrpn_TRACKER_SYNCING;
#else
fprintf(stderr,"Intersense library not compiled into this version. Use Fastrak driver for IS-600/900 or recompile with VRPN_INCLUDE_INTERSENSE defined\n");
status = vrpn_TRACKER_FAIL;
#endif
}
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;
}
}
}
