/*
This function must only be called after startNewRigidBody has been called.
*/
bool vrpn_Tracker_PhaseSpace::addRigidMarker(int sensor, int led_id, float x, float y, float z)
{
#ifdef DEBUG
printf("%s %d %d %f %f %f\n", __PRETTY_FUNCTION__, sensor, led_id, x, y, z);
#endif
if(!owlRunning) return false;
if(slave) return false;
if(numRigids == 0) {
fprintf(stderr, "Error: Attempting to add rigid body marker with no rigid body defined.");
return false;
}
if(numMarkers >= VRPN_PHASESPACE_MAXMARKERS) {
fprintf(stderr, "Error: Maximum markers (%d) exceeded.\n", VRPN_PHASESPACE_MAXMARKERS);
return false;
}
float xyz[3];
xyz[0] = x;
xyz[1] = y;
xyz[2] = z;
owlMarkeri(MARKER(numRigids,sensor),OWL_SET_LED,led_id);
owlMarkerfv(MARKER(numRigids,sensor),OWL_SET_POSITION,&xyz[0]);
if(!owlGetStatus())
return false;
numMarkers++;
return true;
}
bool vrpn_Tracker_PhaseSpace::addMarker(int sensor,int led_id)
{
#ifdef DEBUG
printf("%s %d %d\n", __PRETTY_FUNCTION__, sensor, led_id);
#endif
if(!owlRunning) return false;
if(slave) return false;
if(numMarkers >= VRPN_PHASESPACE_MAXMARKERS) {
fprintf(stderr, "Error: Maximum markers (%d) exceeded.\n", VRPN_PHASESPACE_MAXMARKERS);
return false;
}
owlMarkeri(MARKER(0,sensor),OWL_SET_LED,led_id);
if(!owlGetStatus())
return false;
numMarkers++;
return true;
}
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);
}
