//---------------------------------------------------------------------------
bool TRig::openOak(void)
{
EOakStatus status;
unsigned int rate = 100;
if(isOakOpen())
return true;
if(oak_device.isEmpty()) {
qDebug("Empty path to HID device");
return false;
}
if(!checkOak(openDevice(oak_device.toStdString(), oakHandle)))
return false;
if(!checkOak(getDeviceInfo(oakHandle, oakDevInfo)))
return false;
else if(oakDevInfo.numberOfChannels < 4) {
qDebug("Inclinometer should have 4 channels found %d", oakDevInfo.numberOfChannels);
closeOak();
return false;
}
// Set the report Mode
if(!checkOak(setReportMode(oakHandle, eReportModeAfterSampling, true)))
//if(!checkOak(setReportMode(oakHandle, eReportModeFixedRate, true)))
//if(!checkOak(setReportMode(oakHandle, eReportModeAfterChange, true)))
return false;
// Set the report rate
// This parameter will only be regarded if Report Mode = 2 (fixed rate)
if(!checkOak(setReportRate(oakHandle, rate, true)))
return false;
// Set the sample rate
if(!checkOak(setSampleRate(oakHandle, rate, true)))
//if(!checkOak(setSampleRate(oakHandle, rate * 2, true)))
return false;
// get channel 3 (zenith angle) info
status = getChannelInfo(oakHandle, 2, oakChannelInfo[0]);
// get channel 4 (azimuth angle) info
if(status == eOakStatusOK)
status = getChannelInfo(oakHandle, 3, oakChannelInfo[1]);
if(!checkOak(status))
return false;
return true;
}
void Sensor2DeviceImpl::openDevice()
{
// Read the currently configured range from sensor.
SensorRangeImpl sr(SensorRange(), 0);
if (GetInternalDevice()->GetFeatureReport(sr.Buffer, SensorRangeImpl::PacketSize))
{
sr.Unpack();
sr.GetSensorRange(&CurrentRange);
}
// Read the currently configured calibration from sensor.
SensorFactoryCalibrationImpl sc;
if (GetInternalDevice()->GetFeatureReport(sc.Buffer, SensorFactoryCalibrationImpl::PacketSize))
{
sc.Unpack();
AccelCalibrationOffset = sc.AccelOffset;
GyroCalibrationOffset = sc.GyroOffset;
AccelCalibrationMatrix = sc.AccelMatrix;
GyroCalibrationMatrix = sc.GyroMatrix;
CalibrationTemperature = sc.Temperature;
}
// If the sensor has "DisplayInfo" data, use HMD coordinate frame by default.
SensorDisplayInfoImpl displayInfo;
if (GetInternalDevice()->GetFeatureReport(displayInfo.Buffer, SensorDisplayInfoImpl::PacketSize))
{
displayInfo.Unpack();
Coordinates = (displayInfo.DistortionType & SensorDisplayInfoImpl::Mask_BaseFmt) ?
Coord_HMD : Coord_Sensor;
}
Coordinates = Coord_HMD; // TODO temporary to force it behave
// Read/Apply sensor config.
setCoordinateFrame(Coordinates);
setReportRate(Sensor2_DefaultReportRate);
setOnboardCalibrationEnabled(false);
// Must send DK2 keep-alive. Set Keep-alive at 10 seconds.
KeepAliveMuxReport keepAlive;
keepAlive.CommandId = 0;
keepAlive.INReport = 11;
keepAlive.Interval = 10 * 1000;
// Device creation is done from background thread so we don't need to add this to the command queue.
KeepAliveMuxImpl keepAliveImpl(keepAlive);
GetInternalDevice()->SetFeatureReport(keepAliveImpl.Buffer, KeepAliveMuxImpl::PacketSize);
// Read the temperature data from the device
pCalibration->Initialize();
}
// Configure the MotionStar with the given config element.
bool MotionStar::config(jccl::ConfigElementPtr e)
{
bool retval(false);
if ( Input::config(e) && Position::config(e) )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "MotionStar::config(jccl::ConfigElementPtr)\n"
<< vprDEBUG_FLUSH;
const unsigned int cur_version(2);
if ( e->getVersion() < cur_version )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< " [gadget::MotionStar::config()] Element named '"
<< e->getName() << "'" << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "is version " << e->getVersion()
<< ", but we require at least version " << cur_version
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "Ignoring this element and moving on." << std::endl
<< vprDEBUG_FLUSH;
retval = false;
}
else
{
// Configure mMotionStar with the config info.
const unsigned num_filters = e->getNum("position_filters");
// Sanity check. There has to be at least one position filter
// configured.
if ( num_filters == 0 )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": [MotionStar::config(jccl::ConfigElementPtr)] No position "
<< "filters configured in " << e->getName() << std::endl
<< vprDEBUG_FLUSH;
retval = false;
}
else
{
BIRDNET::units expected_units;
// Find the first position_transform_filter instance and get its
// device_units property value. This will tell us what units we're
// expecting from the hardware.
const std::string filter_type("position_transform_filter");
for ( unsigned i = 0; i < num_filters; ++i )
{
jccl::ConfigElementPtr pos_elt =
e->getProperty<jccl::ConfigElementPtr>("position_filters", i);
if ( pos_elt->getID() == filter_type )
{
const float unit_conv =
pos_elt->getProperty<float>("device_units");
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_VERB_LVL)
<< "[gadget::MotionStar::config()] Read " << unit_conv
<< " as the conversion from device units to meters.\n"
<< vprDEBUG_FLUSH;
// Inches. This is the most likely configuration as of this
// writing.
if ( unit_conv == 0.0254f )
{
expected_units = BIRDNET::INCHES;
}
// Feet.
else if ( unit_conv == 0.3048f )
{
expected_units = BIRDNET::FEET;
}
// Meters.
else if ( unit_conv == 1.0f )
{
expected_units = BIRDNET::METERS;
}
// Unexpected value.
else
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "[MotionStar::config(jccl::ConfigElementPtr)] "
<< clrOutBOLD(clrRED, "ERROR")
<< ": Unsupported device unit value " << unit_conv
<< " in " << pos_elt->getFullName() << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "Check your configuration for errors.\n"
<< vprDEBUG_FLUSH;
// Break out of this method early because the
// configuration element we were given is bad.
return false;
}
// We're done checking for unit conversion values.
break;
}
}
mMotionStar.setExpectedUnits(expected_units);
setAddressName(e->getProperty<std::string>("address").c_str());
setServerPort((unsigned short) e->getProperty<int>("server_port"));
setMasterStatus(e->getProperty<bool>("is_master"));
setHemisphere((unsigned char) e->getProperty<int>("hemisphere"));
setBirdFormat((unsigned int) e->getProperty<int>("data_format"));
setRunMode((unsigned int) e->getProperty<int>("mode"));
setReportRate((unsigned char) e->getProperty<int>("report_rate"));
setMeasurementRate(e->getProperty<float>("measurement_rate"));
retval = true;
}
}
}
return retval;
}
