// This routine will reset the Spaceball, zeroing the position,
// mode and making the device beep.
int vrpn_Spaceball::reset(void) {
/* Spaceball initialization string. Newer documentation suggests */
/* eliminating several init settings, leaving them at defaults. */
const char *reset_str = "CB\rNT\rFTp\rFRp\rP@r@r\rMSSV\rZ\rBcCcC\r";
// Set the values back to zero for all buttons, analogs and encoders
clear_values();
/* Reset some state variables back to zero */
bufpos = 0;
packtype = 0;
packlen = 0;
escapedchar = 0;
erroroccured = 0;
resetoccured = 0;
spaceball4000 = 0; /* re-determine which type it is */
leftymode4000 = 0; /* re-determine if its in lefty mode */
null_radius = 8; // The NULL radius is now set to 8
// Send commands to the device to cause it to reset and beep.
vrpn_flush_input_buffer(serial_fd);
vrpn_write_slowly(serial_fd, (const unsigned char *)reset_str, strlen(reset_str), 5);
// We're now waiting for a response from the box
status = STATUS_SYNCING;
vrpn_gettimeofday(×tamp, NULL); // Set watchdog now
return 0;
}
int vrpn_Magellan::reset(void)
{
struct timeval timeout, now;
unsigned char inbuf[45];
const char *reset_str = "z\rm3\rc30\rnH\rbH\r"; // Reset string sent to box
const char *expect_back = "z\rm3\rc30\rnH\rb\r"; // What we expect back
int ret;
//-----------------------------------------------------------------------
// See if we should be using the alternative reset string.
// XXX The "expect_back" string here is almost certainly wrong. Waiting
// to hear back what the correct one should be.
if (_altreset) {
reset_str = "z\rm3\rnH\rp?0\rq00\r";
expect_back = "z\rm3\rnH\rp?0\rq00\r";
}
//-----------------------------------------------------------------------
// Set the values back to zero for all buttons, analogs and encoders
clear_values();
//-----------------------------------------------------------------------
// Send the list of commands to the device to cause it to reset and beep.
// Read back the response and make sure it matches what we expect.
// Give it a reasonable amount of time to finish, then timeout
vrpn_flush_input_buffer(serial_fd);
vrpn_write_slowly(serial_fd, (unsigned char *)reset_str, strlen(reset_str), 5);
timeout.tv_sec = 1;
timeout.tv_usec = 0;
ret = vrpn_read_available_characters(serial_fd, inbuf, strlen(expect_back), &timeout);
inbuf[strlen(expect_back)] = 0; // Make sure string is NULL-terminated
vrpn_gettimeofday(&now, NULL);
if (ret < 0) {
send_text_message("vrpn_Magellan reset: Error reading from device", now);
return -1;
}
if (ret == 0) {
send_text_message("vrpn_Magellan reset: No response from device", now);
return -1;
}
if (ret != (int)strlen(expect_back)) {
send_text_message("vrpn_Magellan reset: Got less than expected number of characters", now);
//,ret, strlen(expect_back));
return -1;
}
// Make sure the string we got back is what we expected
if ( strcmp((char *)inbuf, expect_back) != 0 ) {
send_text_message("vrpn_Magellan reset: Bad reset string", now);
//(want %s, got %s)\n", expect_back, inbuf);
return -1;
}
// The NULL radius is now set to 8
_null_radius = 8;
// We're now waiting for a response from the box
status = STATUS_SYNCING;
vrpn_gettimeofday(×tamp, NULL); // Set watchdog now
return 0;
}
