vrpn_Tracker_Fastrak.h

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// vrpn_Tracker_Fastrak.h
//  This file contains the class header for a Polhemus Fastrak Tracker.
// This file is based on the vrpn_3Space.h file, with modifications made
// to allow it to operate a Fastrak instead. The modifications are based
// on the old version of the Fastrak driver, which had been mainly copied
// from the Trackerlib driver and was very difficult to understand.
//  This version was written in the Summer of 1999 by Russ Taylor.
//  Later, it was updated to allow the extended reset commands needed
// to drive an IS-600 tracker.
//  Later (Summer of 2000), it was augmented to allow the button, analog,
// and timestamp capabilities of the InterSense IS-900 tracker.
 
#ifndef VRPN_TRACKER_FASTRAK_H
#define VRPN_TRACKER_FASTRAK_H
 
#include <stdio.h>                      // for NULL
 
#include "vrpn_Configure.h"             // for VRPN_API
#include "vrpn_Shared.h"                // for timeval
#include "vrpn_Tracker.h"               // for vrpn_Tracker_Serial
#include "vrpn_Types.h"                 // for vrpn_uint32
 
class VRPN_API vrpn_Button_Server;
class VRPN_API vrpn_Clipping_Analog_Server;
class VRPN_API vrpn_Connection;
 
const int vrpn_FASTRAK_MAX_STATIONS = 4;    //< How many stations can exist
 
class VRPN_API vrpn_Tracker_Fastrak: public vrpn_Tracker_Serial {
  
 public:

 
  vrpn_Tracker_Fastrak(const char *name, vrpn_Connection *c, 
              const char *port = "/dev/ttyS1", long baud = 19200,
              int enable_filtering = 1, int numstations = vrpn_FASTRAK_MAX_STATIONS,
              const char *additional_reset_commands = NULL,
              int is900_timestamps = 0);
 
  ~vrpn_Tracker_Fastrak();
 
  // is the version modified (debug@cs.unc.edu, 5/20/01) to handle Pol.Fastrak stylus buttons
  int add_fastrak_stylus_button(const char *button_device_name,
                int sensor, int numbuttons = 1);

  int   add_is900_button(const char *button_device_name, int sensor, int numbuttons = 5);

  int   add_is900_analog(const char *analog_device_name, int sensor,
        double c0Min = -1, double c0Low = 0, double c0Hi = 0, double c0Max = 1,
        double c1Min = -1, double c1Low = 0, double c1Hi = 0, double c1Max = 1);
    
 protected:
  
  virtual int get_report(void);
  virtual void reset();
 
  struct timeval reset_time;
  int   do_filter;      //< Should we turn on filtering for pos/orient?
  int   num_stations;       //< How many stations maximum on this Fastrak?
  char  add_reset_cmd[2048];    //< Additional reset commands to be sent
  int   num_resets;     //< How many resets we have tried.
 
  // another modification by Debug, 5/23/01
  bool really_fastrak;  // to distinguish it from intersense when using buttons!!!
 
  // The following members provide support for the InterSense IS-900 features
  // that are beyond the standard Fastrak features.
 
  int   do_is900_timestamps;        //< Request and process IS-900 timestamps?
  struct timeval is900_zerotime;    //< When the IS-900 time counter was zeroed
  vrpn_Button_Server        *is900_buttons[vrpn_FASTRAK_MAX_STATIONS];  //< Pointer to button on each sensor (NULL if none)
  vrpn_Clipping_Analog_Server   *is900_analogs[vrpn_FASTRAK_MAX_STATIONS];  //< Pointer to analog on each sensor (NULL if none)
  vrpn_uint32   REPORT_LEN;     //< The length that the current report should be

  int   set_sensor_output_format(int sensor);

  int   report_length(int sensor);
};
 
#endif