vrpn_Tracker_LibertyHS.h

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// vrpn_Tracker_LibertyHS.h
//  This file contains the class header for a High Speed Polhemus Liberty
// Latus Tracker.
// This file is based on the vrpn_Tracker_Liberty.h file, with modifications made
// to allow it to operate a Liberty Latus instead. It has been tested on Linux.
 
#ifndef VRPN_TRACKER_LIBERTYHS_H
#define VRPN_TRACKER_LIBERTYHS_H
 
#include <stdio.h>                      // for NULL
 
#include "vrpn_Configure.h"             // for VRPN_API, etc
#include "vrpn_Shared.h"                // for timeval
#include "vrpn_Tracker.h"               // for vrpn_Tracker_USB
#include "vrpn_Types.h"                 // for vrpn_uint16, vrpn_uint8, etc
 
class VRPN_API vrpn_Connection;
 
#if defined(VRPN_USE_LIBUSB_1_0)
 
// Vendor and product IDs for High Speed Liberty Latus tracker
static const vrpn_uint16 LIBERTYHS_VENDOR_ID  = 0x0f44;
static const vrpn_uint16 LIBERTYHS_PRODUCT_ID = 0xff20;
 
// Endpoints to communicate with the USB device
static const vrpn_uint8 LIBERTYHS_WRITE_EP = 0x04;
static const vrpn_uint8 LIBERTYHS_READ_EP  = 0x88;
 
const int vrpn_LIBERTYHS_MAX_STATIONS = 8;       //< How many stations (i.e. markers) can exist
const int vrpn_LIBERTYHS_MAX_WHOAMI_LEN = 1024;  //< Maximum whoami response length
const int vrpn_LIBERTYHS_MAX_MARKERMAP_LEN = 12; //< Maximum active marker map response length
 
 
class VRPN_API vrpn_Tracker_LibertyHS: public vrpn_Tracker_USB {
  
 public:

 
  vrpn_Tracker_LibertyHS(const char *name, vrpn_Connection *c, 
                         long baud = 115200, int enable_filtering = 1, 
                         int numstations = vrpn_LIBERTYHS_MAX_STATIONS,
                         int receptoridx = 1, const char *additional_reset_commands = NULL, 
                         int whoamilen = 288);
 
  ~vrpn_Tracker_LibertyHS();
    
 protected:
  
  virtual int get_report(void);
  virtual void reset();
 
 
  int   do_filter;      //< Should we turn on filtering for pos/orient?
  int   num_stations;       //< How many stations (trackers) on this LibertyHS?
  int   receptor_index;         //< Index of receptor used to detect and launch the markers
  int   num_resets;     //< Number of resets we've tried this time.
  char  add_reset_cmd[2048];    //< Additional reset commands to be sent
  int   whoami_len;   //< Number of chars in whoami response
  int   read_len;     //< Number of bytes in usb read buffer
  int   sync_index;   //< Index of first sync char in usb read buffer
 
  struct timeval liberty_zerotime;  //< When the liberty time counter was zeroed
  struct timeval liberty_timestamp; //< The time returned from the LibertyHS System
  vrpn_uint32    REPORT_LEN;        //< The length that the current report should be
 

  int  set_sensor_output_format(int sensor = -1);

  int   report_length(int sensor);

  int  write_usb_data(void* data,int len);

  int  read_usb_data(void* data,int maxlen,unsigned int timeout = 50);

  void flush_usb_data();

  int  test_markers();

  int  launch_markers();
};
 
// End of LIBUSB
#endif
 
// End of VRPN_TRACKER_LIBERTYHS_H
#endif