vrpn_Tracker_Liberty.h

Go to the documentation of this file.

// vrpn_Tracker_Liberty.h
//  This file contains the class header for a Polhemus Liberty Tracker.
// This file is based on the vrpn_Tracker_Fastrak.h file, with modifications made
// to allow it to operate a Liberty instead.
//  It has been tested on Linux and relies on being able to open the USB
// port as a named port and using serial commands to communicate with it.
 
#ifndef VRPN_TRACKER_LIBERTY_H
#define VRPN_TRACKER_LIBERTY_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_Connection;
 
const int vrpn_LIBERTY_MAX_STATIONS = 8;    //< How many stations can exist
const int vrpn_LIBERTY_MAX_WHOAMI_LEN = 1024; //< Maximum whoami response length
 
class VRPN_API vrpn_Tracker_Liberty: public vrpn_Tracker_Serial {
  
 public:

 
  vrpn_Tracker_Liberty(const char *name, vrpn_Connection *c, 
              const char *port = "/dev/ttyS0", long baud = 115200,
              int enable_filtering = 1, int numstations = vrpn_LIBERTY_MAX_STATIONS,
              const char *additional_reset_commands = NULL, int whoamilen = 195);
 
  ~vrpn_Tracker_Liberty();
    
  int add_stylus_button(const char *button_device_name,
                int sensor, int numbuttons = 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 Liberty?
  int   num_resets;     //< How many resets we've tried this time.
  char  add_reset_cmd[2048];    //< Additional reset commands to be sent
  int   whoami_len;
  int   got_single_sync_char;
 
  struct timeval liberty_zerotime;    //< When the liberty time counter was zeroed
  struct timeval liberty_timestamp; //< The time returned from the Liberty System
  vrpn_uint32   REPORT_LEN;     //< The length that the current report should be
 
  vrpn_Button_Server    *stylus_buttons[vrpn_LIBERTY_MAX_STATIONS]; //< Pointer to button on each sensor (NULL if none)

  int   set_sensor_output_format(int sensor);

  int   report_length(int sensor);
};
 
#endif