vrpn_Tracker_isense.h

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#ifndef __TRACKER_ISENSE_H
#define __TRACKER_ISENSE_H
 
#include "vrpn_Configure.h"  // IWYU pragma: keep
 
#ifdef VRPN_INCLUDE_INTERSENSE
 
#ifdef __APPLE__
#define MACOSX
#endif
 
#include <time.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#ifndef _WIN32
#include <sys/time.h>
#endif
 
#include "vrpn_Tracker.h"
#include "vrpn_Button.h"
#include "vrpn_Analog.h"
 
#include "isense.h"
 
class VRPN_API vrpn_Tracker_InterSense : public vrpn_Tracker {
  
 public:
 
  vrpn_Tracker_InterSense(const char *name, 
                          vrpn_Connection *c,
                          int commPort, const char *additional_reset_commands = NULL,
                          int is900_timestamps = 0, int reset_at_start=0);
 
  ~vrpn_Tracker_InterSense();

  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);

 
  virtual void mainloop();
    
 protected:
  
  virtual void get_report(void);
  virtual void reset();
  virtual void send_report(void);
 
  char  add_reset_cmd[2048];    //< Additional reset commands to be sent
 
  int m_CommPort;
  ISD_TRACKER_HANDLE m_Handle;
  ISD_TRACKER_INFO_TYPE m_TrackerInfo;
  ISD_STATION_INFO_TYPE m_StationInfo[ISD_MAX_STATIONS];
 
  int   do_is900_timestamps;        //< Request and process IS-900 timestamps?
  int   m_reset_at_start;           //< should the tracker reset at startup
 
  struct timeval is900_zerotime;    //< When the IS-900 time counter was zeroed
  vrpn_Button_Server        *is900_buttons[ISD_MAX_STATIONS];   //< Pointer to button on each sensor (NULL if none)
  vrpn_Clipping_Analog_Server   *is900_analogs[ISD_MAX_STATIONS];   //< Pointer to analog on each sensor (NULL if none)

  int   set_sensor_output_format(int sensor);
 
  void  getTrackerInfo(char *msg);
};
#endif
 
 
#endif