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authorStanislaw Halik <sthalik@misaki.pl>2013-11-27 19:24:41 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-11-27 19:24:41 +0100
commit21dbb51ed05bffa69f036c6b82842aa0069b624f (patch)
treea76856c0477156cc685aeedcd59592ea94245f2e
parentaeac8a4b7199d0705b803f06bb2c1d443821d252 (diff)
furax49's copyright
https://sourceforge.net/p/hatire/code/ci/5f323520c47437079f559d0ff4f2c2de0ce81098/tree/ftnoir_tracker_hat.cpp#l11 Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
-rw-r--r--ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp146
1 files changed, 82 insertions, 64 deletions
diff --git a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
index d7bcffc1..fbe97854 100644
--- a/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
+++ b/ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp
@@ -1,4 +1,22 @@
-/* code by Furax49, awaiting copyright information */
+/********************************************************************************
+ * Copyright (C) 2012 FuraX49 (HAT Tracker plugins) *
+ * Homepage: http://hatire.sourceforge.net *
+ * *
+ * This program is free software; you can redistribute it and/or modify it *
+ * under the terms of the GNU General Public License as published by the *
+ * Free Software Foundation; either version 3 of the License, or (at your *
+ * option) any later version. *
+ * *
+ * This program is distributed in the hope that it will be useful, but *
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
+ * more details. *
+ * *
+ * You should have received a copy of the GNU General Public License along *
+ * with this program; if not, see <http://www.gnu.org/licenses/>. *
+ * *
+ ********************************************************************************/
+
#include "ftnoir_tracker_hat.h"
#include "facetracknoir/global-settings.h"
@@ -9,13 +27,13 @@ FTNoIR_Tracker::FTNoIR_Tracker() :
SerialPort(nullptr),
stop(false)
{
- TrackerSettings settings;
- settings.load_ini();
- applysettings(settings);
+ TrackerSettings settings;
+ settings.load_ini();
+ applysettings(settings);
//ListErrInf = new QList<QString>();
- datagram.reserve(30);
+ datagram.reserve(30);
qDebug() << "FTNoIR_Tracker::Initialize() Open SerialPort";
SerialPort = new QSerialPort(sSerialPortName);
if (SerialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered ) == true) {
@@ -40,68 +58,68 @@ FTNoIR_Tracker::~FTNoIR_Tracker()
{
stop = true;
wait();
- if (SerialPort!=NULL) {
- if (SerialPort->isOpen() ) {
- SerialPort->putChar('s'); //Send STOP to Arduino
- SerialPort->close();
- }
- delete SerialPort;
- SerialPort=NULL;
- }
+ if (SerialPort!=NULL) {
+ if (SerialPort->isOpen() ) {
+ SerialPort->putChar('s'); //Send STOP to Arduino
+ SerialPort->close();
+ }
+ delete SerialPort;
+ SerialPort=NULL;
+ }
}
//send CENTER to Arduino
void FTNoIR_Tracker::notifyCenter() {
- if (SerialPort!=NULL) {
- if (SerialPort->isOpen() ) {
- SerialPort->putChar('C');
- }
- }
+ if (SerialPort!=NULL) {
+ if (SerialPort->isOpen() ) {
+ SerialPort->putChar('C');
+ }
+ }
}
//send CENTER to Arduino
void FTNoIR_Tracker::center() {
- if (SerialPort!=NULL) {
- if (SerialPort->isOpen() ) {
- SerialPort->putChar('C');
- }
- }
+ if (SerialPort!=NULL) {
+ if (SerialPort->isOpen() ) {
+ SerialPort->putChar('C');
+ }
+ }
}
//send RESET to Arduino
void FTNoIR_Tracker::reset() {
- if (SerialPort!=NULL) {
- if (SerialPort->isOpen() ) {
- SerialPort->putChar('R');
- }
- }
+ if (SerialPort!=NULL) {
+ if (SerialPort->isOpen() ) {
+ SerialPort->putChar('R');
+ }
+ }
}
//send command to Arduino
void FTNoIR_Tracker::sendcmd(QString* cmd) {
QMutexLocker locker(&lock);
- QByteArray bytes;
- if (SerialPort!=NULL) {
- if (SerialPort->isOpen() ) {
+ QByteArray bytes;
+ if (SerialPort!=NULL) {
+ if (SerialPort->isOpen() ) {
bytes.append(cmd->toLatin1());
SerialPort->write(bytes);
- }
- }
+ }
+ }
}
// return FPS and last status
void FTNoIR_Tracker::get_info(QString*, int* tps ){
QMutexLocker locker(&lock);
- *tps=HAT.Code;
+ *tps=HAT.Code;
#if 0
- if (ListErrInf->size()>0) {
- *info=ListErrInf->takeFirst();
- } else {
- *info= QString();
- }
+ if (ListErrInf->size()>0) {
+ *info=ListErrInf->takeFirst();
+ } else {
+ *info= QString();
+ }
#endif
}
@@ -115,28 +133,28 @@ void FTNoIR_Tracker::run() {
if (SerialPort->bytesAvailable()>=30)
{
QMutexLocker locker(&lock);
- datagram.clear();
- datagram=SerialPort->read(30);
+ datagram.clear();
+ datagram=SerialPort->read(30);
QDataStream datastream(datagram);
datastream >> ArduinoData;
if (ArduinoData.Begin==0xAAAA && ArduinoData.End==0x5555 )
{
if (ArduinoData.Code <= 1000)
{
- HAT=ArduinoData;
+ HAT=ArduinoData;
}
- } else {
- SerialPort->read(1);
- }
- }
+ } else {
+ SerialPort->read(1);
+ }
+ }
msleep(10);
- }
+ }
}
void FTNoIR_Tracker::StartTracker( QFrame* )
{
- start( QThread::TimeCriticalPriority );
- return;
+ start( QThread::TimeCriticalPriority );
+ return;
}
bool FTNoIR_Tracker::GiveHeadPoseData(double* data)
@@ -165,24 +183,24 @@ bool FTNoIR_Tracker::GiveHeadPoseData(double* data)
}
void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
- qDebug()<<"Tracker:: Applying settings";
+ qDebug()<<"Tracker:: Applying settings";
QMutexLocker locker(&lock);
- sSerialPortName= settings.SerialPortName;
+ sSerialPortName= settings.SerialPortName;
- bEnableRoll = settings.EnableRoll;
- bEnablePitch = settings.EnablePitch;
- bEnableYaw = settings.EnableYaw;
- bEnableX = settings.EnableX;
- bEnableY = settings.EnableY;
- bEnableZ = settings.EnableZ;
+ bEnableRoll = settings.EnableRoll;
+ bEnablePitch = settings.EnablePitch;
+ bEnableYaw = settings.EnableYaw;
+ bEnableX = settings.EnableX;
+ bEnableY = settings.EnableY;
+ bEnableZ = settings.EnableZ;
- bInvertRoll = settings.InvertRoll;
- bInvertPitch = settings.InvertPitch;
- bInvertYaw = settings.InvertYaw;
- bInvertX = settings.InvertX;
- bInvertY = settings.InvertY;
- bInvertZ = settings.InvertZ;
+ bInvertRoll = settings.InvertRoll;
+ bInvertPitch = settings.InvertPitch;
+ bInvertYaw = settings.InvertYaw;
+ bInvertX = settings.InvertX;
+ bInvertY = settings.InvertY;
+ bInvertZ = settings.InvertZ;
iRollAxis= settings.RollAxis;
@@ -195,5 +213,5 @@ void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
- return new FTNoIR_Tracker;
+ return new FTNoIR_Tracker;
}