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-rw-r--r--tracker-hatire/ftnoir_arduino_type.h8
-rw-r--r--tracker-hatire/ftnoir_tracker_hat.cpp535
-rw-r--r--tracker-hatire/ftnoir_tracker_hat.h122
-rw-r--r--tracker-hatire/ftnoir_tracker_hat_dialog.cpp41
-rw-r--r--tracker-hatire/ftnoir_tracker_hat_dialog.h26
-rw-r--r--tracker-hatire/ftnoir_tracker_hat_settings.cpp22
-rw-r--r--tracker-hatire/ftnoir_tracker_hat_settings.h10
-rw-r--r--tracker-hatire/thread.cpp300
-rw-r--r--tracker-hatire/thread.hpp167
9 files changed, 590 insertions, 641 deletions
diff --git a/tracker-hatire/ftnoir_arduino_type.h b/tracker-hatire/ftnoir_arduino_type.h
index 57afed63..481e137b 100644
--- a/tracker-hatire/ftnoir_arduino_type.h
+++ b/tracker-hatire/ftnoir_arduino_type.h
@@ -1,5 +1,4 @@
-#ifndef FTNOIR_TARDUINO_TYPE_H
-#define FTNOIR_TARDUINO_TYPE_H
+#pragma once
#include <QDataStream>
@@ -15,7 +14,6 @@ struct TArduinoData
} ;
#pragma pack(pop)
-
inline QDataStream & operator >> ( QDataStream& in, TArduinoData& out )
{
in.setFloatingPointPrecision(QDataStream::SinglePrecision );
@@ -27,6 +25,4 @@ inline QDataStream & operator >> ( QDataStream& in, TArduinoData& out )
return in;
}
-
-
-#endif
+static_assert(sizeof(TArduinoData) == 30, "sizeof packet != 30");
diff --git a/tracker-hatire/ftnoir_tracker_hat.cpp b/tracker-hatire/ftnoir_tracker_hat.cpp
index eea1cbca..6b76ddba 100644
--- a/tracker-hatire/ftnoir_tracker_hat.cpp
+++ b/tracker-hatire/ftnoir_tracker_hat.cpp
@@ -11,12 +11,8 @@
#include <QDebug>
#include "ftnoir_tracker_hat.h"
-FTNoIR_Tracker::FTNoIR_Tracker()
+hatire::hatire()
{
- qDebug()<<"Tracker::HAT";
-
- ComPort = NULL;
-
HAT.Rot[0]=0;
HAT.Rot[1]=0;
HAT.Rot[2]=0;
@@ -24,415 +20,126 @@ FTNoIR_Tracker::FTNoIR_Tracker()
HAT.Trans[1]=0;
HAT.Trans[2]=0;
-
- // prepare & reserve QByteArray
- dataRead.resize(4096);
- dataRead.clear();
Begin.append((char) 0xAA);
Begin.append((char) 0xAA);
End.append((char) 0x55);
End.append((char) 0x55);
- flDiagnostics.setFileName(QCoreApplication::applicationDirPath() + "/HATDiagnostics.txt");
-
settings.load_ini();
}
-FTNoIR_Tracker::~FTNoIR_Tracker()
+hatire::~hatire()
{
- qDebug()<<"Tracker::~HAT";
- if (ComPort!=NULL) {
- if (ComPort->isOpen() ) {
-
-#ifdef OPENTRACK_API
- QByteArray Msg;
- Log("Tracker shut down");
- ComPort->write(sCmdStop);
- if (!ComPort->waitForBytesWritten(1000)) {
- emit sendMsgInfo("TimeOut in writing CMD");
- } else
- {
- Msg.append("\r\n");
- Msg.append("SEND '");
- Msg.append(sCmdStop);
- Msg.append("'\r\n");
- }
- emit sendMsgInfo(Msg);
-#endif
- ComPort->close();
- disconnect(ComPort,SIGNAL(readyRead()),0,0);
-
- }
- delete ComPort;
- ComPort=NULL;
- }
-}
-
-
-//send ZERO to Arduino
-bool FTNoIR_Tracker::notifyZeroed() {
- qDebug() << " HAT send ZEROed ";
- sendcmd(sCmdZero);
- return true;
}
-
-
//send RESET to Arduino
-void FTNoIR_Tracker::reset() {
- qDebug() << " HAT send RESET ";
- sendcmd(sCmdReset);
-}
-
-
-// Info SerialPort
-void FTNoIR_Tracker::SerialInfo() {
- QByteArray Msg;
- if (ComPort!=NULL) {
- if (ComPort->isOpen() ) {
- Msg.append("\r\n");
- Msg.append(ComPort->portName());
- Msg.append("\r\n");
- Msg.append("BAUDRATE :");
- Msg.append(QString::number(ComPort->baudRate()));
- Msg.append("\r\n");
- Msg.append("DataBits :");
- Msg.append(QString::number(ComPort->dataBits()));
- Msg.append("\r\n");
- Msg.append("Parity :");
- switch (ComPort->parity()) {
- case 0: Msg.append("No parity");
- break;
- case 2: Msg.append("Even parity");
- break;
- case 3: Msg.append("Odd parity");
- break;
- case 4: Msg.append("Space parity");
- break;
- case 5: Msg.append("Mark parity");
- break;
- default: Msg.append("Unknown parity");
- break;
- }
- Msg.append("\r\n");
- Msg.append("Stop Bits :");
- switch (ComPort->stopBits()) {
- Msg.append(QString::number(ComPort->stopBits()));
- case 1: Msg.append("1 stop bit.");
- break;
- case 2: Msg.append("2 stop bits.");
- break;
- case 3: Msg.append("1.5 stop bits.");
- break;
- default: Msg.append("Unknown number of stop bit.");
- break;
- }
- Msg.append("\r\n");
- Msg.append("Flow Control :");
- switch (ComPort->flowControl()) {
- case 0: Msg.append("No flow control");
- break;
- case 1: Msg.append("Hardware flow control (RTS/CTS)");
- break;
- case 2: Msg.append("Software flow control (XON/XOFF)");
- break;
- default: Msg.append("Unknown flow control");
- break;
- }
- emit sendMsgInfo(Msg);
-
- }
- }
-}
-
-
-//send command to Arduino
-void FTNoIR_Tracker::sendcmd(const QByteArray &cmd) {
- QByteArray Msg;
- if (cmd.length()>0) {
- if (ComPort->isOpen() )
- {
- QString logMess;
- logMess.append("SEND '");
- logMess.append(cmd);
- logMess.append("'");
- Log(logMess);
- ComPort->write(cmd);
- if (!ComPort->waitForBytesWritten(1000)) {
- emit sendMsgInfo("TimeOut in writing CMD");
- } else
- {
- Msg.append("\r\n");
- Msg.append("SEND '");
- Msg.append(cmd);
- Msg.append("'\r\n");
- }
- #if 0 // WaitForReadyRead isn't working well and there are some reports of it being a win32 issue. We can live without it anyway
- if ( !ComPort->waitForReadyRead(1000)) {
- emit sendMsgInfo("TimeOut in response to CMD") ;
- } else {
- emit sendMsgInfo(Msg);
- }
- #else
- emit sendMsgInfo(Msg);
- #endif
- } else {
- emit sendMsgInfo("ComPort not open") ;
- }
- }
+void hatire::reset()
+{
+ t.sendcmd(ts.sCmdReset);
}
-
// return FPS
-void FTNoIR_Tracker::get_info( int *tps ){
+void hatire::get_info( int *tps )
+{
*tps=frame_cnt;
frame_cnt=0;
}
-
-void FTNoIR_Tracker::SerialRead()
-{
- QMutexLocker lck(&mutex);
- dataRead+=ComPort->readAll();
-}
-
-#ifndef OPENTRACK_API
-void FTNoIR_Tracker::Initialize( QFrame *videoframe )
+void hatire::start_tracker(QFrame*)
{
CptError=0;
- dataRead.clear();
frame_cnt=0;
-
- Log("INITIALISING HATIRE");
-
+ new_frame=false;
settings.load_ini();
applysettings(settings);
- ComPort = new QSerialPort(this);
- ComPort->setPortName(sSerialPortName);
- if (ComPort->open(QIODevice::ReadWrite ) == true) {
- connect(ComPort, SIGNAL(readyRead()), this, SLOT(SerialRead()));
- if (
- ComPort->setBaudRate((QSerialPort::BaudRate)iBaudRate)
- && ComPort->setDataBits((QSerialPort::DataBits)iDataBits)
- && ComPort->setParity((QSerialPort::Parity)iParity)
- && ComPort->setStopBits((QSerialPort::StopBits)iStopBits)
- && ComPort->setFlowControl((QSerialPort::FlowControl)iFlowControl)
- && ComPort->clear(QSerialPort::AllDirections)
- && ComPort->setDataErrorPolicy(QSerialPort::IgnorePolicy)
- ) {
- // Wait init arduino sequence
- for (int i = 1; i <=iDelayInit; i+=50) {
- if (ComPort->waitForReadyRead(50)) break;
- }
- sendcmd(sCmdInit);
- // Wait init MPU sequence
- for (int i = 1; i <=iDelayStart; i+=50) {
- if (ComPort->waitForReadyRead(50)) break;
- }
-
- } else {
- QMessageBox::warning(0,"Error", ComPort->errorString(),QMessageBox::Ok,QMessageBox::NoButton);
- }
- }
- else {
- QMessageBox::warning(0,"Error", "Unable to open ComPort",QMessageBox::Ok,QMessageBox::NoButton);
- delete ComPort;
- ComPort = NULL;
- }
- return;
-}
-
-
+ t.Log("Starting Tracker");
+
+ serial_result ret = t.init_serial_port();
+
+ switch (ret.code)
+ {
+ case result_ok:
+ break;
+ case result_error:
+ QMessageBox::warning(0,"Error", ret.error, QMessageBox::Ok,QMessageBox::NoButton);
+ break;
+ case result_open_error:
+ QMessageBox::warning(0,"Error", "Unable to open ComPort: " + ret.error, QMessageBox::Ok,QMessageBox::NoButton);
+ break;
+ }
-void FTNoIR_Tracker::StartTracker(HWND parent_window)
-{
- // Send START cmd to IMU
- sendcmd(sCmdStart);
- Log("Starting Tracker");
- // Wait start MPU sequence
- for (int i = 1; i <=iDelaySeq; i+=50) {
- if (ComPort->waitForReadyRead(50)) break;
- }
- return;
+ t.start(ts);
}
-
-void FTNoIR_Tracker::StopTracker( bool exit )
+void hatire::serial_info()
{
- QByteArray Msg;
-
- Log("Stopping tracker");
- if (sCmdStop.length()>0) {
- if (ComPort->isOpen() )
- {
- ComPort->write(sCmdStop);
- if (!ComPort->waitForBytesWritten(1000)) {
- emit sendMsgInfo("TimeOut in writing CMD");
- } else
- {
- Msg.append("\r\n");
- Msg.append("SEND '");
- Msg.append(sCmdStop);
- Msg.append("'\r\n");
- }
- emit sendMsgInfo(Msg);
- }
- }
- // OK, the thread is not stopped, doing this. That might be dangerous anyway...
- //
- if (exit || !exit) return;
- return;
-}
-//send CENTER to Arduino
-void FTNoIR_Tracker::notifyCenter() {
- sendcmd(sCmdCenter);
+ t.serial_info();
}
-
-#else
-void FTNoIR_Tracker::start_tracker(QFrame*)
+void hatire::send_serial_command(const QByteArray& x)
{
- CptError=0;
- dataRead.clear();
- frame_cnt=0;
- new_frame=false;
- settings.load_ini();
- applysettings(settings);
- ComPort = new QSerialPort(this);
- ComPort->setPortName(sSerialPortName);
- Log("Starting Tracker");
-
- if (ComPort->open(QIODevice::ReadWrite ) == true) {
- connect(ComPort, SIGNAL(readyRead()), this, SLOT(SerialRead()));
- Log("Port Open");
- if (
- ComPort->setBaudRate((QSerialPort::BaudRate)iBaudRate)
- && ComPort->setDataBits((QSerialPort::DataBits)iDataBits)
- && ComPort->setParity((QSerialPort::Parity)iParity)
- && ComPort->setStopBits((QSerialPort::StopBits)iStopBits)
- && ComPort->setFlowControl((QSerialPort::FlowControl)iFlowControl)
- && ComPort->clear(QSerialPort::AllDirections)
- && ComPort->setDataErrorPolicy(QSerialPort::IgnorePolicy)
- ) {
- Log("Port Parameters set");
- qDebug() << QTime::currentTime() << " HAT OPEN on " << ComPort->portName() << ComPort->baudRate() << ComPort->dataBits() << ComPort->parity() << ComPort->stopBits() << ComPort->flowControl();
-
- if (ComPort->flowControl() == QSerialPort::HardwareControl)
- {
- // Raise DTR
- Log("Raising DTR");
- if (!ComPort->setDataTerminalReady(true))
- Log("Couldn't set DTR");
-
- // Raise RTS/CTS
- Log("Raising RTS");
- if (!ComPort->setRequestToSend(true))
- Log("Couldn't set RTS");
-
- }
- // Wait init arduino sequence
- for (int i = 1; i <=iDelayInit; i+=50) {
- if (ComPort->waitForReadyRead(50)) break;
- }
- Log("Waiting on init");
- qDebug() << QTime::currentTime() << " HAT send INIT ";
- sendcmd(sCmdInit);
- // Wait init MPU sequence
- for (int i = 1; i <=iDelayStart; i+=50) {
- if (ComPort->waitForReadyRead(50)) break;
- }
- // Send START cmd to IMU
- qDebug() << QTime::currentTime() << " HAT send START ";
- sendcmd(sCmdStart);
-
- // Wait start MPU sequence
- for (int i = 1; i <=iDelaySeq; i+=50) {
- if (ComPort->waitForReadyRead(50)) break;
- }
- Log("Port setup, waiting for HAT frames to process");
- qDebug() << QTime::currentTime() << " HAT wait MPU ";
- } else {
- QMessageBox::warning(0,"Error", ComPort->errorString(),QMessageBox::Ok,QMessageBox::NoButton);
- }
- }
- else {
- QMessageBox::warning(0,"Error", "Unable to open ComPort: " + ComPort->errorString(), QMessageBox::Ok,QMessageBox::NoButton);
- delete ComPort;
- ComPort = NULL;
- }
- return;
-
+ t.sendcmd(x);
}
-//send CENTER to Arduino
-void FTNoIR_Tracker::center() {
- qDebug() << " HAT send CENTER ";
- Log("Sending Centre Command");
-
- sendcmd(sCmdCenter);
-}
-
-//Return speed FPS sketch Arduino
-int FTNoIR_Tracker::preferredHz() {
- qDebug() << " HAT return Preferred FPS " << iFpsArduino;
- return iFpsArduino;
-}
-
-#endif
-
-
//
// Return 6DOF info
//
-#ifdef OPENTRACK_API
-void FTNoIR_Tracker::data(double *data)
-#else
-bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
-#endif
+void hatire::data(double *data)
{
- QMutexLocker lck(&mutex);
- while (dataRead.length()>=30) {
- Log(dataRead.toHex());
- if ((dataRead.startsWith(Begin) && ( dataRead.mid(28,2)==End )) ) { // .Begin==0xAAAA .End==0x5555
- QDataStream datastream(dataRead.left(30));
- if (bBigEndian) datastream.setByteOrder(QDataStream::BigEndian );
- else datastream.setByteOrder(QDataStream::LittleEndian );
+ QByteArray dataRead(t.flush_data_read());
+
+ while (dataRead.length() >= 30)
+ {
+ t.Log(dataRead.toHex());
+ if (dataRead.startsWith(Begin) && dataRead.mid(28,2) == End)
+ { // .Begin==0xAAAA .End==0x5555
+ QDataStream datastream(dataRead.left(30));
+ if (ts.bBigEndian) datastream.setByteOrder(QDataStream::BigEndian );
+ else datastream.setByteOrder(QDataStream::LittleEndian);
datastream>>ArduinoData;
frame_cnt++;
- if (ArduinoData.Code <= 1000) {
+ if (ArduinoData.Code <= 1000)
+ {
HAT=ArduinoData;
new_frame=true;
- } else {
- emit sendMsgInfo(dataRead.mid(4,24)) ;
+ }
+ else
+ {
+ emit t.serial_debug_info(dataRead.mid(4,24)) ;
}
dataRead.remove(0,30);
- } else {
+ }
+ else
+ {
+ bool ok = true;
// resynchro trame
int index = dataRead.indexOf(Begin);
if (index==-1) {
+ ok = false;
index=dataRead.length();
}
- emit sendMsgInfo(dataRead.mid(0,index)) ;
+ emit t.serial_debug_info(dataRead.mid(0,index)) ;
dataRead.remove(0,index);
CptError++;
- qDebug() << QTime::currentTime() << " HAT Resync-Frame, counter " << CptError;
+ qDebug() << QTime::currentTime() << "hatire resync stream" << "index" << index << "ok" << ok;
}
}
- if (CptError>50) {
- emit sendMsgInfo("Can't find HAT frame") ;
+ t.prepend_unread_data(dataRead);
+
+ if (CptError > 50)
+ {
+ emit t.serial_debug_info("Can't find HAT frame");
CptError=0;
-#ifndef OPENTRACK_API
- return false;
-#endif
}
+
+ // XXX fix copy-pasted code -sh 20160410
+
// Need to handle this differently in opentrack as opposed to tracknoir
//if (new_frame) {
-#ifdef OPENTRACK_API
// in open track always populate the data, it seems opentrack always gives us a zeroed data structure to populate with pose data.
// if we have no new data, we don't populate it and so 0 pose gets handed back which is wrong. By always running the code below, if we
// have no new data, we will just give it the previous pose data which is the best thing we can do really.
- if(1){
-
+
if (bEnableYaw) {
if (bInvertYaw ) data[Yaw] = HAT.Rot[iYawAxe] * -1.0f;
else data[Yaw] = HAT.Rot[iYawAxe];
@@ -463,54 +170,20 @@ bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)
if (bInvertZ) data[TZ] = HAT.Trans[iZAxe]* -1.0f;
else data[TZ] = HAT.Trans[iZAxe];
} else data[TZ] =0;
-#else
- if (new_frame) { // treat frame handling as it was for TrackNoIR.
- if (bEnableYaw) {
- if (bInvertYaw ) data->yaw = (double) HAT.Rot[iYawAxe] * -1.0f;
- else data->yaw = (double) HAT.Rot[iYawAxe];
- }
-
- if (bEnablePitch) {
- if (bInvertPitch)data->pitch = (double) HAT.Rot[iPitchAxe] * -1.0f;
- else data->pitch = (double) HAT.Rot[iPitchAxe];
- }
- if (bEnableRoll) {
- if (bInvertRoll) data->roll = (double) HAT.Rot[iRollAxe] * -1.0f;
- else data->roll = (double) HAT.Rot[iRollAxe];
- }
-
- if (bEnableX) {
- if (bInvertX) data->x = (double) HAT.Trans[iXAxe]* -1.0f;
- else data->x = (double) HAT.Trans[iXAxe];
- }
-
- if (bEnableY) {
- if (bInvertY) data->y = (double) HAT.Trans[iYAxe]* -1.0f;
- else data->y = (double) HAT.Trans[iYAxe];
- }
+ new_frame=false;
- if (bEnableZ) {
- if (bInvertZ) data->z = (double) HAT.Trans[iZAxe]* -1.0f;
- else data->z = (double) HAT.Trans[iZAxe];
- }
- return true;
-#endif
- new_frame=false;
// For debug
//data->x=dataRead.length();
//data->y=CptError;
- }
}
-
-
//
// Apply modification Settings
//
-void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
- QMutexLocker lck(&mutex);
- sSerialPortName= settings.SerialPortName;
+void hatire::applysettings(const TrackerSettings& settings)
+{
+ ts.sSerialPortName = settings.SerialPortName;
bEnableRoll = settings.EnableRoll;
bEnablePitch = settings.EnablePitch;
@@ -525,7 +198,7 @@ void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
bInvertX = settings.InvertX;
bInvertY = settings.InvertY;
bInvertZ = settings.InvertZ;
- bEnableLogging = settings.EnableLogging;
+ ts.bEnableLogging = settings.EnableLogging;
iRollAxe= settings.RollAxe;
iPitchAxe= settings.PitchAxe;
@@ -534,64 +207,26 @@ void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
iYAxe= settings.YAxe;
iZAxe= settings.ZAxe;
- iBaudRate=settings.pBaudRate;
- iDataBits=settings.pDataBits;
- iParity=settings.pParity;
- iStopBits=settings.pStopBits;
- iFlowControl=settings.pFlowControl;
-
- sCmdStart= settings.CmdStart.toLatin1();
- sCmdStop= settings.CmdStop.toLatin1();
- sCmdInit= settings.CmdInit.toLatin1();
- sCmdReset= settings.CmdReset.toLatin1();
- sCmdCenter= settings.CmdCenter.toLatin1();
- sCmdZero= settings.CmdZero.toLatin1();
-
- iDelayInit=settings.DelayInit;
- iDelayStart=settings.DelayStart;
- iDelaySeq=settings.DelaySeq;
-
- bBigEndian=settings.BigEndian;
-#ifdef OPENTRACK_API
- iFpsArduino=settings.FPSArduino;
-#endif
-}
-
-void FTNoIR_Tracker::Log(QString message)
-{
- // Drop out immediately if logging is off. Yes, there is still some overhead because of passing strings around for no reason.
- // that's unfortunate and I'll monitor the impact and see if it needs a more involved fix.
- if (!bEnableLogging) return;
- QString logMessage;
-
- if (flDiagnostics.open(QIODevice::ReadWrite | QIODevice::Append))
- {
- QTextStream out(&flDiagnostics);
- QString milliSeconds;
- milliSeconds = QString("%1").arg(QTime::currentTime().msec(), 3, 10, QChar('0'));
- // We have a file
- out << QTime::currentTime().toString() << "." << milliSeconds << ": " << message << "\r\n";
- flDiagnostics.close();
- }
-}
+ ts.iBaudRate=settings.pBaudRate;
+ ts.iDataBits=settings.pDataBits;
+ ts.iParity=settings.pParity;
+ ts.iStopBits=settings.pStopBits;
+ ts.iFlowControl=settings.pFlowControl;
+ ts.sCmdStart= settings.CmdStart.toLatin1();
+ ts.sCmdStop= settings.CmdStop.toLatin1();
+ ts.sCmdInit= settings.CmdInit.toLatin1();
+ ts.sCmdReset= settings.CmdReset.toLatin1();
+ ts.sCmdCenter= settings.CmdCenter.toLatin1();
+ ts.sCmdZero= settings.CmdZero.toLatin1();
+ ts.iDelayInit=settings.DelayInit;
+ ts.iDelayStart=settings.DelayStart;
+ ts.iDelaySeq=settings.DelaySeq;
+ ts.bBigEndian=settings.BigEndian;
-////////////////////////////////////////////////////////////////////////////////
-// Factory function that creates instances if the Tracker object.
+ t.update_serial_settings(ts);
+}
-// Export both decorated and undecorated names.
-// GetTracker - Undecorated name, which can be easily used with GetProcAddress
-// Win32 API function.
-// _GetTracker@0 - Common name decoration for __stdcall functions in C language.
-////////////////////////////////////////////////////////////////////////////////
-#ifdef OPENTRACK_API
#include "ftnoir_tracker_hat_dialog.h"
-OPENTRACK_DECLARE_TRACKER(FTNoIR_Tracker, TrackerControls, TrackerDll)
-#else
-#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-FTNOIR_TRACKER_BASE_EXPORT ITrackerPtr __stdcall GetTracker()
-{
- return new FTNoIR_Tracker;
-}
-#endif
+OPENTRACK_DECLARE_TRACKER(hatire, TrackerControls, TrackerDll)
diff --git a/tracker-hatire/ftnoir_tracker_hat.h b/tracker-hatire/ftnoir_tracker_hat.h
index 2472428b..4767d291 100644
--- a/tracker-hatire/ftnoir_tracker_hat.h
+++ b/tracker-hatire/ftnoir_tracker_hat.h
@@ -1,13 +1,10 @@
-#ifndef FTNOIR_TRACKER_HAT_H
-#define FTNOIR_TRACKER_HAT_H
+#pragma once
-#ifdef OPENTRACK_API
-# include "opentrack/plugin-support.hpp"
-#else
-# include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
-#endif
+#include "thread.hpp"
+#include "opentrack/plugin-support.hpp"
#include "ftnoir_tracker_hat_settings.h"
#include "ftnoir_arduino_type.h"
+
#include <QObject>
#include <QPalette>
#include <QtGui>
@@ -15,59 +12,42 @@
#include <QMessageBox>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
-#include <QMutex>
-#include <QMutexLocker>
#include <QSettings>
-#define VER_FILEVERSION_STR "Version 2.1.1\0"
+#define VER_FILEVERSION_STR "Version 2.1.1"
-class FTNoIR_Tracker : public QObject, public ITracker
+class hatire : public QObject, public ITracker
{
Q_OBJECT
+
public:
- FTNoIR_Tracker();
- ~FTNoIR_Tracker();
+ hatire();
+ ~hatire();
-#ifdef OPENTRACK_API
void start_tracker(QFrame*);
void data(double *data);
- int preferredHz(); // unused
- void center(); // unused
-#else
- void Initialize( QFrame *videoframe );
- void StartTracker(HWND parent_window);
- void StopTracker(bool exit);
- bool GiveHeadPoseData(THeadPoseData *data);
- void notifyCenter();
-#endif
+ //void center();
void applysettings(const TrackerSettings& settings);
- bool notifyZeroed();
+ //bool notifyZeroed();
void reset();
- void SerialInfo();
- void sendcmd(const QByteArray &cmd);
void get_info( int *tps );
-
-private Q_SLOTS:
- void SerialRead();
- void Log(QString message);
-
-signals:
- void sendMsgInfo(const QByteArray &MsgInfo);
-
+ void serial_info();
+ void send_serial_command(const QByteArray& x);
private:
- QSerialPort *ComPort;
- TArduinoData ArduinoData, HAT ; // Trame from Arduino
- QByteArray dataRead;
- QByteArray dataToSend;
+ TArduinoData ArduinoData, HAT;
QByteArray Begin;
QByteArray End;
- QMutex mutex;
- int frame_cnt;
- bool new_frame;
+ hatire_thread t;
+ thread_settings ts;
+
+ // XXX move to settings api -sh 20160410
TrackerSettings settings;
+ int frame_cnt;
+ bool new_frame;
+
bool bEnableRoll;
bool bEnablePitch;
bool bEnableYaw;
@@ -81,7 +61,6 @@ private:
bool bInvertX;
bool bInvertY;
bool bInvertZ;
- bool bEnableLogging;
int iRollAxe;
int iPitchAxe;
@@ -90,68 +69,11 @@ private:
int iYAxe;
int iZAxe;
- QByteArray sCmdStart;
- QByteArray sCmdStop;
- QByteArray sCmdInit;
- QByteArray sCmdReset;
- QByteArray sCmdCenter;
- QByteArray sCmdZero;
-
- int iDelayInit;
- int iDelayStart;
- int iDelaySeq;
-
- bool bBigEndian;
-
- QString sSerialPortName;
- QSerialPort::BaudRate iBaudRate;
- QSerialPort::DataBits iDataBits;
- QSerialPort::Parity iParity;
- QSerialPort::StopBits iStopBits;
- QSerialPort::FlowControl iFlowControl;
-
- QFile flDiagnostics;
-#ifdef OPENTRACK_API
- int iFpsArduino;
-#endif
- int CptError;
-
-
+ volatile int CptError;
};
-
-//*******************************************************************************************************
-// FaceTrackNoIR Tracker DLL. Functions used to get general info on the Tracker
-//*******************************************************************************************************
-#if defined(OPENTRACK_API)
class TrackerDll : public Metadata
{
QString name() { return QString("Hatire Arduino"); }
QIcon icon() { return QIcon(":/images/hat.png"); }
};
-#else
-class TrackerDll :
-public Metadata
-public ITrackerDll
-{
-public:
- TrackerDll();
- ~TrackerDll();
-
- void Initialize();
-
- QString name();
- QIcon icon();
- void getFullName(QString *strToBeFilled);
- void getShortName(QString *strToBeFilled);
- void getDescription(QString *strToBeFilled);
- void getIcon(QIcon *icon);
-
-private:
- QString trackerFullName; // Trackers' name and description
- QString trackerShortName;
- QString trackerDescription;
-};
-#endif
-
-#endif // FTNOIR_TRACKER_HAT_H
diff --git a/tracker-hatire/ftnoir_tracker_hat_dialog.cpp b/tracker-hatire/ftnoir_tracker_hat_dialog.cpp
index 3ef1a764..4ef83fb5 100644
--- a/tracker-hatire/ftnoir_tracker_hat_dialog.cpp
+++ b/tracker-hatire/ftnoir_tracker_hat_dialog.cpp
@@ -13,13 +13,6 @@
#include <QScrollBar>
-//*******************************************************************************************************
-// FaceTrackNoIR Client Settings-dialog.
-//*******************************************************************************************************
-
-//
-// Constructor for server-settings-dialog
-//
TrackerControls::TrackerControls() : theTracker(NULL), settingsDirty(false), timer(this)
{
@@ -180,7 +173,7 @@ TrackerControls::TrackerControls() : theTracker(NULL), settingsDirty(false), tim
connect(ui.QCB_Serial_flowControl, SIGNAL(currentIndexChanged(int)), this,SLOT(set_mod_flowControl(int)) );
connect(ui.btnReset, SIGNAL(clicked()), this, SLOT(doReset()));
- connect(ui.btnCenter, SIGNAL(clicked()), this, SLOT(doCenter()));
+ //connect(ui.btnCenter, SIGNAL(clicked()), this, SLOT(doCenter()));
connect(ui.btnZero, SIGNAL(clicked()), this, SLOT(doZero()));
connect(ui.btnSend, SIGNAL(clicked()), this, SLOT(doSend()));
@@ -209,8 +202,6 @@ void TrackerControls::Initialize(QWidget *parent) {
show();
}
-
-
//
// Apply online settings to tracker
//
@@ -220,27 +211,13 @@ void TrackerControls::settings_changed()
if (theTracker) theTracker->applysettings(settings);
}
-
-//
-// Center asked to ARDUINO
-//
-void TrackerControls::doCenter() {
-#ifdef OPENTRACK_API
- if (theTracker) theTracker->center();
-#else
- if (theTracker) theTracker->notifyCenter();
-#endif
-}
-
-
//
// Zero asked to ARDUINO
//
void TrackerControls::doZero() {
- if (theTracker) theTracker->notifyZeroed();
+ //if (theTracker) theTracker->notifyZeroed();
}
-
//
// Reset asked to ARDUINO
//
@@ -253,32 +230,28 @@ void TrackerControls::doReset() {
// Serial Info debug
//
void TrackerControls::doSerialInfo() {
- if (theTracker) theTracker->SerialInfo();
+ if (theTracker) theTracker->serial_info();
}
-
//
// Send command to ARDUINO
//
void TrackerControls::doSend() {
if (theTracker) {
if (!ui.lineSend->text().isEmpty()) {
- theTracker->sendcmd(ui.lineSend->text().toLatin1());
+ theTracker->send_serial_command(ui.lineSend->text().toLatin1());
}
}
}
-
//
// Enter on lineSend for send to ARDUINO
//
void TrackerControls::on_lineSend_returnPressed()
{
this->doSend();
-
}
-
//
// Display FPS of Arduino.
//
@@ -295,7 +268,6 @@ void TrackerControls::poll_tracker_info()
}
-
void TrackerControls::WriteMsgInfo(const QByteArray &MsgInfo)
{
QApplication::beep();
@@ -305,14 +277,11 @@ void TrackerControls::WriteMsgInfo(const QByteArray &MsgInfo)
bar->setValue(bar->maximum());
}
-
-
void TrackerControls::doSave() {
settingsDirty=false;
settings.save_ini();
}
-
//
// OK clicked on server-dialog
//
@@ -358,7 +327,7 @@ void TrackerControls::register_tracker(ITracker *tracker)
void TrackerControls::registerTracker(ITracker *tracker)
#endif
{
- theTracker = static_cast<FTNoIR_Tracker*>(tracker);
+ theTracker = static_cast<hatire*>(tracker);
connect(theTracker, SIGNAL(sendMsgInfo(QByteArray)),this , SLOT(WriteMsgInfo(QByteArray)));
if (isVisible() && settingsDirty) theTracker->applysettings(settings);
diff --git a/tracker-hatire/ftnoir_tracker_hat_dialog.h b/tracker-hatire/ftnoir_tracker_hat_dialog.h
index bd225b3e..7be31e37 100644
--- a/tracker-hatire/ftnoir_tracker_hat_dialog.h
+++ b/tracker-hatire/ftnoir_tracker_hat_dialog.h
@@ -1,11 +1,4 @@
-#ifndef FTNOIR_TRACKER_HAT_DIALOG_H
-#define FTNOIR_TRACKER_HAT_DIALOG_H
-
-#ifdef OPENTRACK_API
#include "opentrack/plugin-api.hpp"
-#else
-#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
-#endif
#include "ftnoir_tracker_hat_settings.h"
#include "ftnoir_tracker_hat.h"
#include "ui_ftnoir_hatcontrols.h"
@@ -17,29 +10,19 @@
#include <QMetaType>
// Widget that has controls for FTNoIR protocol client-settings.
-#ifdef OPENTRACK_API
class TrackerControls: public ITrackerDialog
- #else
-class TrackerControls: public QWidget, public ITrackerDialog
- #endif
{
Q_OBJECT
public:
explicit TrackerControls();
~TrackerControls() override;
-#ifdef OPENTRACK_API
void Initialize(QWidget *parent) ; // unused
void register_tracker(ITracker *tracker) override;
void unregister_tracker() override;
-#else
- void Initialize(QWidget *parent) ;
- void registerTracker(ITracker *tracker) ;
- void unRegisterTracker() ;
-#endif
private:
Ui::UIHATControls ui;
- FTNoIR_Tracker *theTracker;
+ hatire *theTracker;
QTime last_time;
public slots:
@@ -83,9 +66,8 @@ protected slots:
void set_DelaySeq(int val) { settings.DelaySeq = val; settings_changed(); }
void set_endian(bool val) { settings.BigEndian = val; settings_changed(); }
-#ifdef OPENTRACK_API
+
void set_Fps(int val) { settings.FPSArduino = val; settings_changed(); }
-#endif
void set_mod_baud(int val) { settings.pBaudRate = static_cast<QSerialPort::BaudRate>(ui.QCB_Serial_baudRate->itemData(val).toInt()) ; settings_changed(); }
void set_mod_dataBits(int val) { settings.pDataBits = static_cast<QSerialPort::DataBits>(ui.QCB_Serial_dataBits->itemData(val).toInt()) ; settings_changed(); }
@@ -97,7 +79,7 @@ protected slots:
void doCancel();
void doSave();
void doReset();
- void doCenter();
+ //void doCenter();
void doZero();
void doSend();
void poll_tracker_info();
@@ -112,5 +94,3 @@ protected:
private slots:
void on_lineSend_returnPressed();
};
-
-#endif //FTNOIR_TRACKER_HAT_DIALOG_H
diff --git a/tracker-hatire/ftnoir_tracker_hat_settings.cpp b/tracker-hatire/ftnoir_tracker_hat_settings.cpp
index df0480a1..02c99e75 100644
--- a/tracker-hatire/ftnoir_tracker_hat_settings.cpp
+++ b/tracker-hatire/ftnoir_tracker_hat_settings.cpp
@@ -13,18 +13,13 @@
#include <QVariant>
#include "ftnoir_tracker_hat_settings.h"
-#ifdef OPENTRACK_API
#include "opentrack-compat/options.hpp"
-#endif
+
+// XXX TODO move to opentrack settings api -sh 20160410
void TrackerSettings::load_ini()
{
-#ifndef OPENTRACK_API
- QSettings settings(OPENTRACK_ORG); // Registry settings (in HK_USER)
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-#else
QString currentFile = options::group::ini_pathname();
-#endif
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
iniFile.beginGroup( "HAT" );
@@ -66,9 +61,8 @@ void TrackerSettings::load_ini()
DelayStart=iniFile.value("DelayStart",0).toInt();
DelaySeq=iniFile.value("DelaySeq",0).toInt();
-#ifdef OPENTRACK_API
FPSArduino=iniFile.value("FPSArduino",30).toInt();
-#endif
+
BigEndian=iniFile.value("BigEndian",0).toBool();
@@ -84,12 +78,8 @@ void TrackerSettings::load_ini()
void TrackerSettings::save_ini() const
{
-#ifndef OPENTRACK_API
- QSettings settings(OPENTRACK_ORG); // Registry settings (in HK_USER)
- QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/Settings/default.ini" ).toString();
-#else
QString currentFile = options::group::ini_pathname();
-#endif
+
QSettings iniFile( currentFile, QSettings::IniFormat ); // Application settings (in INI-file)
iniFile.beginGroup ( "HAT" );
@@ -129,9 +119,8 @@ void TrackerSettings::save_ini() const
iniFile.setValue ( "DelayStart",DelayStart);
iniFile.setValue ( "DelaySeq",DelaySeq);
-#ifdef OPENTRACK_API
iniFile.setValue ( "FPSArduino", FPSArduino );
-#endif
+
iniFile.setValue("BigEndian",BigEndian);
iniFile.setValue("BaudRate",pBaudRate);
@@ -143,4 +132,3 @@ void TrackerSettings::save_ini() const
iniFile.endGroup();
}
-
diff --git a/tracker-hatire/ftnoir_tracker_hat_settings.h b/tracker-hatire/ftnoir_tracker_hat_settings.h
index ade46d54..bed33200 100644
--- a/tracker-hatire/ftnoir_tracker_hat_settings.h
+++ b/tracker-hatire/ftnoir_tracker_hat_settings.h
@@ -5,12 +5,10 @@
* copyright notice and this permission notice appear in all copies.
*/
-#ifndef FTNOIR_TRACKER_HAT_SETTINGS_H
-#define FTNOIR_TRACKER_HAT_SETTINGS_H
+#pragma once
#include <QtSerialPort/QSerialPort>
-//-----------------------------------------------------------------------------
struct TrackerSettings
{
void load_ini();
@@ -30,7 +28,6 @@ struct TrackerSettings
bool InvertY;
bool InvertZ;
-
int RollAxe;
int PitchAxe;
int YawAxe;
@@ -59,10 +56,5 @@ struct TrackerSettings
QSerialPort::StopBits pStopBits;
QSerialPort::FlowControl pFlowControl;
-#ifdef OPENTRACK_API
int FPSArduino;
-#endif
};
-
-
-#endif //FTNOIR_TRACKER_HAT_SETTINGS_H
diff --git a/tracker-hatire/thread.cpp b/tracker-hatire/thread.cpp
new file mode 100644
index 00000000..26bdc14d
--- /dev/null
+++ b/tracker-hatire/thread.cpp
@@ -0,0 +1,300 @@
+#include "thread.hpp"
+#include "opentrack-compat/sleep.hpp"
+#include <utility>
+
+#include <QTextStream>
+#include <QTime>
+#include <QDebug>
+
+#include <cstring>
+
+void hatire_thread::Log(const QString& message)
+{
+ // Drop out immediately if logging is off. Yes, there is still some overhead because of passing strings around for no reason.
+ // that's unfortunate and I'll monitor the impact and see if it needs a more involved fix.
+ if (!s.bEnableLogging) return;
+
+ Diag flDiagnostics;
+
+ if (flDiagnostics.open(QIODevice::ReadWrite | QIODevice::Append))
+ {
+ QTextStream out(&flDiagnostics);
+ QString milliSeconds;
+ milliSeconds = QString("%1").arg(QTime::currentTime().msec(), 3, 10, QChar('0'));
+ // We have a file
+ out << QTime::currentTime().toString() << "." << milliSeconds << ": " << message << "\r\n";
+ flDiagnostics.close();
+ }
+}
+
+void hatire_thread::start(const thread_settings& s_)
+{
+ s = s_;
+ com_port.moveToThread(this);
+#ifdef HATIRE_DEBUG_LOGFILE
+ read_timer.moveToThread(this);
+#endif
+ QThread::start();
+}
+
+hatire_thread::~hatire_thread()
+{
+ quit();
+ wait();
+}
+
+thread_settings hatire_thread::serial_settings_impl()
+{
+ return s;
+}
+
+hatire_thread::hatire_thread()
+{
+ data_read.reserve(65536);
+
+ connect(this, &QThread::finished, this, &hatire_thread::teardown_serial);
+ connect(this, &hatire_thread::update_serial_settings, this, &hatire_thread::update_serial_settings_impl, Qt::QueuedConnection);
+ connect(this, &hatire_thread::init_serial_port, this, &hatire_thread::init_serial_port_impl, Qt::QueuedConnection);
+ connect(this, &hatire_thread::serial_info, this, &hatire_thread::serial_info_impl, Qt::QueuedConnection);
+ connect(this, &hatire_thread::sendcmd, this, &hatire_thread::sendcmd_impl, Qt::QueuedConnection);
+ connect(this, &hatire_thread::serial_settings, this, &hatire_thread::serial_settings_impl, Qt::QueuedConnection);
+}
+
+void hatire_thread::teardown_serial()
+{
+ if (isRunning() && com_port.isOpen())
+ {
+ QByteArray msg;
+ Log("Tracker shut down");
+ com_port.write(s.sCmdStop);
+ if (!com_port.waitForBytesWritten(1000))
+ {
+ emit serial_debug_info("TimeOut in writing CMD");
+ }
+ else
+ {
+ msg.append("\r\n");
+ msg.append("SEND '");
+ msg.append(s.sCmdStop);
+ msg.append("'\r\n");
+ }
+ emit serial_debug_info(msg);
+
+ disconnect(&com_port, SIGNAL(readyRead()), nullptr, nullptr);
+ com_port.close();
+ }
+}
+
+void hatire_thread::run()
+{
+#ifdef HATIRE_DEBUG_LOGFILE
+ com_port.setFileName(HATIRE_DEBUG_LOGFILE);
+ com_port.open(QIODevice::ReadOnly);
+
+ connect(&read_timer, &QTimer::timeout, this, &hatire_thread::on_serial_read, Qt::DirectConnection);
+ read_timer.start(16);
+#else
+ connect(&com_port, &serial_t::readyRead, this, &hatire_thread::on_serial_read, Qt::DirectConnection);
+#endif
+ (void) exec();
+}
+
+void hatire_thread::update_serial_settings_impl(const thread_settings &s_)
+{
+ s = s_;
+}
+
+serial_result hatire_thread::init_serial_port_impl()
+{
+#ifndef HATIRE_DEBUG_LOGFILE
+ com_port.setPortName(s.sSerialPortName);
+
+ if (com_port.open(QIODevice::ReadWrite))
+ {
+ Log("Port Open");
+ if (
+ com_port.setBaudRate((QSerialPort::BaudRate)s.iBaudRate)
+ && com_port.setDataBits((QSerialPort::DataBits)s.iDataBits)
+ && com_port.setParity((QSerialPort::Parity)s.iParity)
+ && com_port.setStopBits((QSerialPort::StopBits)s.iStopBits)
+ && com_port.setFlowControl((QSerialPort::FlowControl)s.iFlowControl)
+ && com_port.clear(QSerialPort::AllDirections)
+ && com_port.setDataErrorPolicy(QSerialPort::IgnorePolicy)
+ )
+ {
+ Log("Port Parameters set");
+ qDebug() << QTime::currentTime() << " HAT OPEN on " << com_port.portName() << com_port.baudRate() << com_port.dataBits() << com_port.parity() << com_port.stopBits() << com_port.flowControl();
+
+ if (com_port.flowControl() == QSerialPort::HardwareControl)
+ {
+ // Raise DTR
+ Log("Raising DTR");
+ if (!com_port.setDataTerminalReady(true))
+ Log("Couldn't set DTR");
+
+ // Raise RTS/CTS
+ Log("Raising RTS");
+ if (!com_port.setRequestToSend(true))
+ Log("Couldn't set RTS");
+ }
+ // Wait init arduino sequence
+ for (int i = 1; i <=s.iDelayInit; i+=50) {
+ if (com_port.waitForReadyRead(50)) break;
+ }
+ Log("Waiting on init");
+ qDebug() << QTime::currentTime() << " HAT send INIT ";
+ sendcmd(s.sCmdInit);
+ // Wait init MPU sequence
+ for (int i = 1; i <=s.iDelayStart; i+=50) {
+ if (com_port.waitForReadyRead(50)) break;
+ }
+ // Send START cmd to IMU
+ qDebug() << QTime::currentTime() << " HAT send START ";
+ sendcmd(s.sCmdStart);
+
+ // Wait start MPU sequence
+ for (int i = 1; i <=s.iDelaySeq; i+=50) {
+ if (com_port.waitForReadyRead(50)) break;
+ }
+ Log("Port setup, waiting for HAT frames to process");
+ qDebug() << QTime::currentTime() << " HAT wait MPU ";
+
+ return serial_result();
+ }
+ else
+ {
+ return serial_result(result_error, com_port.errorString());
+ }
+ }
+ else
+ return serial_result(result_open_error, com_port.errorString());
+#else
+ return serial_result();
+#endif
+}
+
+// Info SerialPort
+void hatire_thread::serial_info_impl()
+{
+#ifndef HATIRE_DEBUG_LOGFILE
+ QByteArray msg;
+
+ if (com_port.isOpen())
+ {
+ msg.append("\r\n");
+ msg.append(com_port.portName());
+ msg.append("\r\n");
+ msg.append("BAUDRATE :");
+ msg.append(QString::number(com_port.baudRate()));
+ msg.append("\r\n");
+ msg.append("DataBits :");
+ msg.append(QString::number(com_port.dataBits()));
+ msg.append("\r\n");
+ msg.append("Parity :");
+
+ switch (com_port.parity())
+ {
+ case 0: msg.append("No parity");
+ break;
+ case 2: msg.append("Even parity");
+ break;
+ case 3: msg.append("Odd parity");
+ break;
+ case 4: msg.append("Space parity");
+ break;
+ case 5: msg.append("Mark parity");
+ break;
+ default: msg.append("Unknown parity");
+ break;
+ }
+
+ msg.append("\r\n");
+ msg.append("Stop Bits :");
+
+ switch (com_port.stopBits())
+ {
+ msg.append(QString::number(com_port.stopBits()));
+ case 1: msg.append("1 stop bit.");
+ break;
+ case 2: msg.append("2 stop bits.");
+ break;
+ case 3: msg.append("1.5 stop bits.");
+ break;
+ default: msg.append("Unknown number of stop bit.");
+ break;
+ }
+
+ msg.append("\r\n");
+ msg.append("Flow Control :");
+ switch (com_port.flowControl())
+ {
+ case 0: msg.append("No flow control");
+ break;
+ case 1: msg.append("Hardware flow control (RTS/CTS)");
+ break;
+ case 2: msg.append("Software flow control (XON/XOFF)");
+ break;
+ default: msg.append("Unknown flow control");
+ break;
+ }
+
+ emit serial_debug_info(msg);
+ }
+#endif
+}
+
+#ifdef __GNUC__
+# define unused(t, i) t __attribute__((unused)) i
+#else
+# define unused(t, i) t i
+#endif
+
+//send command to Arduino
+
+
+void hatire_thread::on_serial_read()
+{
+ static constexpr int ms = 1000/60;
+
+ {
+ QMutexLocker lck(&data_mtx);
+#ifndef HATIRE_DEBUG_LOGFILE
+ data_read += com_port.readAll();
+#else
+ QByteArray tmp = com_port.read(30);
+ data_read += tmp;
+ if (tmp.length() == 0)
+ {
+ qDebug() << "eof";
+ read_timer.stop();
+ }
+#endif
+ }
+ // qt can fire QSerialPort::readyRead() needlessly, causing a busy loop.
+ // see https://github.com/opentrack/opentrack/issues/327#issuecomment-207941003
+ portable::sleep(ms);
+}
+
+void hatire_thread::prepend_unread_data(const QByteArray &data)
+{
+ QMutexLocker lck(&data_mtx);
+ data_read.prepend(data);
+}
+
+QByteArray hatire_thread::flush_data_read()
+{
+ QMutexLocker lck(&data_mtx);
+
+ constexpr int packet_len = 30;
+
+ if (data_read.length() < 4 * packet_len)
+ {
+ // we're requesting more than packet length to help resync the stream if needed
+ return QByteArray();
+ }
+
+ QByteArray ret = data_read.left(90);
+ data_read = data_read.mid(90);
+
+ return ret;
+}
diff --git a/tracker-hatire/thread.hpp b/tracker-hatire/thread.hpp
new file mode 100644
index 00000000..dd0d8c14
--- /dev/null
+++ b/tracker-hatire/thread.hpp
@@ -0,0 +1,167 @@
+#pragma once
+
+#include <QSerialPort>
+#include <QByteArray>
+#include <QThread>
+#include <QMutex>
+
+#include <QFile>
+#include <QCoreApplication>
+
+enum results
+{
+ result_ok,
+ result_open_error,
+ result_error,
+};
+
+//#define HATIRE_DEBUG_LOGFILE "d:/putty-hatire.log"
+
+#ifdef HATIRE_DEBUG_LOGFILE
+# include <QFile>
+# include <QTimer>
+#endif
+
+struct thread_settings
+{
+ QByteArray sCmdStart;
+ QByteArray sCmdStop;
+ QByteArray sCmdInit;
+ QByteArray sCmdReset;
+ QByteArray sCmdCenter;
+ QByteArray sCmdZero;
+
+ QString sSerialPortName;
+ QSerialPort::BaudRate iBaudRate;
+ QSerialPort::DataBits iDataBits;
+ QSerialPort::Parity iParity;
+ QSerialPort::StopBits iStopBits;
+ QSerialPort::FlowControl iFlowControl;
+
+ int iDelayInit;
+ int iDelayStart;
+ int iDelaySeq;
+ bool bBigEndian;
+ volatile bool bEnableLogging;
+
+ thread_settings() :
+ iBaudRate(QSerialPort::UnknownBaud),
+ iDataBits(QSerialPort::UnknownDataBits),
+ iParity(QSerialPort::UnknownParity),
+ iStopBits(QSerialPort::UnknownStopBits),
+ iFlowControl(QSerialPort::UnknownFlowControl),
+ iDelayInit(0),
+ iDelayStart(0),
+ iDelaySeq(0),
+ bBigEndian(false),
+ bEnableLogging(false)
+ {
+ }
+};
+
+#include <QMetaType>
+
+Q_DECLARE_METATYPE(thread_settings)
+
+struct serial_result
+{
+ serial_result() : code(result_ok) {}
+ serial_result(results code, const QString& error) : error(error), code(code) {}
+
+ QString error;
+ results code;
+};
+
+struct Diag : public QFile
+{
+ Diag()
+ {
+ setFileName(QCoreApplication::applicationDirPath() + "/HATDiagnostics.txt");
+ }
+};
+
+class hatire_thread : public QThread
+{
+ Q_OBJECT
+
+#ifdef HATIRE_DEBUG_LOGFILE
+ using serial_t = QFile;
+ QTimer read_timer;
+#else
+ using serial_t = QSerialPort;
+#endif
+
+ QByteArray data_read;
+ serial_t com_port;
+ thread_settings s;
+ QMutex data_mtx;
+
+ void run() override;
+
+private slots:
+ void on_serial_read();
+ void teardown_serial();
+
+ void sendcmd_impl(const QByteArray& cmd)
+ {
+#ifndef HATIRE_DEBUG_LOGFILE
+ QByteArray Msg;
+
+ if (cmd.length() > 0)
+ {
+ if (com_port.isOpen())
+ {
+ QString logMess;
+ logMess.append("SEND '");
+ logMess.append(cmd);
+ logMess.append("'");
+ Log(logMess);
+ com_port.write(cmd);
+ if (!com_port.waitForBytesWritten(1000)) {
+ emit serial_debug_info("TimeOut in writing CMD");
+ } else
+ {
+ Msg.append("\r\n");
+ Msg.append("SEND '");
+ Msg.append(cmd);
+ Msg.append("'\r\n");
+ }
+#if 0 // WaitForReadyRead isn't working well and there are some reports of it being a win32 issue. We can live without it anyway
+ if ( !com_port.waitForReadyRead(1000)) {
+ emit serial_debug_info("TimeOut in response to CMD") ;
+ } else {
+ emit serial_debug_info(Msg);
+ }
+#else
+ emit serial_debug_info(Msg);
+#endif
+ } else {
+ emit serial_debug_info("ComPort not open") ;
+ }
+ }
+#endif
+ }
+ void serial_info_impl();
+ serial_result init_serial_port_impl();
+ void update_serial_settings_impl(const thread_settings& s);
+ thread_settings serial_settings_impl();
+
+signals:
+ void serial_debug_info(const QByteArray &MsgInfo);
+
+ void sendcmd(const QByteArray& cmd);
+ void serial_info();
+ serial_result init_serial_port();
+ void update_serial_settings(const thread_settings& s);
+ thread_settings serial_settings();
+
+public:
+ void start(const thread_settings &s_);
+ ~hatire_thread() override;
+ hatire_thread();
+
+ void prepend_unread_data(const QByteArray& data);
+
+ QByteArray flush_data_read();
+ void Log(const QString& message);
+};
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-22 17:20:53 +0000