diff options
| -rw-r--r-- | ftnoir_tracker_hatire/ftnoir_tracker_hat.cpp | 146 |
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; } |