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/* code by Furax49, awaiting copyright information */
#include "ftnoir_tracker_hat.h"
#include "facetracknoir/global-settings.h"
#include <QMessageBox>
#include <QDebug>
FTNoIR_Tracker::FTNoIR_Tracker() :
SerialPort(nullptr),
stop(false)
{
TrackerSettings settings;
settings.load_ini();
applysettings(settings);
//ListErrInf = new QList<QString>();
datagram.reserve(30);
qDebug() << "FTNoIR_Tracker::Initialize() Open SerialPort";
SerialPort = new QSerialPort(sSerialPortName);
if (SerialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered ) == true) {
SerialPort->flush();
SerialPort->setBaudRate(115200);
SerialPort->setParity(QSerialPort::NoParity);
SerialPort->setDataBits(QSerialPort::Data8);
SerialPort->setStopBits(QSerialPort::OneStop);
SerialPort->setFlowControl(QSerialPort::NoFlowControl);
//SerialPort->setTimeout(waitTimeout);
//SerialPort->setQueryMode(QextSerialPort::EventDriven); //Polling
SerialPort->putChar('S');
}
else {
QMessageBox::warning(0,"FaceTrackNoIR Error", "Unable to open SerialPort",QMessageBox::Ok,QMessageBox::NoButton);
delete SerialPort;
SerialPort = NULL;
}
}
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;
}
}
//send CENTER to Arduino
void FTNoIR_Tracker::notifyCenter() {
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');
}
}
}
//send RESET to Arduino
void FTNoIR_Tracker::reset() {
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() ) {
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;
#if 0
if (ListErrInf->size()>0) {
*info=ListErrInf->takeFirst();
} else {
*info= QString();
}
#endif
}
/** QThread run @override **/
void FTNoIR_Tracker::run() {
if (!SerialPort)
return;
while (!stop)
{
if (SerialPort->bytesAvailable()>=30)
{
QMutexLocker locker(&lock);
datagram.clear();
datagram=SerialPort->read(30);
QDataStream datastream(datagram);
datastream >> ArduinoData;
if (ArduinoData.Begin==0xAAAA && ArduinoData.End==0x5555 )
{
if (ArduinoData.Code <= 1000)
{
HAT=ArduinoData;
}
} else {
SerialPort->read(1);
}
}
msleep(10);
}
}
void FTNoIR_Tracker::StartTracker( QFrame* )
{
start( QThread::TimeCriticalPriority );
return;
}
bool FTNoIR_Tracker::GiveHeadPoseData(double* data)
{
QMutexLocker locker(&lock);
const bool inversions[] = {
bInvertX, bInvertY, bInvertZ, bInvertYaw, bInvertPitch, bInvertRoll
};
const bool enablement[] = {
bEnableX, bEnableY, bEnableZ, bEnableYaw, bEnablePitch, bEnableRoll
};
const int axes[] = {
iXAxis, iYAxis, iZAxis, iYawAxis, iPitchAxis, iRollAxis
};
for (int i = 0; i < 6; i++)
{
if (enablement[i])
data[i] = HAT.Gyro[axes[i]] * (inversions[i] ? -1 : 1);
}
return true;
}
void FTNoIR_Tracker::applysettings(const TrackerSettings& settings){
qDebug()<<"Tracker:: Applying settings";
QMutexLocker locker(&lock);
sSerialPortName= settings.SerialPortName;
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;
iRollAxis= settings.RollAxis;
iPitchAxis= settings.PitchAxis;
iYawAxis= settings.YawAxis;
iXAxis= settings.XAxis;
iYAxis= settings.YAxis;
iZAxis= settings.ZAxis;
}
extern "C" FTNOIR_TRACKER_BASE_EXPORT ITracker* CALLING_CONVENTION GetConstructor()
{
return new FTNoIR_Tracker;
}
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