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/* Homepage http://facetracknoir.sourceforge.net/home/default.htm *
* *
* ISC License (ISC) *
* *
* Copyright (c) 2015, Wim Vriend *
* *
* Permission to use, copy, modify, and/or distribute this software for any *
* purpose with or without fee is hereby granted, provided that the above *
* copyright notice and this permission notice appear in all copies. *
*/
#include <QDebug>
#include "ftnoir_tracker_hat.h"
hatire::hatire()
{
HAT.Rot[0]=0;
HAT.Rot[1]=0;
HAT.Rot[2]=0;
HAT.Trans[0]=0;
HAT.Trans[1]=0;
HAT.Trans[2]=0;
Begin.append((char) 0xAA);
Begin.append((char) 0xAA);
End.append((char) 0x55);
End.append((char) 0x55);
settings.load_ini();
}
hatire::~hatire()
{
}
//send RESET to Arduino
void hatire::reset()
{
t.sendcmd(ts.sCmdReset);
}
// return FPS
void hatire::get_info( int *tps )
{
*tps=frame_cnt;
frame_cnt=0;
}
void hatire::start_tracker(QFrame*)
{
CptError=0;
frame_cnt=0;
new_frame=false;
settings.load_ini();
applysettings(settings);
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;
}
t.start(ts);
}
void hatire::serial_info()
{
t.serial_info();
}
void hatire::send_serial_command(const QByteArray& x)
{
t.sendcmd(x);
}
//
// Return 6DOF info
//
void hatire::data(double *data)
{
{
QMutexLocker l(&t.data_mtx);
QByteArray dataRead(t.flush_data_read_nolock());
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)
{
HAT=ArduinoData;
new_frame=true;
}
else
{
emit t.serial_debug_info(dataRead.mid(4,24)) ;
}
dataRead.remove(0,30);
}
else
{
bool ok = true;
// resynchro trame
int index = dataRead.indexOf(Begin);
if (index==-1) {
ok = false;
index=dataRead.length();
}
emit t.serial_debug_info(dataRead.mid(0,index)) ;
dataRead.remove(0,index);
CptError++;
qDebug() << QTime::currentTime() << "hatire resync stream" << "index" << index << "ok" << ok;
}
}
t.prepend_unread_data_nolock(dataRead);
}
if (CptError > 50)
{
emit t.serial_debug_info("Can't find HAT frame");
CptError=0;
}
// XXX fix copy-pasted code -sh 20160410
// Need to handle this differently in opentrack as opposed to tracknoir
//if (new_frame) {
// 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 (bEnableYaw) {
if (bInvertYaw ) data[Yaw] = HAT.Rot[iYawAxe] * -1.0f;
else data[Yaw] = HAT.Rot[iYawAxe];
} else data[Yaw] =0;
if (bEnablePitch) {
if (bInvertPitch) data[Pitch] = HAT.Rot[iPitchAxe] * -1.0f;
else data[Pitch] = HAT.Rot[iPitchAxe];
} else data[Pitch] = 0;
if (bEnableRoll) {
if (bInvertRoll) data[Roll] = HAT.Rot[iRollAxe] * -1.0f;
else data[Roll] = HAT.Rot[iRollAxe];
} else data[Roll] =0;
if (bEnableX) {
if (bInvertX) data[TX] = HAT.Trans[iXAxe]* -1.0f;
else data[TX] = HAT.Trans[iXAxe];
} else data[TX] =0;
if (bEnableY) {
if (bInvertY) data[TY] = HAT.Trans[iYAxe]* -1.0f;
else data[TY] = HAT.Trans[iYAxe];
} else data[TY] =0;
if (bEnableZ) {
if (bInvertZ) data[TZ] = HAT.Trans[iZAxe]* -1.0f;
else data[TZ] = HAT.Trans[iZAxe];
} else data[TZ] =0;
new_frame=false;
// For debug
//data->x=dataRead.length();
//data->y=CptError;
}
//
// Apply modification Settings
//
void hatire::applysettings(const TrackerSettings& settings)
{
ts.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;
ts.bEnableLogging = settings.EnableLogging;
iRollAxis= settings.RollAxis;
iPitchAxis= settings.PitchAxis;
iYawAxis= settings.YawAxis;
iXAxis= settings.XAxis;
iYAxis= settings.YAxis;
iZAxis= settings.ZAxis;
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;
t.update_serial_settings(ts);
}
#include "ftnoir_tracker_hat_dialog.h"
OPENTRACK_DECLARE_TRACKER(hatire, TrackerControls, TrackerDll)
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