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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"
#include "compat/math.hpp"
#include <algorithm>
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((unsigned char) 0xAA);
Begin.append((unsigned char) 0xAA);
End.append((unsigned char) 0x55);
End.append((unsigned char) 0x55);
}
hatire::~hatire() = default;
//send RESET to Arduino
void hatire::reset()
{
t.sendcmd_str(s.CmdReset);
}
// return FPS
void hatire::get_info( int *tps )
{
*tps=frame_cnt;
frame_cnt=0;
}
module_status hatire::start_tracker(QFrame*)
{
CptError=0;
frame_cnt=0;
t.Log("Starting Tracker");
serial_result ret = t.init_serial_port();
t.start();
switch (ret.code)
{
case result_ok:
return status_ok();
case result_error:
return error(ret.error);
case result_open_error:
return error(tr("Unable to open ComPort: %1").arg(ret.error));
default:
return error(tr("Unknown error"));
}
}
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& data_read = t.send_data_read_nolock();
while (data_read.length() >= 30)
{
//t.Log(data_read.toHex());
// .Begin==0xAAAA .End==0x5555
if (data_read[0] == Begin[0] && data_read[1] == Begin[1] &&
data_read[28] == End[0] && data_read[29] == End[1])
{
QDataStream stream(&data_read, QIODevice::ReadOnly);
if (s.BigEndian)
stream.setByteOrder(QDataStream::BigEndian);
else
stream.setByteOrder(QDataStream::LittleEndian);
stream >> ArduinoData;
frame_cnt++;
if (ArduinoData.Code <= 1000)
HAT = ArduinoData;
data_read.remove(0, 30);
}
else
{
CptError++;
// resync frame
const int index = data_read.indexOf(Begin, 1);
if (index == -1)
data_read.clear();
else
data_read.remove(0, index);
}
}
}
if (CptError > 50)
{
qDebug() << "Can't find HAT frame";
CptError=0;
}
for (unsigned k = 0; k < 3; k++)
HAT.Rot[k] = clamp(HAT.Rot[k], -180, 180);
const struct
{
bool enable;
bool sign;
float input;
double& place;
} spec[] =
{
{ s.EnableX, s.InvertX, HAT.Trans[s.XAxis], data[TX] },
{ s.EnableY, s.InvertY, HAT.Trans[s.YAxis], data[TY] },
{ s.EnableZ, s.InvertZ, HAT.Trans[s.ZAxis], data[TZ] },
{ s.EnableYaw, s.InvertYaw, HAT.Rot[s.YawAxis], data[Yaw] },
{ s.EnablePitch, s.InvertPitch, HAT.Rot[s.PitchAxis], data[Pitch] },
{ s.EnableRoll, s.InvertRoll, HAT.Rot[s.RollAxis], data[Roll] },
};
for (unsigned i = 0; i < std::size(spec); i++)
{
auto& k = spec[i];
k.place = (k.sign ? -1 : 1) * (k.enable ? k.input : 0);
}
}
#include "ftnoir_tracker_hat_dialog.h"
OPENTRACK_DECLARE_TRACKER(hatire, dialog_hatire, hatire_metadata)
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