vrpn_Flock_Parallel.h

/*****************************************************************************\
  vrpn_Flock_Parallel.h
  --
  Description : implements a class which runs an ascension flock of birds
                tracker in multiple rs232 mode.
 
  ----------------------------------------------------------------------------
  Author: weberh
  Created: Thu Mar  5 19:38:55 1998
  Revised: Fri Mar 19 15:05:28 1999 by weberh
\*****************************************************************************/
#ifndef _VRPN_FLOCK_PARALLEL_H_
#define _VRPN_FLOCK_PARALLEL_H_
 
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Flock.h" // for vrpn_Tracker_Flock, etc
#include "vrpn_Types.h" // for vrpn_int32
 
class VRPN_API vrpn_Connection;
 
// This is a class which provides a server for an ascension 
// Flock of Birds tracker.  The server will send out messages
// at whatever rate the flock of bird's stream mode feeds them.
// Default filtering is active.
// The timestamp is the time when the first character was read
// from the serial driver with "read".  No adjustment is currently
// made to this time stamp.
 
// Adelstein, et al, "Dynamic response of electromagnetic spatial
// displacement trackers", Presence 5(3) found that if all of the filters
// are turned off, and the time required to transport the data to the
// server is ignored, then the latency of the flock is about 2 ms for ori,
// 7.5 ms for pos for the 0-4hz range (ie, when the data is ready to leave
// the flock in stream mode, the pos is 7.5 ms old, and the ori is 2 ms
// old).  Later this data will be combined with the baud rate to provide a
// more accurate time stamp for certain flock modes.
 
// If this is running on a non-linux system, then the serial port driver
// is probably adding more latency -- see the vrpn README for more info.
 
// forward decl
class VRPN_API vrpn_Tracker_Flock_Parallel_Slave;
 
// this class acts as the master
// these are both derived from vrpn_Tracker_Flock to take advantage
// of some of the data and functionality, but they replace the major 
// functions
class VRPN_API vrpn_Tracker_Flock_Parallel: public vrpn_Tracker_Flock {
 
 public:
 
 // for parallel, you supply the master port and then the 
 // slave ports in a array with cSensors elements
 vrpn_Tracker_Flock_Parallel(char *name, vrpn_Connection *c, int cSensors,
 char *port, long baud,
 char *slavePortArray[],
 bool invertQuaternion = false);
 
 virtual ~vrpn_Tracker_Flock_Parallel();
 virtual void mainloop();
 
 protected:
 virtual int get_report(void);
 virtual void reset();
 
 // slave ptrs
 vrpn_Tracker_Flock_Parallel_Slave *rgSlaves[VRPN_FLOCK_MAX_SENSORS];
};
 
// the special args are the master's vrpn id and tracker pos msg id
// The slave masquerades as the master when sending out reports
class VRPN_API vrpn_Tracker_Flock_Parallel_Slave : public vrpn_Tracker_Flock {
public:
 vrpn_Tracker_Flock_Parallel_Slave( char *name,
 vrpn_Connection *c,
 char *port,
 long baud,
                     vrpn_int32 vrpnMasterID,
 int iSensorID );
 virtual ~vrpn_Tracker_Flock_Parallel_Slave();
 virtual void mainloop();
 
 protected:
 virtual void reset();
 
 friend class VRPN_API vrpn_Tracker_Flock_Parallel;
};
 
#endif // _VRPN_FLOCK_PARALLEL_H_