vrpn_Tracker_Liberty.h

// vrpn_Tracker_Liberty.h
//  This file contains the class header for a Polhemus Liberty Tracker.
// This file is based on the vrpn_Tracker_Fastrak.h file, with modifications made
// to allow it to operate a Liberty instead.
//  It has been tested on Linux and relies on being able to open the USB
// port as a named port and using serial commands to communicate with it.
 
#ifndef VRPN_TRACKER_LIBERTY_H
#define VRPN_TRACKER_LIBERTY_H
 
#include <stdio.h> // for NULL
 
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Tracker.h" // for vrpn_Tracker_Serial
#include "vrpn_Types.h" // for vrpn_uint32
 
class VRPN_API vrpn_Button_Server;
class VRPN_API vrpn_Connection;
 
const int vrpn_LIBERTY_MAX_STATIONS = 8;    //< How many stations can exist
const int vrpn_LIBERTY_MAX_WHOAMI_LEN = 1024; //< Maximum whoami response length
 
class VRPN_API vrpn_Tracker_Liberty: public vrpn_Tracker_Serial {
 
 public:
 
 
 vrpn_Tracker_Liberty(const char *name, vrpn_Connection *c, 
 const char *port = "/dev/ttyS0", long baud = 115200,
 int enable_filtering = 1, int numstations = vrpn_LIBERTY_MAX_STATIONS,
 const char *additional_reset_commands = NULL, int whoamilen = 195);
 
 ~vrpn_Tracker_Liberty();
 
 int add_stylus_button(const char *button_device_name,
 int sensor, int numbuttons = 1);
 protected:
 
 virtual int get_report(void);
 virtual void reset();
 
 struct timeval reset_time;
 int   do_filter;      //< Should we turn on filtering for pos/orient?
 int   num_stations;       //< How many stations maximum on this Liberty?
 int   num_resets;     //< How many resets we've tried this time.
 char  add_reset_cmd[2048];    //< Additional reset commands to be sent
 int   whoami_len;
 int   got_single_sync_char;
 
 struct timeval liberty_zerotime;    //< When the liberty time counter was zeroed
 struct timeval liberty_timestamp; //< The time returned from the Liberty System
  vrpn_uint32   REPORT_LEN;     //< The length that the current report should be
 
 vrpn_Button_Server    *stylus_buttons[vrpn_LIBERTY_MAX_STATIONS]; //< Pointer to button on each sensor (NULL if none)
 
 int set_sensor_output_format(int sensor);
 
 int report_length(int sensor);
};
 
#endif