vrpn_YEI_3Space.h

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#ifndef VRPN_YEI_3SPACE_H
#define VRPN_YEI_3SPACE_H

#include "quat.h"
#include "vrpn_Tracker.h"
#include "vrpn_Analog.h"
#include "vrpn_Button.h"

class VRPN_API vrpn_YEI_3Space
  : public vrpn_Tracker_Server
  , public vrpn_Analog
  , public vrpn_Button_Filter
{
public:
  vrpn_YEI_3Space (const char * name,
    vrpn_Connection * c,
    bool calibrate_gyros_on_setup = false,
    bool tare_on_setup = false,
    double frames_per_second = 50,
    double red_LED_color = 0,
    double green_LED_color = 0,
    double blue_LED_color = 0,
    int LED_mode = 1,
    const char *reset_commands[] = NULL);

  virtual ~vrpn_YEI_3Space();

  virtual void mainloop ();
    
protected:
  void init(bool calibrate_gyros_on_setup
            , bool tare_on_setup
            , double frames_per_second
            , double red_LED_color
            , double green_LED_color
            , double blue_LED_color
            , int LED_mode);

  virtual void flush_input(void) = 0;

  // A list of ASCII commands that are sent to the device after
  // the other reset commands have been sent, each time the device
  // is reset.  This enables arbitrary configuration.
  char **d_reset_commands;        //< Commands to send on reset
  int d_reset_command_count;      //< How many reset commands

  // Status and handlers for different states
  int     d_status;               //< What are we currently up to?
  virtual int reset(void);        //< Set device back to starting config
  virtual bool get_report(void) = 0;  //< Try to read and handle a report from the device
  virtual void handle_report(unsigned char *report);  //< Parse and handle a complete streaming report

  double  d_frames_per_second;    //< How many frames/second do we want?
  int     d_LED_mode;             //< LED mode we read from the device.
  vrpn_float32  d_LED_color[3];   //< LED color we read from the device.

 virtual bool send_binary_command(const unsigned char *cmd, int len) = 0;

  virtual bool send_ascii_command(const char *cmd) = 0;

  virtual bool receive_LED_mode_response(struct timeval *timeout = NULL) = 0;

  virtual bool receive_LED_values_response(struct timeval *timeout = NULL) = 0;

  unsigned char d_buffer[128];        //< Buffer to read reports into.
  unsigned d_expected_characters;     //< How many characters we are expecting
  unsigned d_characters_read;         //< How many characters we've read so far

  struct timeval timestamp;   //< Time of the last report from the device

  virtual void report_changes
                 (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
  virtual void report
                 (vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY);
};

class VRPN_API vrpn_YEI_3Space_Sensor
  : public vrpn_YEI_3Space
{
public:
  vrpn_YEI_3Space_Sensor (const char * name,
    vrpn_Connection * c,
    const char * port,
    int baud = 115200,
    bool calibrate_gyros_on_setup = false,
    bool tare_on_setup = false,
    double frames_per_second = 50,
    double red_LED_color = 0,
    double green_LED_color = 0,
    double blue_LED_color = 0,
    int LED_mode = 1,
    const char *reset_commands[] = NULL);

  virtual ~vrpn_YEI_3Space_Sensor();

protected:
  int d_serial_fd;    //< Serial port to read from.

  virtual void flush_input(void);

  virtual bool get_report(void);  //< Try to read and handle a report from the device

  bool send_binary_command(const unsigned char *cmd, int len);

  bool send_ascii_command(const char *cmd);

  bool receive_LED_mode_response(struct timeval *timeout = NULL);

  bool receive_LED_values_response(struct timeval *timeout = NULL);
};

class VRPN_API vrpn_YEI_3Space_Sensor_Wireless
  : public vrpn_YEI_3Space
{
public:
  vrpn_YEI_3Space_Sensor_Wireless (const char * name,
    vrpn_Connection * c,
    int logical_id,
    int serial_number,
    const char * port,
    int baud = 115200,
    bool calibrate_gyros_on_setup = false,
    bool tare_on_setup = false,
    double frames_per_second = 50,
    double red_LED_color = 0,
    double green_LED_color = 0,
    double blue_LED_color = 0,
    int LED_mode = 1,
    const char *reset_commands[] = NULL);

  vrpn_YEI_3Space_Sensor_Wireless (const char * name,
    vrpn_Connection * c,
    int logical_id,
    int serial_number,
    int serial_file_descriptor,
    bool calibrate_gyros_on_setup = false,
    bool tare_on_setup = false,
    double frames_per_second = 50,
    double red_LED_color = 0,
    double green_LED_color = 0,
    double blue_LED_color = 0,
    int LED_mode = 1,
    const char *reset_commands[] = NULL);

  virtual ~vrpn_YEI_3Space_Sensor_Wireless();

  int get_serial_file_descriptor(void) const { return d_serial_fd; }

protected:
  bool d_i_am_first;  //< Records whether I'm the first sensor (so close the port)
  int d_serial_fd;    //< Serial port to read from.
  vrpn_uint8 d_logical_id;   //< Which logical ID are we assigned to on the dongle?

  virtual bool configure_dongle(void);

  virtual bool set_logical_id(vrpn_uint8 logical_id, vrpn_int32 serial_number);

  virtual void flush_input(void);

  virtual bool get_report(void);

  bool send_binary_command_to_dongle(const unsigned char *cmd, int len);

  bool send_binary_command(const unsigned char *cmd, int len);

  bool send_ascii_command(const char *cmd);

  bool receive_LED_mode_response(struct timeval *timeout = NULL);

  bool receive_LED_values_response(struct timeval *timeout = NULL);
};

#endif