FOBModule.h

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/* ========================================================================
 * Copyright (c) 2006,
 * Institute for Computer Graphics and Vision
 * Graz University of Technology
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 *
 * Neither the name of the Graz University of Technology nor the names of
 * its contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
 * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
 * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * ========================================================================
 * PROJECT: OpenTracker
 * ======================================================================== */
/* ======================================================================= */

#ifndef _FOBMODULE_H
#define _FOBMODULE_H

#include "../OpenTracker.h"

#include <map>


#ifndef OT_NO_FOB_SUPPORT


namespace ot {

    class Bird;
    class OPENTRACKER_API FOBModule : public ThreadModule, public NodeFactory
    {
        // Members
    protected:

        enum Hemisphere { FORWARD, REAR, UPPER, LOWER, LEFT, RIGHT } hemisphere;

        enum Mode { MULTI, SINGLE } mode;

        int master;
    
        int transmitter;
    
        float scale;

        float referenceframe[3];

        bool useXYZFrame;
    
        std::map<int, Bird *> birds;

        bool stop;

        // Methods
    protected:
        virtual void run(); 

    public:
        FOBModule();

        virtual ~FOBModule();
        virtual void init(StringTable& attributes,  ConfigNode * localTree);
        virtual Node * createNode( const std::string& name,  StringTable& attributes);    
    
        virtual void start();
        virtual void close();
        virtual void pushEvent();

    private :
        int initFoB();

        int resetBirds();

        int setReportMode();

        int setNextTransmitter();

        int startStreamMode();

        void setHemisphere();

        void setScale();

        void setAngleAlign();

        void setReferenceFrame();
    
        void setXYZFrame();

        friend class Bird;
    };

        OT_MODULE(FOBModule);

} // namespace ot


#endif // OT_NO_FOB_SUPPORT


#endif

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