UltraTrakModule.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 _ULTRATRAKMODULE_H
#define _ULTRATRAKMODULE_H

#include "../OpenTracker.h"
#include "UltraTrakSource.h"

#include <ace/SOCK_Dgram.h>

#include <vector>


#ifndef OT_NO_ULTRATRACK_SUPPORT


namespace ot {

    struct Station
    {
        int number;    
        Event event;
        int modified;
        UltraTrakSource * source;

        Station( const int number_, UltraTrakSource * source_ ) :
            number( number_ ), modified( 0 ), source( source_ )
        {};
    };


    typedef std::vector<Station *> StationVector;

    const int ultraTrakMaxUnits = 16;

    struct UltraTrakStationData
    {
        char dummy1;
        char boardNumber;
        char updateFlag;
        char stationNumber;
#ifdef ERRORCODE
        char errorCode;
#endif
        char dummy2;
        char position[3][4];
        char orientation[4][4];
    };
        
    struct UltraTrakFrameData
    {
        char header[56];
        UltraTrakStationData stationData[ultraTrakMaxUnits];
    };


     
    class OPENTRACKER_API UltraTrakModule : public ThreadModule, public NodeFactory
    {
        // members
    protected:    
    
        StationVector stations;
        UltraTrakFrameData buffer;
        int port;
        int stop;

        int positionMapping[3];
        int invertPosition[3];
        int orientationMapping[3];
        int invertOrientation[3];
    
        // methods
    protected:
        static void convertFloatsNToHl(float* floats, float* result, int num);
        void run();
        int parseVector(const std::string & line, int * val);
        void initMappping(int *mapping);
        void initInversion(int *inversion);
        void calcInversion(int *inversion);
        void correctData(std::vector<float> &d, int *mapping, int *inversion);

    public:    
        UltraTrakModule();

        virtual ~UltraTrakModule();
        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();             
    };
        OT_MODULE(UltraTrakModule);

} // namespace ot


#endif // OT_NO_ULTRATRACK_SUPPORT


#endif

/* 
 * ------------------------------------------------------------
 *   End of UltraTrakModule.h
 * ------------------------------------------------------------
 *   Automatic Emacs configuration follows.
 *   Local Variables:
 *   mode:c++
 *   c-basic-offset: 4
 *   eval: (c-set-offset 'substatement-open 0)
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 */

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