OptiTrack.h

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#ifndef OPTITRACK_H
#define OPTITRACK_H

#ifdef WIN32
#include <string>
#include <windows.h>
#endif

#include <vrecko/IOPins.h>
#include <vrecko/Device.h>
#include <vrecko/EventDispatcher.h>

#include <osg/Vec3>
#include <osg/Vec4>
#include <osg/Matrix>
#include <osg/Quat>

#include "vrpn_Connection.h" // Missing this file?  Get the latest VRPN distro at
#include "vrpn_Tracker.h"    //    ftp://ftp.cs.unc.edu/pub/packages/GRIP/vrpn

#define TRACKER_MAX_COUNT 12

namespace vreckoDP_base {

class DP_EXPORT OptiTrack : public vrecko::Device  {
    public:
        OptiTrack();
        OptiTrack(const char* _port_number);
        ~OptiTrack();

        virtual int openDevice(void);
        int closeDevice(void);

        void preInitialize();
        void postInitialize();
        //void processEvent(const std::string &input_name, void *value);

        void update(void);
        
        bool loadXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *pParametersNode);
        XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *saveXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *);

        void sendEvent(int sid, osg::Vec3 *p, osg::Quat *o);

        inline float getSensorScale() { return sensorScale; }
        inline osg::Vec3* getOriginPosition() { return &_origin_pos; }
        inline osg::Vec3* getTranslateMapping() { return &_trans_mapp; }

        typedef struct {
                int T_ID;
                OptiTrack *pOT;
        } info_struct;

    protected:
        std::string _hostname;
        int _port;
        vrpn_Connection *connection;
        char connectionName[128];
        vrpn_Tracker_Remote *tracker[TRACKER_MAX_COUNT];
        info_struct *is[TRACKER_MAX_COUNT];

        //void VRPN_CALLBACK handle_tracker0(void *, const vrpn_TRACKERCB t);

        osg::Vec3 _origin_pos, _trans_mapp;
        float sensorScale;
        unsigned int sensor_count;
        bool deprecated_version;
        std::string server_address;
        
        vrecko::EventDispatcher *pEventDispatcher;

        void addSensor(int i);

        DECLARE_INPUT(SetSensorCount, vrecko::MessageInt);
        DECLARE_OUTPUT(Sensor_Transformation, vrecko::MessageSensorTransformation);
};

}

#endif