Ultratrak.h

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/***************************************************************************
                          ultratrak.h  -  description
                             -------------------
    begin                : February 2003
    copyright            : (C) 2003 by Jan Flasar
    email                : flasar@fi.muni.cz
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

#ifndef ULTRATRAK_H
#define ULTRATRAK_H

#ifdef WIN32
#include <string>
#include <windows.h>
#else
#define POLHEMUS_PORT 5555
#define POLHEMUS_PORT2 5555
#define POLHEMUS_HEADER "Frame %3d FrameSize %3d HeaderSize %3d RecordSize %3d \r\n"


#include <errno.h>
#include <fcntl.h>
#include <math.h>
#include <netdb.h>
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <netinet/in.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/socket.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <arpa/inet.h>
#include <sys/wait.h>
#include <strings.h>

#endif

#include <vrecko/IOPins.h>
#include <vrecko/Device.h>
#include <osg/Vec3>
#include <osg/Vec4>
#include <osg/Matrix>
#include <osg/Quat>


#define BUFSIZE 1000


namespace vreckoDP_base {



class DP_EXPORT Ultratrak : public vrecko::Device  {
    public:
        Ultratrak() : Device("Ultratrak") {};
        Ultratrak(const char* _port_number);
        ~Ultratrak();
        
        virtual int openDevice(void);
        int closeDevice(void);

        void update(void);
        
        int getRotate(float *p_rotate);
        osg::Vec3 &getRotate(void);
        osg::Vec3 &getRotateA(void);
        osg::Matrix &getRotateM(void);
        osg::Quat &getRotateQ(void);
        int getTranslate(float *p_trans);
        osg::Vec3 &getTranslate(void);
        
        void setInitialPosition(osg::Vec4 &_pos);
        void setInitialRotation(osg::Vec4 &_rot);
        void setInitialPosition(osg::Vec4 &_pos1, osg::Vec4 &_pos2);
        void setInitialRotation(osg::Vec4 &_rot1, osg::Vec4 &_rot2);

        void setOriginPosition(float _nx, float _ny, float _nz) {_origin_pos.set(_nx, _ny, _nz);}
        void setTranslateMapping(float _nx, float _ny, float _nz) {_trans_mapp.set(_nx, _ny, _nz);}

    protected:
        std::string _hostname;
        int scanDevice(void);
        int _port;                               // Èíslo portu
        char _buf[BUFSIZE];                      // Pøijímací buffer
#ifdef WIN32
        WORD _wVersionRequested;    // = MAKEWORD(1,1); // Èíslo verze
        WSADATA _data;                           // Struktura s info. o knihovnì
        std::string _text;                            // Odesílaný a pøijímaný text
        hostent *_host;                          // Vzdálený poèítaè
        sockaddr_in _serverSock;                 // Vzdálený "konec potrubí"
        sockaddr_in _other;                      // Odesílatel dat
        SOCKET _mySocket;                        // Soket
        // int _port;                               // Èíslo portu
        //char _buf[BUFSIZE];                      // Pøijímací buffer
        int _size;                               // Poèet pøijatých a odeslaných bytù
        int _addrlen;                            // Délka adresy serveru
        bool openSocket(void);  //char *pcCommPort, HANDLE *temp_hCom);

#else
        int sockfd;
        struct sockaddr_in sockname;
        int length;
        bool openSocket(void);  //char *_port_name, int *temp_port_fd);
#endif
        bool scanDeviceX(void);


        osg::Vec3 _translate[4], _ret_translate[4];
        osg::Quat _rotate[4], _ret_rotate[4];

        osg::Vec3 _origin_pos, _trans_mapp;

        DECLARE_OUTPUT(Position_sensor_0, vrecko::MessageVec3);
        DECLARE_OUTPUT(Orientation_sensor_0, vrecko::MessageQuat);
        DECLARE_OUTPUT(Position_sensor_1, vrecko::MessageVec3);
        DECLARE_OUTPUT(Orientation_sensor_1, vrecko::MessageQuat);
        DECLARE_OUTPUT(Position_sensor_2, vrecko::MessageVec3);
        DECLARE_OUTPUT(Orientation_sensor_2, vrecko::MessageQuat);
        DECLARE_OUTPUT(Position_sensor_3, vrecko::MessageVec3);
        DECLARE_OUTPUT(Orientation_sensor_3, vrecko::MessageQuat);
};

}

#endif