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ot::FastTrakModule Class Reference
[Device Input Classes]

developer level information and implementation specifics here More...

#include <FastTrakModule.h>

Inheritance diagram for ot::FastTrakModule:

[legend]Collaboration diagram for ot::FastTrakModule:


Public Member Functions
	FastTrakModule ()
virtual	~FastTrakModule ()
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 ()
Protected Member Functions
virtual void	run ()
int	initFastTrak ()
int	parseRecordFT (char c, char *b)
int	parseRecordIT (char c, char *b)
void	setButtonIT (int stationNr, int button)
void	convert (int stationNr, char *b)
Protected Attributes
int	stop
tmpStationEvent *	stations
NodeVector	nodes
int	trackerType
SerialPort	port
int	numberOfStations
std::string	hemisphere
std::string	referenceFrame
std::string	initString

Detailed Description

developer level information and implementation specifics here

Author:: Rainer Splechtna

Definition at line 101 of file FastTrakModule.h.

Constructor & Destructor Documentation

ot::FastTrakModule::FastTrakModule ( )

constructor method.

Definition at line 71 of file FastTrakModule.cxx.

ot::FastTrakModule::~FastTrakModule ( ) [virtual]

Destructor method, clears nodes member.

Definition at line 76 of file FastTrakModule.cxx.

References nodes, and stations.

Member Function Documentation

void ot::FastTrakModule::close ( ) [virtual]

closes serial port

Reimplemented from ot::ThreadModule.

Definition at line 269 of file FastTrakModule.cxx.

References closeSerialPort(), ot::Module::isInitialized(), ot::ThreadModule::lock(), port, ot::Module::stop(), and ot::ThreadModule::unlock().

void ot::FastTrakModule::convert	(	int	stationNr,
		char *	b
	)			`[protected]`

converts data record to OpenTracker event values and updates the event of the specified station.

Parameters:

	stationNr	number of station the data record is associated with
	b	pointer to array of characters, representing a whole data record

Definition at line 629 of file FastTrakModule.cxx.

References ot::buildPositionFT(), ot::buildPositionIT(), ot::buildQuaternionFT(), ot::buildQuaternionIT(), ot::FASTTRAK, ot::ISOTRAK, ot::tmpStationEvent::newVal, stations, and trackerType.

Referenced by run().

Node * ot::FastTrakModule::createNode	(	const std::string &	name,
		StringTable &	attributes
	)			`[virtual]`

This method is called to construct a new Node.

It compares name to the FastTrakSource element name, and if it matches creates a new FastTrakSource node.

Parameters:

name

reference to string containing element name refenrence to StringTable containing attribute values

Returns:: pointer to new Node or NULL. The new Node must be allocated with new !

Implements ot::NodeFactory.

Definition at line 123 of file FastTrakModule.cxx.

References ot::StringTable::get(), nodes, and numberOfStations.

void ot::FastTrakModule::init	(	StringTable &	attributes,
		ConfigNode *	localTree
	)			`[virtual]`

initializes the tracker module.

Parameters:

	attributes	StringTable of elements attribute values.
	localTree	pointer to root of configuration nodes tree

Reimplemented from ot::Module.

Definition at line 84 of file FastTrakModule.cxx.

References ot::FASTTRAK, ot::StringTable::get(), hemisphere, ot::Module::init(), initString, ot::ISOTRAK, LOG_ACE_ERROR(), LOG_ACE_INFO(), numberOfStations, SerialPort::pathname, port, referenceFrame, stations, and trackerType.

int ot::FastTrakModule::initFastTrak ( ) [protected]

inits the whole fasttrak according to the parameters stored in the module.

It can be used to reset the flock after some communication failure.

Returns:: 0 if everything is ok, otherwise < 0

Definition at line 176 of file FastTrakModule.cxx.

References ot::FASTTRAK, hemisphere, initString, ot::ISOTRAK, numberOfStations, port, readfromSerialPort(), referenceFrame, ot::OSUtils::sleep(), trackerType, and writetoSerialPort().

Referenced by run().

int ot::FastTrakModule::parseRecordFT	(	char	c,
		char *	b
	)			`[protected]`

parses the input stream from the FastTrak tracker

Parameters:

	c	new charcter read from input stream
	b	pointer to char array, where the actual data record of a station of the tracker is stored

Returns:: -1 if reading of one data record is not completed -2 if too much junk was read 0,1 number of station for which a whole data record was read

number of bytes of the tracker's output record

Definition at line 386 of file FastTrakModule.cxx.

References numberOfStations, ot::tsGetRec, ot::tsSpace, ot::tsStart, ot::tsStationNumber, and ot::tsSyncBit.

Referenced by run().

int ot::FastTrakModule::parseRecordIT	(	char	c,
		char *	b
	)			`[protected]`

parses the input stream from the IsoTrak II tracker

Parameters:

	c	new charcter read from input stream
	b	pointer to char array, where the actual data record of a station of the tracker is stored

Returns:: -1 if reading of one data record is not completed -2 if too much junk was read 0,1 number of station for which a whole data record was read

Definition at line 455 of file FastTrakModule.cxx.

References numberOfStations, setButtonIT(), ot::tsGetRec, ot::tsSpace, ot::tsStart, and ot::tsStationNumber.

Referenced by run().

void ot::FastTrakModule::pushEvent ( ) [virtual]

pushes events into the tracker tree.

Checks all stations for new data and fires the FastTrakSources, if new data is present.

Reimplemented from ot::Module.

Definition at line 354 of file FastTrakModule.cxx.

References ot::tmpStationEvent::event, ot::FastTrakSource::event, ot::Module::isInitialized(), ot::ThreadModule::lock(), ot::tmpStationEvent::newVal, nodes, ot::FastTrakSource::station, stations, ot::Event::timeStamp(), ot::ThreadModule::unlock(), and ot::Node::updateObservers().

void ot::FastTrakModule::run ( ) [protected, virtual]

this method is the code executed in its own thread, it reads from the specified serial port, parses the incoming data and updates the event of the utilized stations

Reimplemented from ot::ThreadModule.

Definition at line 284 of file FastTrakModule.cxx.

References convert(), ot::FASTTRAK, initFastTrak(), ot::ISOTRAK, ot::ThreadModule::lock(), parseRecordFT(), parseRecordIT(), port, readfromSerialPort(), ot::OSUtils::sleep(), ot::Module::stop(), trackerType, and ot::ThreadModule::unlock().