// G4Trk.cpp: implementation of the CG4Trk class.
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//
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//////////////////////////////////////////////////////////////////////
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#include <GL/glu.h>
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#include "Quaternion.h"
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#include "struct.h"
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#include "G4Trk.h"
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#include <unistd.h>
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#include <string.h>
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//////////////////////////////////////////////////////////////////////
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// Construction/Destruction
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//////////////////////////////////////////////////////////////////////
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const int FRAMERATE=60;
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CG4Trk::CG4Trk()
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{
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m_bConnected=false;
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m_numHubs=0;
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m_hubList=NULL;
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m_pframeData=NULL;
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m_srcLoc=NULL;
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}
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CG4Trk::~CG4Trk()
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{
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if (m_bConnected)
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g4_close_tracker();
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if (m_hubList)
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delete[] m_hubList;
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if (m_pframeData)
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delete[] m_pframeData;
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if (m_srcLoc)
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delete[] m_srcLoc;
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}
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bool CG4Trk::Connect(char* cfgFile)
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{
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int res=g4_init_sys(&m_sysId,cfgFile,NULL);
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if (res==G4_ERROR_NONE){
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m_bConnected=true;
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// get a list of hubs
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G4_CMD_STRUCT cs;
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cs.cmd=G4_CMD_GET_ACTIVE_HUBS;
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cs.cds.id=G4_CREATE_ID(m_sysId,0,0);
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cs.cds.pParam=NULL;
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int count=0;
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do { // may need to spin awhile until system recognizes attached hubs
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usleep(100000);
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g4_set_query(&cs);
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} while ((cs.cds.iParam==0) && (++count<150));
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if (cs.cds.iParam==0){
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m_bConnected=false;
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g4_close_tracker();
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return false;
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}
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usleep(500000); // one more time to catch any stragglers
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g4_set_query(&cs);
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m_numHubs=cs.cds.iParam;
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m_hubList=new int[m_numHubs];
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cs.cds.pParam=m_hubList;
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g4_set_query(&cs);
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usleep(100000);
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// set units
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// int u=G4_TYPE_INCH;
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// cs.cmd=G4_CMD_UNITS;
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// cs.cds.action=G4_ACTION_SET;
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// cs.cds.iParam=G4_DATA_POS;
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// cs.cds.pParam=&u;
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// int xx=g4_set_query(&cs);
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// set up struct for data acquisition
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m_pframeData=new G4_FRAMEDATA[m_numHubs];
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g4_get_frame_data(m_pframeData,m_sysId,m_hubList,m_numHubs);
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// get source qty and locations
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cs.cmd=G4_CMD_GET_SOURCE_MAP;
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cs.cds.id=G4_CREATE_ID(m_sysId,0,0);
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cs.cds.pParam=NULL;
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g4_set_query(&cs);
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m_numSrc=cs.cds.iParam;
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m_srcLoc=new float[m_numSrc][6];
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// build a structure
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LPG4_SRC_MAP map=new G4_SRC_MAP[m_numSrc];
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cs.cds.pParam=map;
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cs.cds.iParam=(G4_TYPE_INCH<<16)|G4_TYPE_EULER_DEGREE;
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g4_set_query(&cs);
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for (int i=0;i<m_numSrc;i++)
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memcpy(m_srcLoc[i],map[i].pos,sizeof(float)*6);
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delete[] map;
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return true;
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}
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return false;
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}
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//#include <stdio.h>
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int CG4Trk::GetHubsPno(REND_STRUCT* prs)
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{
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// get all pno
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int rv=g4_get_frame_data(m_pframeData,m_sysId,m_hubList,m_numHubs);
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int num_read=rv&0xffff;
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for (int i=0;i<num_read;i++){
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for (int a=0;a<m_numHubs;a++){
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if ((unsigned int)prs->hubList[a].GetId()==m_pframeData[i].hub){
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prs->hubreadmap|=(0x01<<a);
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prs->hubList[a].SetDigIOData(m_pframeData[i].dig_io); // set digio
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for (int j=0;j<G4_SENSORS_PER_HUB;j++){
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if (m_pframeData[i].stationMap&(0x01<<j))
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prs->hubList[a].SetPnoData(m_pframeData[i].sfd[j].pos,j); // set it
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} // end for j
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break;
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} // end if
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} // end for a
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} // end for i
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// /////////////////////////
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// for (int i=0;i<numHubs;i++){ // for ea hub asked for
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// for (int a=0;a<m_numHubs;a++){ // check against all hubs we're tracking
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// if (hubarr[i].GetId()==(int)m_pframeData[a].hub){ // a match
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// if (m_pframeData[a].frame!=0xffffffff){ // make sure new data
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// for (int j=0;j<G4_SENSORS_PER_HUB;j++){
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// if (m_pframeData[a].stationMap&(0x01<<j)) // for ea active sensor
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// hubarr[i].SetPnoData(m_pframeData[a].sfd[j].pos,j); // set it
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// } // end for j
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// }// end if
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// }// end if
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// }// end for a
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// }// end for i
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return rv>>16; // return total hubs on system
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}
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int CG4Trk::GetActHubs()
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{
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return m_numHubs;
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}
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void CG4Trk::GetHubList(int *list, int numEl)
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{
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for (int i=0;i<numEl;i++){
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if (i<m_numHubs)
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list[i]=m_hubList[i];
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}
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}
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void CG4Trk::GetSrcLoc(float (*loc)[6])
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{
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memcpy(loc,m_srcLoc,sizeof(float)*m_numSrc*6);
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}
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int CG4Trk::GetNumSrc()
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{
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return m_numSrc;
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}
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void CG4Trk::Boresight(bool enable)
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{
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float angle[3]={0.0f,0.0f,0.0f} ;
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G4_CMD_STRUCT cs;
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cs.cmd=G4_CMD_BORESIGHT;
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cs.cds.id=G4_CREATE_ID(m_sysId,-1,0); // all hubs,all sensors
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cs.cds.action=enable?G4_ACTION_SET:G4_ACTION_RESET; // boresight or unboresight?
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cs.cds.iParam=G4_TYPE_EULER_DEGREE;
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cs.cds.pParam=angle;
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g4_set_query(&cs);
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}
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void CG4Trk::GetFilterValues(float *pfilt, float *ofilt)
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{
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G4_CMD_STRUCT cs;
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cs.cmd=G4_CMD_FILTER;
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cs.cds.id=G4_CREATE_ID(m_sysId,m_hubList[0],0);
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cs.cds.action=G4_ACTION_GET;
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cs.cds.iParam=G4_DATA_POS;
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cs.cds.pParam=pfilt;
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g4_set_query(&cs);
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cs.cds.iParam=G4_DATA_ORI;
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cs.cds.pParam=ofilt;
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g4_set_query(&cs);
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}
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void CG4Trk::SetFilterValues(float *pfilt, float *ofilt)
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{
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G4_CMD_STRUCT cs;
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cs.cmd=G4_CMD_FILTER;
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cs.cds.id=G4_CREATE_ID(m_sysId,-1,0);
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cs.cds.action=G4_ACTION_SET;
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cs.cds.iParam=G4_DATA_POS;
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cs.cds.pParam=pfilt;
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g4_set_query(&cs);
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cs.cds.iParam=G4_DATA_ORI;
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cs.cds.pParam=ofilt;
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g4_set_query(&cs);
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}
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void CG4Trk::GetSetIncr(float &posIncr, float &oriIncr,bool bSet)
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{
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G4_CMD_STRUCT cs;
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cs.cmd=G4_CMD_INCREMENT;
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float fIncr[2];
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if (bSet){
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cs.cds.id=G4_CREATE_ID(m_sysId,-1,0);
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cs.cds.action=G4_ACTION_SET;
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fIncr[0]=posIncr;
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fIncr[1]=oriIncr;
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}
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else {
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cs.cds.id=G4_CREATE_ID(m_sysId,m_hubList[0],0);
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cs.cds.action=G4_ACTION_GET;
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}
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cs.cds.iParam=(G4_TYPE_INCH<<16)|G4_TYPE_EULER_DEGREE;
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cs.cds.pParam=fIncr;
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g4_set_query(&cs);
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if (!bSet){
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posIncr=fIncr[0];
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oriIncr=fIncr[1];
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}
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}
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int CG4Trk::UpdateHubs()
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{
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// get a list of hubs
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G4_CMD_STRUCT cs;
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cs.cmd=G4_CMD_GET_ACTIVE_HUBS;
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cs.cds.id=G4_CREATE_ID(m_sysId,0,0);
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cs.cds.pParam=NULL;
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g4_set_query(&cs);
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if ((int)cs.cds.iParam!=m_numHubs){
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m_numHubs=cs.cds.iParam;
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delete[] m_hubList;
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delete[] m_pframeData;
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m_hubList=new int[m_numHubs];
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m_pframeData=new G4_FRAMEDATA[m_numHubs];
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cs.cds.pParam=m_hubList;
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g4_set_query(&cs);
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}
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return m_numHubs;
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}
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