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/******************************************************************************
* Copyright © 2012-2014 Institut für Nachrichtentechnik, Universität Rostock *
* Copyright © 2006-2012 Quality & Usability Lab, *
* Telekom Innovation Laboratories, TU Berlin *
* *
* This file is part of the SoundScape Renderer (SSR). *
* *
* The SSR 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 3 of the License, or (at your option) *
* any later version. *
* *
* The SSR is distributed in the hope that it will be useful, but WITHOUT ANY *
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS *
* FOR A PARTICULAR PURPOSE. *
* See the GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program. If not, see <http://www.gnu.org/licenses/>. *
* *
* The SSR is a tool for real-time spatial audio reproduction providing a *
* variety of rendering algorithms. *
* *
* http://spatialaudio.net/ssr ssr@spatialaudio.net *
******************************************************************************/
/// @file
/// Razor AHRS tracker (implementation).
/// See http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs/wiki
#include "trackerrazor.h"
ssr::TrackerRazor::TrackerRazor(api::Publisher& controller
, const std::string& ports)
: Tracker()
, _controller(controller)
, _current_azimuth(0.0f)
, _az_corr(90.0f)
, _init_az_corr(true)
, _tracker(nullptr)
{
if (ports == "")
{
throw std::runtime_error("No serial port(s) specified!");
}
SSR_VERBOSE("Initializing Razor AHRS ...");
std::istringstream iss(ports);
std::string port;
while (iss >> port)
{
if (port != "")
{
SSR_VERBOSE_NOLF("Trying port " << port << " ... ");
try {
_tracker = new RazorAHRS(port,
std::bind(&TrackerRazor::on_data, this, std::placeholders::_1),
std::bind(&TrackerRazor::on_error, this, std::placeholders::_1),
RazorAHRS::YAW_PITCH_ROLL);
}
catch(std::runtime_error& e)
{
SSR_VERBOSE("failure! (" << std::string(e.what()) + ")");
continue;
}
SSR_VERBOSE("success!");
break; // stop trying
}
}
if (_tracker == nullptr)
{
throw std::runtime_error("Could not open serial port!");
}
}
ssr::TrackerRazor::ptr_t
ssr::TrackerRazor::create(api::Publisher& controller, const std::string& ports)
{
ptr_t temp; // temp = NULL
try
{
temp.reset(new TrackerRazor(controller, ports));
}
catch(std::runtime_error& e)
{
SSR_ERROR(e.what());
}
return temp;
}
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