[tobin]

Our FOB plug-in is admittedly not the most sophisticated. It limits include a single bird operation and hard-coded settings such as COM1 at 115.2kbs. I'm copying the C code below that initializes and updates the Bird below. Perhaps by looking at our initialization statements, you'll see what might be causing yours to not work.

A preferred method to connect to a FOB is to use the open-source VRPN protocol. Vizard fully support VRPN devices and from our experience most users are pleased with the results they get from this method. We have a small redistribution of VRPN along with a sample Vizard script that you can immediately download and test out. You'll need to edit the vrpn.cfg file to connect to a FOB rather than run in the test mode which it's in right now (see the readme.txt file).

You can download the VRPN demo here:

http://www.worldviz.com/download/index.php?id=19

If you have any further troubles, please don't hesitate to ask further questions.


Here's the guts of the Vizard FOB plug-in:

PHP Code:

void InitializeSensor(void *sensor)
{
    BOOL birdFound = FALSE;
    WORD comport = 1;
    for(int i = 1; i <= 2; i++) {
        comport = i;
        if(birdRS232WakeUp(1,TRUE,1,&comport,115200,2000,2000)) {
            birdFound = TRUE;
            break;
        }
    }

    if(!birdFound) {
        printf("** ERROR: Could not find bird on COM 1 or 2\n");
        ((VRUTSensorObj *)sensor)->status = FALSE;
        return;
    }

    ((VRUTSensorObj *)sensor)->status = TRUE;

    if(ANGLE_MODE == SENSOR_QUATERNION)
        birdRS232SendCommand(1,1,"\\",1);

    birdGetDeviceConfig(1,1,&devconfig);
    birdStartFrameStream(1);
}

void UpdateSensor(void *sensor)
{
    // Update the sensor data fields (see sensor.h)
    // Fields 0-2: reserved for x, y, z position data
    // Fields 3-5: reserved for yaw, pitch, roll
    // or
    // Fields 3-6: reserved for quaternion data
    //
    // eg:
    // ((VRUTSensorObj *)sensor)->data[0] = newX;

    if (birdFrameReady(1))
    {
        BIRDFRAME frame;
        birdGetMostRecentFrame(1,&frame);

        BIRDREADING *preading;
        preading = &frame.reading[0];

        double pos_scale = devconfig.wScaling;

        pos[0] = (float)(preading->position.nX * pos_scale / 32767.0f) * 0.0254f;
        pos[1] = (float)(preading->position.nY * pos_scale / 32767.0f) * 0.0254f;
        pos[2] = (float)(preading->position.nZ * pos_scale / 32767.0f) * 0.0254f;

        ((VRUTSensorObj *)sensor)->data[0] = pos[1] - offset[1];
        ((VRUTSensorObj *)sensor)->data[1] = -(pos[2] - offset[2]) + height;
        ((VRUTSensorObj *)sensor)->data[2] = pos[0] - offset[0];

        if(ANGLE_MODE == SENSOR_EULER2) {
            yaw = preading->angles.nAzimuth * AngleConversion;
            ((VRUTSensorObj *)sensor)->data[3] = yaw - yawOffset;
            ((VRUTSensorObj *)sensor)->data[4] = -preading->angles.nElevation * AngleConversion;
            ((VRUTSensorObj *)sensor)->data[5] = preading->angles.nRoll * AngleConversion;
        } else if (ANGLE_MODE == SENSOR_QUATERNION) {
            ((VRUTSensorObj *)sensor)->data[3] = preading->quaternion.nQ0 * QuatConversion;
            ((VRUTSensorObj *)sensor)->data[4] = preading->quaternion.nQ1 * QuatConversion;
            ((VRUTSensorObj *)sensor)->data[5] = preading->quaternion.nQ2 * QuatConversion;
            ((VRUTSensorObj *)sensor)->data[6] = preading->quaternion.nQ3 * QuatConversion;
        }


    }
}