diff --git a/addons/vrpn/Root.tscn b/addons/vrpn/Root.tscn deleted file mode 100644 index eb24b99..0000000 --- a/addons/vrpn/Root.tscn +++ /dev/null @@ -1,90 +0,0 @@ -[gd_scene load_steps=5 format=3 uid="uid://bj5ykdjle10tt"] - -[ext_resource type="Script" uid="uid://dmq3i7qmo1qe0" path="res://addons/vrpn/scripts/VRPN.gd" id="2_24d08"] -[ext_resource type="Script" uid="uid://dpj1wrvfsiq4v" path="res://addons/vrpn/scripts/VRPN_Receiver.gd" id="2_170dk"] -[ext_resource type="PackedScene" uid="uid://b426fy7d6jw2d" path="res://addons/vrpn/assets/axis.blend" id="3_170dk"] - -[sub_resource type="PlaneMesh" id="PlaneMesh_24d08"] -size = Vector2(6, 2) - -[node name="Node3D" type="Node3D"] - -[node name="Camera3D" type="Camera3D" parent="."] -transform = Transform3D(-1, 0, 8.74228e-08, 0, 1, 0, -8.74228e-08, 0, -1, 0, 0.355791, -1.59348) - -[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] -transform = Transform3D(-0.878275, 0.266876, -0.396749, -7.71365e-11, 0.829749, 0.558137, 0.478155, 0.490197, -0.728748, 0, 0.631436, 0) -shadow_enabled = true - -[node name="Root" type="Node3D" parent="."] - -[node name="VRPN" type="Node3D" parent="Root" node_paths=PackedStringArray("tracker_receivers")] -script = ExtResource("2_24d08") -tracker_receivers = [NodePath("RB1"), NodePath("RB2"), NodePath("../SpinTracker/Offset0/Tracker0"), NodePath("../SpinTracker/Tracker1"), NodePath("../SpinTracker/Offset2/Tracker2")] - -[node name="RB1" type="Node3D" parent="Root/VRPN"] -visible = false -script = ExtResource("2_170dk") -tracker_name = "RB1" - -[node name="axis" parent="Root/VRPN/RB1" instance=ExtResource("3_170dk")] -transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0) - -[node name="RB2" type="Node3D" parent="Root/VRPN"] -visible = false -script = ExtResource("2_170dk") -tracker_name = "RB2" - -[node name="axis" parent="Root/VRPN/RB2" instance=ExtResource("3_170dk")] -transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0) - -[node name="Floor" type="MeshInstance3D" parent="Root"] -mesh = SubResource("PlaneMesh_24d08") - -[node name="Wall" type="MeshInstance3D" parent="Root"] -transform = Transform3D(-1, 8.74228e-08, -3.82137e-15, 0, -4.37114e-08, -1, -8.74228e-08, -1, 4.37114e-08, 0, 0.93633, 1.06259) -mesh = SubResource("PlaneMesh_24d08") - -[node name="SpinTracker" type="Node3D" parent="Root"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.764802, 0) - -[node name="Tracker1" type="Node3D" parent="Root/SpinTracker"] -script = ExtResource("2_170dk") -tracker_name = "Tracker1" -tracker_use_position = false - -[node name="axis2" parent="Root/SpinTracker/Tracker1" instance=ExtResource("3_170dk")] -transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0) - -[node name="Label3D2" type="Label3D" parent="Root/SpinTracker/Tracker1"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.759683, 0) -text = "Y-Axis" - -[node name="Offset2" type="Node3D" parent="Root/SpinTracker"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 0, 0) - -[node name="Tracker2" type="Node3D" parent="Root/SpinTracker/Offset2"] -script = ExtResource("2_170dk") -tracker_name = "Tracker2" -tracker_use_position = false - -[node name="axis" parent="Root/SpinTracker/Offset2/Tracker2" instance=ExtResource("3_170dk")] -transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0) - -[node name="Label3D3" type="Label3D" parent="Root/SpinTracker/Offset2/Tracker2"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.764205, 0) -text = "Z-Axis" - -[node name="Offset0" type="Node3D" parent="Root/SpinTracker"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0) - -[node name="Tracker0" type="Node3D" parent="Root/SpinTracker/Offset0"] -script = ExtResource("2_170dk") -tracker_use_position = false - -[node name="axis" parent="Root/SpinTracker/Offset0/Tracker0" instance=ExtResource("3_170dk")] -transform = Transform3D(0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1, 0, 0, 0) - -[node name="Label3D" type="Label3D" parent="Root/SpinTracker/Offset0/Tracker0"] -transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.769847, 0) -text = "X-Axis" diff --git a/addons/vrpn/vrpn.test.cfg b/addons/vrpn/vrpn.test.cfg deleted file mode 100644 index 92639fb..0000000 --- a/addons/vrpn/vrpn.test.cfg +++ /dev/null @@ -1,3480 +0,0 @@ -# vrpn.cfg SAMPLE for VRPN version 07.35 - -################################################################################ -################################################################################ -# This file provides comments and examples for the vrpn.cfg file that is read -# by the vrpn_server application when it starts up. This is a generic server -# application that can start up many but maybe not all servers. -# -# This has sample lines for a vrpn.cfg file. If you get a new device working, -# add a line for it here. DO NOT remove lines from this file (unless -# devices are declared obsolete) - just change the actual vrpn.cfg to match -# your application. -# -# All examples in the file are preceded by comment characters (#). To actually -# use one of these examples, remove that character from the beginning of all the -# examples that you want to use, and edit those lines to suit your environment. -################################################################################ - -################################################################################ -# NULL Tracker. This is a "device" that reports the Identity transformation for -# each of its sensors at the specified rate. It can be used to verify -# connections are working and for other tests of VRPN. -# There are three arguments: -# char name_of_this_device[] -# int number_of_sensors -# float rate_at_which_to_report_updates - -# vrpn_Tracker_NULL Tracker0 2 2.0 - -################################################################################ -# Spin Tracker. This is a "device" that reports a spinning rotation at the -# origin for each of its sensors at the specified rate. It can be used to -# provide smooth motion to debug rendering systems. -# There are seven arguments: -# char name_of_this_device[] -# int number_of_sensors -# float rate_at_which_to_report_updates -# float x_of_axis_to_spin_around -# float y_of_axis_to_spin_around -# float z_of_axis_to_spin_around -# float rotation_rate_around_axis_in_Hz - -vrpn_Tracker_Spin Tracker0 1 200.0 1.0 0.0 0.0 0.1 -vrpn_Tracker_Spin Tracker1 1 200.0 0.0 1.0 0.0 0.2 -vrpn_Tracker_Spin Tracker2 1 200.0 0.0 0.0 1.0 0.3 - -################################################################################ -# WintrackerIII from VR SPace -# Emiliano Pastorelli - Institute of Cybernetics, Tallinn (Estonia) -# -# Several other commands are available to control the device, a future version of the server will implement them too -# -# char name_of_the_device[] -# activate sensor0 activate (1=activated, 0=deactivated) -# activate sensor1 activate (1=activated, 0=deactivated) -# activate sensor2 (1=activated, 0=deactivated) -# activate range extender (1=activated, 0=deactivated) -# hemisphere of operation (X = front hemisphere with X>0; Z = upper hemisphere with Z<0 ) -# - -#vrpn_Tracker_Wintracker Wintracker0 1 0 0 0 X - -################################################################################ -# Example Button server. This is a "device" that reports on and off for -# each of its buttons at the specified rate. It can be used to verify connections -# are working and for other tests of VRPN. There are three arguments: -# char name_of_this_device[] -# int number_of_buttons -# float rate_at_which_the_buttons_toggle (transitions/second) - -#vrpn_Button_Example Button0 2 2.0 - -################################################################################ -# Example Dial server. This is a "device" that reports constant rotations for -# each of its dials at the specified rate. It can be used to verify connections -# are working and for other tests of VRPN. There are four arguments: -# char name_of_this_device[] -# int number_of_dials -# float rate_at_which_the_dials_spin (revolutions/second) -# float rate_at_which_to_report_updates (updates/second) - -#vrpn_Dial_Example Dial0 2 2.0 10.0 - -################################################################################ -# Flock-of-birds Tracker. Runs an Ascension Flock of Birds tracker that is -# attached to a serial port on this machine. Note that there is another driver -# (listed below) that runs the Flock when each sensor is connected to its own -# serial line. Arguments: -# char name_of_this_device[] -# int number_of_sensors -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# int invert_quaternion (0 = no, 1 = yes) -# char useERT (OPTIONAL; defaults to yes) -# char[2] active_hemisphere (OPTIONAL; defaults to +z) -# -# NOTE: for useERT: use nothing, y or Y if you have an extended range -# transmitter, use N or n if not (added by David Nahon for Virtools -# VRPack/SAS Cube. -# NOTE: The "invert_quaternion" parameter was added because there was a -# conflict between the code that had been around since VRPN started and -# the Flock documentation -- it looks like most people had been using the -# Flock in the "wrong" hemisphere, which inverted the orientation relative -# to the position. The old behavior is obtained by specifying "1". Not -# inverting it is specified using "0". -# NOTE: active hemisphere is one of "+x", "-x", "+y", "-y", "+z", "-z" -# If "active_hemisphere" is not specified, it defaults to +z. - - -#vrpn_Tracker_Flock Tracker0 4 /dev/ttyS0 115200 1 - -# If you have to FOB, with no Extended Range ctrler/transmitter, on Windows, -# with -x as the active hemisphere, use - -#vrpn_Tracker_Flock Tracker0 2 COM1 38400 1 N -x - -# Watch: be sure that the serial baud rate dip switches (the 3 on the left) -# of your master flock are properly set. -# You should try baud rates like 38400 before trying to go higher -# In normal address mode - less than 14 fob units - your switch should be: -# 0 1 2 3 4 5 6 7 -# 0 0 1 X X X X 0 2400 -# 0 1 0 X X X X 0 4800 -# 0 1 1 X X X X 0 9600 -# 1 0 0 X X X X 0 19200 -# 1 0 1 X X X X 0 38400 -# 1 1 0 X X X X 0 57600 -# 1 1 1 X X X X 0 115200 -# -# X X X X are used for coding the FOB address, they must be set correctly, -# even if you are only using 1 unit (standalone mode) -# the settings should be (in normal address mode): -# 3 4 5 6 -# 0 0 0 1 for the first unit -# 0 0 1 0 for the second unit -# 0 0 1 1 for the third -# 0 1 0 0 for the fourth -# 0 1 0 1 for the fifth -# ... -# -############################################################################ -# WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH WATCH -################### -# -# On windows at least, it might be necessary to cut your serial cable so as -# to only have Transmit, Receive and Ground pins. Even if CBIRDS or WINBIRDS -# are fine with a cable, it doesn't mean that this cable will please vrpn. -# This limitation should have been fixed with version 06.05. -# -################### - -################################################################################ -# Flock-of-birds in parallel Tracker. Runs an Ascension Flock of Birds tracker -# that has its source and each sensor plugged into its own serial port on this -# machine (perhaps through a Cyclades multi-port serial card). This mode of -# operation increases the throughput and decreases the latency of tracker reports. -# The arguments match those of the Flock-of-birds tracker from above, with the -# addition of the name of the serial ports for each of the sensors added at the -# end. Arguments (all on the same line): -# char name_of_this_device[] -# int number_of_sensors -# char name_of_serial_device_for_controller[] -# int baud_rate_of_serial_device -# int invert_quaternion (0 = no, 1 = yes) -# [one for each sensor] char name_of_serial_device_for_sensor[] -# -# NOTE: The "invert_quaternion" parameter was added because there was a -# conflict between the code that had been around since VRPN started and -# the Flock documentation -- it looks like most people had been using the -# Flock in the "wrong" hemisphere, which inverted the orientation relative -# to the position. The old behavior is obtained by specifying "1". Not -# inverting it is specified using "0". - -#vrpn_Tracker_Flock_Parallel Tracker0 4 /dev/ttyC4 115200 1 /dev/ttyC0 /dev/ttyC1 /dev/ttyC2 /dev/ttyC3 -#vrpn_Tracker_Flock_Parallel Tracker0 2 COM1 115200 1 COM2 COM3 - -################################################################################ -# Fastrak Tracker. Runs a Polhemus Fastrak tracker that is attached to a serial -# port on this machine. This driver will also run an InterSense IS600 or IS900 -# tracker, but you will want to include extra initialization code (as described -# below) to set up the ultrasonic pip information, wand devices, stylus devices -# and so forth. Arguments that go on the first line: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# -# It is possible to add additional commands that will be sent to the tracker -# by putting the backslash character (\) at the end of the config line. This -# will cause the following line to be read in and sent to the Fastrak during -# the reset routine. You can add additional lines by putting a slash at the -# end of each command line but the last. Each line will be sent to the Fastrak -# with a newline at the end of it. If a line starts with an asterisk (*), then -# it is treated as a line telling how long to sleep, with the integer number of -# seconds following the *. -# -# If one or more sensors on the Fastrak have a stylus button on them, use -# the "FTStylus" command after the reset command lines (if any). There should -# be a front-slash "/" character at the end of the line before the FTStylus -# command. The command takes two arguments: the name of the button device -# that will report the buttons and the sensor number to which the button is -# attached (the first sensor is sensor 0). -# -# Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to -# the various sensors on the Isense900 are done by adding Stylus and -# Wand command lines after the reset command lines. Each of these lines -# takes two arguments: the name of the button (for Stylus) or button and -# analog (for Wand) servers, and the sensor number (starting from 0). The -# Wand line takes eight additional parameters, which specify the scaling -# and clipping behavior of the two directions on the analog joystick. Each -# set of for is the min, lowzero, hizero, and max values: these are mapped -# to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0). -# Start with these at -1,0,0,1 and use the 'printcereal' program or some other -# method to read them and see what the range of acheivable values is. Then, -# set them to slightly conservative values so that the whole range is covered -# and the analogs will report zero when the joystick is centered. The -# presence of these lines is indicated by placing them after any additional -# reset command lines, by ending the line preceding them with the front slash -# "/" character. -# -# Remember that the "remote" button object is not the same as the the tracking -# device, so be sure to use a remote button object that connects to the button -# rather than the tracker. The button device name is defined on the stylus or -# wand line in the config file, and should not be the same as the tracker. In -# the case described by the example configuration below, if the name of the -# machine running the server is "myis900server" you would connect to the tracker -# as "Isense900@myis900server" and to the buttons on the stylus as -# "Stylus0@myis900server": -# -# Note that this frontslash and backslash-notation can only be used for the -# Fastrak/Isense tracker, not to extend the line for any other type of device -# listed in this configuration file. - -# Vanilla Fastrak on on a Unix box -#vrpn_Tracker_Fastrak Fastrak0 /dev/ttyS0 19200 - -# Fastrak with a stylus on sensor zero on a Windows box -#vrpn_Tracker_Fastrak Tracker0 COM1 115200 / -#FTStylus Stylus0 0 - -# IS600 and its pip settings -#vrpn_Tracker_Fastrak Isense600 /dev/ttyS0 19200 \ -#MCc\ -#*5\ -#MCM1,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,89\ -#MCM1,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,87\ -#MCM2,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,66\ -#MCM2,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,71\ -#MCM3,1,0.1237,-0.0762,-0.0424,0.00,0.00,-1.00,82\ -#MCM3,2,0.1237,0.0762,-0.0424,0.00,0.00,-1.00,77\ -#MCe\ -#*10 - -# IS900 with a wand on the first sensor and a stylus on the third: -#vrpn_Tracker_Fastrak Isense900 COM1 115200 / -#Wand Wand0 0 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 / -#Stylus Stylus0 2 - -################################################################################ -# Isotrak Tracker. Runs a Polhemus Isotrak tracker that is attached to a serial -# port on this machine. Arguments that go on the first line: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# -# It is possible to add additional commands that will be sent to the tracker -# by putting the backslash character (\) at the end of the config line. This -# will cause the following line to be read in and sent to the Isotrak during -# the reset routine. You can add additional lines by putting a slash at the -# end of each command line but the last. Each line will be sent to the Isotrak -# with a newline at the end of it. If a line starts with an asterisk (*), then -# it is treated as a line telling how long to sleep, with the integer number of -# seconds following the *. - -#vrpn_Tracker_Isotrak TrackerIsotrak /dev/ttyS0 115200 \ -#H1,0,1,0 - -################################################################################ -# Liberty Tracker. Runs a Polhemus Liberty tracker that is attached to a serial -# port (perhaps a USB-to-RS232 adapter) on this machine. Arguments that go on -# the first line. -# char name_of_this_device[] -# char name_of_serial_or_usb_device[] -# int baud_rate_of_serial_device (not used when the device is USB) -# int number_of_chars_in_whoami_response (optional) -# -# It is possible to add additional commands that will be sent to the tracker -# by putting the backslash character (\) at the end of the config line. This -# will cause the following line to be read in and sent to the Liberty during -# the reset routine. You can add additional lines by putting a slash at the -# end of each command line but the last. Each line will be sent to the Fastrak -# with a newline at the end of it. If a line starts with an asterisk (*), then -# it is treated as a line telling how long to sleep, with the integer number of -# seconds following the *. -# -# If one or more sensors on the Liberty have a stylus button on them, use -# the "Stylus" command after the reset command lines (if any). There should -# be a front-slash "/" character at the end of the line before the Stylus -# command. The command takes two arguments: the name of the button device -# that will report the buttons and the sensor number to which the button is -# attached (the first sensor is sensor 0). -# - -# ------------------------------------------- -# Example when Liberty is attached via USB -# The BAUD Rate is needed, although it is not used - -#vrpn_Tracker_Liberty Liberty /dev/usb/ttyUSB0 115200 - -#-------------------------------------------- -# Example when Liberty is attached via Serial - -#vrpn_Tracker_Liberty Liberty /dev/ttyS0 115200 - -#-------------------------------------------- -# Example when Liberty is attached via Serial with a non-standard whoami length - -#vrpn_Tracker_Liberty Liberty /dev/ttyS0 115200 247 - -#-------------------------------------------- -# Liberty attached via Serial with styluses on sensors zero and three -#vrpn_Tracker_Liberty Tracker0 /dev/ttyS0 115200 / -#Stylus Stylus0 0 / -#Stylus Stylus1 3 - -################################################################################ -# High Speed Liberty Latus Tracker. Runs a Polhemus Liberty Latus tracker that -# is attached to a USB port on this machine. Arguments that go on the first line -# char name_of_this_device[] -# int number_of_markers_to_detect -# int baud_rate_of_usb_device -# int number_of_chars_in_whoami_response (optional) -# -# It is possible to add additional commands that will be sent to the tracker -# by putting the backslash character (\) at the end of the config line. This -# will cause the following line to be read in and sent to the Liberty during -# the reset routine. You can add additional lines by putting a slash at the -# end of each command line but the last. Each line will be sent to the Fastrak -# with a newline at the end of it. If a line starts with an asterisk (*), then -# it is treated as a line telling how long to sleep, with the integer number of -# seconds following the *. - -# ------------------------------------------- -# Example when Liberty Latus is attached via USB -# The BAUD Rate is needed, although it is not used - -#vrpn_Tracker_LibertyHS LibertyHS 3 115200 - -################################################################################ -# InterSense tracker using the Intersense-provided library to communicate -# with the tracker. This device type is not compiled by default, since it uses -# a proprietary library. However, you can get it to compile by defining -# VRPN_INCLUDE_INTERSENSE when compiling. Note that the Fastrak driver will -# run IS-600 and IS-900 trackers without the proprietary library, so you might -# try that as well. -# -# You can include extra initialization code (as described -# below) to set up the ultrasonic pip information, wand devices, stylus devices -# and so forth. Arguments that go on the first line: -# char name_of_this_device[] -# char name_of_serial_device[] - this can be COM1-4 or AUTO -# AUTO will automatically find USB and -# serial trackers. Use COM1-4 only if you -# have more than one serial tracker. -# You should use COM1-4 on unix as well, -# as these just tell the isense library -# to look in serial port 1-4. -# I guess you can't have >1 USB trackers. -# char "IS900time" - use the IS900 timestamps (optional) -# char "ResetAtStartup" - resets all boresight and heading, on intertrax, -# equivalent to push the reset button -# -# It is possible to add additional commands that will be sent to the tracker -# by putting the backslash character (\) at the end of the config line. This -# will cause the following line to be read in and sent to the InterSense during -# the reset routine. You can add additional lines by putting a slash at the -# end of each command line but the last. Each line will be sent to the InterSense -# with a newline at the end of it. If a line starts with an asterisk (*), then -# it is treated as a line telling how long to sleep, with the integer number of -# seconds following the *. -# -# Commands to add Joysticks (2 buttons) or Wands (5 buttons and 2 analogs) to -# the various sensors on the Isense900 are done by adding Stylus and -# Wand command lines after the reset command lines. Each of these lines -# takes two arguments: the name of the button (for Stylus) or button and -# analog (for Wand) servers, and the sensor number (starting from 0). The -# Wand line takes eight additional parameters, which specify the scaling -# and clipping behavior of the two directions on the analog joystick. Each -# set of for is the min, lowzero, hizero, and max values: these are mapped -# to -1, 0,0, and 1 (all values between lowzero and hizero are mapped to 0). -# Start with these at -1,0,0,1 and use the 'printcereal' program or some other -# method to read them and see what the range of acheivable values is. Then, -# set them to slightly conservative values so that the whole range is covered -# and the analogs will report zero when the joystick is centered. The -# presence of these lines is indicated by placing them after any additional -# reset command lines, by ending the line preceding them with the front slash -# "/" character. -# -# Remember that the "remote" button object is not the same as the the tracking -# device, so be sure to use a remote button object that connects to the button -# rather than the tracker. The button device name is defined on the stylus or -# wand line in the config file, and should not be the same as the tracker. In -# the case described by the example configuration below, if the name of the -# machine running the server is "myis900server" you would connect to the tracker -# as "Isense900@myis900server" and to the buttons on the stylus as -# "Stylus0@myis900server": -# -# Note that this frontslash and backslash-notation can only be used for the -# Fastrak and InterSense tracker, not to extend the line for any other -# type of device -# listed in this configuration file. -# -# Note that this driver expects the device to be set to output centimeters, and will convert -# the positions to meters. It is recommanded to permanently set the units in the eeprom of your device. -# If this is not possible, you should add in this file the "u" reset command so as to have vrpn -# tell your device to use centimeters -# -#Vanilla InterSense -#vrpn_Tracker_InterSense Tracker0 AUTO IS900time - -# Vanilla InterSense using IS900 timing, with wand in port B (and possibly head tracker in port A) -#vrpn_Tracker_InterSense Tracker0 AUTO IS900time / -#Wand Wand0 1 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 - -# IS600 and its pip settings -#vrpn_Tracker_InterSense Isense600 COM1 \ -#MCc\ -#*5\ -#MCM1,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,89\ -#MCM1,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,87\ -#MCM2,1,0.0900,0.0000,-0.2210,0.00,0.00,-1.00,66\ -#MCM2,2,-0.0566,0.0000,-0.2210,0.00,0.00,-1.00,71\ -#MCM3,1,0.1237,-0.0762,-0.0424,0.00,0.00,-1.00,82\ -#MCM3,2,0.1237,0.0762,-0.0424,0.00,0.00,-1.00,77\ -#MCe\ -#*10 - -# IS900 with a wand on the first sensor and a stylus on the third: -#vrpn_Tracker_InterSense Isense900 COM1 / -#Wand Wand0 0 -1.0 0.0 0.0 1.0 -1.0 0.0 0.0 1.0 / -#Stylus Stylus0 2 - -# Intertrax2 on USB, With automatic reset at startup -#vrpn_Tracker_InterSense Tracker0 AUTO ResetAtStartup - -################################################################################ -# Dynasight Tracker. Runs an Origin System's DynaSight tracker connected to a -# serial port on this machine. arguments: -# char name_of_this_device[] -# int number_of_sensors -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_Tracker_Dyna Tracker0 1 /dev/ttyS0 19200 - -#vrpn_Tracker_Dyna Tracker0 1 COM1 19200 - -################################################################################ -# Crossbow Tracker. Runs a Crossbow Technology RGA300-series tracker that is -# attached to a serial port on this machine. There are four arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device (should be 38400) -# float linear_acceleration_sensitivity (Gs; default is 2.0) -# float angular_rate_sensitivity (degrees per second; default is 100) - -#vrpn_Tracker_Crossbow Tracker0 COM1: 38400 2.0 100 - -############################################################################### -# 3d Microscribe is a mechanical tracker the nesseccary params are -# name port baudrate -# additional params are offsetx offsety offsetz scale -# offsets are in meters. Scale is an abomination in VRPN; all -# trackers report in meters. -# - -#vrpn_3DMicroscribe Microscribe COM1 19200 0.3 -0.1 -0.2 1 - -################################################################################ -# Serial 5DT glove with 16 sensors. This driver reports the 16 channels as analog -# devices. If you want to treat them as buttons, then also add the entry -# for the vrpn_Button_5DT_Server below, connecting it to the output of this -# server. -# -# This server does not work with the previous version of the glove. -# For other variations of 5DT datagloves, see vrpn_5dt and vrpn_Analog_5dtUSB -# -# arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_5dt16 glove_5dt16 COM1 19200 - -################################################################################ -# -# Use the 5dtglove16 as button device. Use in conjunction with the vrpn_5dt16 -# device above to turn the analog reports into button press/release when the -# sensors cross the threshold. -# -# arguments: -# char name_of_this_device[] -# char name_of_the_glove device[] -# double threshold_toggle_point_between_pressed_and_unpressed[16] - -#vrpn_Button_5DT_Server glove_5dt_button glove_5dt16 1794 2171 2110 2610 1707 2673 2459 1493 3029 2301 1936 3007 2302 1635 0 0 - -################################################################################ -# AnalogFly Tracker. This is a tracker that is intended to be used on top of -# a joystick or motion tracker of some kind to turn it into a moving or flying -# device. It could be used on top of any analog device, in fact. -# This device basically takes in analog signals and puts out transformation -# matrices. It should supercede the JoyFly tracker, since it is more general. -# There are two kinds of JoyFly's: absolute ones and differential ones. For -# absolute ones, the analog value is mapped directly to position or orientation -# on each axis. For differential ones, the values are used to create a -# "change" matrix that is applied once per interval, accumulating changes as -# it goes; this enables the user to "fly" along by holding a joystick forward, -# for example. -# One analog channel is associated with each axis (X, Y, Z) and rotation about -# each axis (RX, RY, RZ). For each axis, the value is converted to a position -# (meters) or speed (meters/second) for absolute trackers; or into an -# orientation (revolutions) or angular velocity (revolutions/second) by first -# subtracting an offset, then thresholding it to see if it is far enough from -# zero, then (if it is) scaling it and taking it to a power (to allow nonlinear -# speedup as the stick is pushed far from center). -# A button can be associated with a reset function, which will take the -# device back to center (identity transformation). The device will also recenter -# when the first connection is made to the server it is running on. (Centering -# has no effect on absolute AnalogFlys). -# A button can be associated with a clutch function, which will mean that -# the device will not move unless the clutch is pressed, so you can use it -# like a mouse and continue to move by pulling to the right with the button -# down and then to the left with the button up. For differential analogflys, -# clutching makes the tracker not move unless the button is pressed. For -# absolute ones, it only moves when the button is pressed and the mouse is -# moving; it offsets to enable long-range motions in a finite tracking area, -# as with a mouse. -# Any axis or the reset button can be disabled by setting the name of its -# associated device to the string "NULL". -# Note that you could have multiple of these devices running simultaneously, -# each with a different name and interaction metaphor. The user could then -# connect to their favorite one. Arguments: -# char name_of_this_device[] -# float update_rate_to_send_tracker_reports -# char type[] = "absolute" or "differential" -# [six lines follow, one for X Y Z RX RY RZ, each with: -# char axis_name[] (X Y Z RX RY RZ in that order) -# char name_of_analog_device[] (start with * for local) -# int channel_of_analog_device -# float offset -# float threshold -# float scale -# float power -# ] -# [New line to describe reset button, with: -# char "RESET" -# char name_of_button_device[] (start with * for local) -# int which_button_to_use -# ] -# [New line to describe clutch button, with: -# char "CLUTCH" -# char name_of_button_device[] (start with * for local) -# int which_button_to_use -# ] -# [New line to indicate use of world frame for translation and rotation, -# instead of local frame. Useful for a simulated wand when doing desktop -# testing of immersive apps - easier to keep under control. -# char "WORLDFRAME" -# ] - -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X *Mouse0 0 0.5 0.0 2.0 1.0 -#Y *Mouse0 1 0.5 0.0 2.0 1.0 -#Z NULL 2 0.0 0.0 1.0 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ NULL 5 0.0 0.0 1.0 1.0 -#RESET NULL 0 -#CLUTCH *Mouse0 0 - -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X *CerealBox0 4 0.0 0.021 1.0 1.0 -#Y *CerealBox0 5 0.0 0.021 1.0 1.0 -#Z *CerealBox0 6 0.0 0.021 3.0 1.0 -#RX *CerealBox0 0 0.0 0.021 1.0 1.0 -#RY *CerealBox0 1 0.0 0.021 1.0 1.0 -#RZ *CerealBox0 2 0.0 0.021 3.0 1.0 -#RESET *CerealBox 3 -#CLUTCH NULL 0 - -#vrpn_Tracker_AnalogFly Tracker0 60.0 differential -#X *Magellan0 0 0.0 0.0 2.0 1.0 -#Y *Magellan0 1 0.0 0.0 2.0 1.0 -#Z *Magellan0 2 0.0 0.0 2.0 1.0 -#RX *Magellan0 3 0.0 0.0 2.0 1.0 -#RY *Magellan0 4 0.0 0.0 2.0 1.0 -#RZ *Magellan0 5 0.0 0.0 2.0 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# For a good simulated wand for testing VR Juggler applications with a SpaceMouse: -#vrpn_Tracker_AnalogFly Tracker0 60.0 differential -#X *Magellan0 0 0.0 0.0 20.0 1 -#Y *Magellan0 1 0.0 0.0 20.0 1 -#Z *Magellan0 2 0.0 0.0 20.0 1 -#RX *Magellan0 3 0.0 0.01 -5 1.0 -#RY *Magellan0 4 0.0 0.01 -5 1.0 -#RZ *Magellan0 5 0.0 0.01 -5 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 -#WORLDFRAME - -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X NULL 0 0.0 0.0 1.0 1.0 -#Y NULL 0 0.0 0.0 1.0 1.0 -#Z NULL 0 0.0 0.0 1.0 1.0 -#RX *Radamec0 1 0.0 0.0 -0.0027777777 1.0 -#RY NULL 0 0.0 0.0 1.0 1.0 -#RZ *Radamec0 0 0.0 0.0 0.0027777777 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X *Joystick0 0 0.0 0.0 1.0 1.0 -#Y *Joystick0 1 0.0 0.0 -1.0 1.0 -#Z *Joystick0 6 0.0 0.0 1.0 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ *Joystick0 5 0.0 0.0 0.5 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# Using a joystick to emulate a Phantom for the -# nanoManipulator, the throttle maps to Z. -#vrpn_Tracker_AnalogFly Phantom 60.0 absolute -#X *Phantom 0 0.0 0.0 0.125 1.0 -#Y *Phantom 1 0.0 0.0 -0.125 1.0 -#Z *Phantom 6 0.0 0.0 0.25 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ *Phantom 5 0.0 0.0 0.06 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# For DTU/MIC optical nanoHand stage motion, moving over full 300 micron range -# of motion, using the Logitech joystick for the analog -# server and the tracker_to_poser program. -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X *Joystick0 0 -0.03 0.0 2.53 1.0 -#Y *Joystick0 1 -0.04 0.0 2.53 1.0 -#Z *Joystick0 6 -0.10 0.0 -1.75 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ *Joystick0 5 0.0 0.0 0.5 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# To drive a Tektronix 4662 full range (Z, RZ ignored) -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X *Joystick0 0 -1.0 0.0 0.19 1.0 -#Y *Joystick0 1 1.0 0.0 -0.13 1.0 -#Z *Joystick0 6 0.0 0.0 1.0 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ *Joystick0 5 0.0 0.0 0.5 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# For UNC Mad City Labs stage motion, moving over full 100 micron range -# of motion, using the Microsoft FF joystick for the analog -# server and the tracker_to_poser program. -#vrpn_Tracker_AnalogFly Tracker0 60.0 absolute -#X *Joystick0 0 -1 0.0 50 1.0 -#Y *Joystick0 1 -1 0.0 50 1.0 -#Z *Joystick0 6 -1 0.0 50 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ *Joystick0 5 0.0 0.0 0.5 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# For Artemis or Hercules (mad-city-labs) stages -# Maps 0-10 from the voltage into the range 0-100 microns. -#vrpn_Tracker_AnalogFly StageTracker 60.0 absolute -#X *MCLXYZIN 4 0 0.0 10 1.0 -#Y *MCLXYZIN 5 0 0.0 10 1.0 -#Z *MCLXYZIN 6 0 0.0 10 1.0 -#RX NULL 3 0.0 0.0 1.0 1.0 -#RY NULL 4 0.0 0.0 1.0 1.0 -#RZ NULL 5 0.0 0.0 1.0 1.0 -#RESET NULL 0 -#CLUTCH NULL 0 - -# For a 3DConnexion Traveler named device0 -# You should scale the values for translation w.r.t. -# rotation to suit your preferences. -#vrpn_Tracker_AnalogFly Tracker0 60.0 differential -#X *device0 0 0.0 0.0 2.0 1.0 -#Y *device0 1 0.0 0.0 -2.0 1.0 -#Z *device0 2 0.0 0.0 -2.0 1.0 -#RX *device0 3 0.0 0.0 -0.2 1.0 -#RY *device0 4 0.0 0.0 0.2 1.0 -#RZ *device0 5 0.0 0.0 0.2 1.0 -#RESET *device0 0 -#CLUTCH NULL 0 - -################################################################################ -# XXX This device is superceded by the more-general vrpn_Tracker_AnalogFly. -# JoyFly Tracker. A vrpn_Tracker that translates the vrpn_Joystick into -# Walkthrough- convention tracker reports. This is part of a two-part setup -# that allows you to use a joystick as a flying device. First, a joystick -# device has to be created (named joybox in our example) that will produce -# the analog inputs that the JoyFly tracker uses to determine the transformation. -# Then, the JoyFly device needs to be started and will listen to the device -# and produce tracker reports. If these are both run on the same server, then -# the JoyFly needs to use the "server" connection to hear from the Joystick -# device, which is indicated by placing a '*' in front of the name of the -# joystick device that it is to use. If the joystick device is remote from -# this server, then the full name of it should be used (joystick@foo.cs.unc.edu). -# XXX This device is superceded by the more-general vrpn_Tracker_AnalogFly -# Arguments: -# char name_of_this_device[] -# char source_joystick_name[] (Start with * for one sharing a connection) -# char joystick_configuration_file_name[] - -#vrpn_JoyFly walk-joybox *joybox vrpn_Joyfly.cfg - -################################################################################ -# ButtonFly Tracker. This is a tracker that is intended to be used on top of -# a Global Haptics Orb or other buttond device to turn it into a moving or -# flying device. It basically takes in button signals and puts out -# transformation matrices. -# There are two kinds of Buttons: absolute ones and differential ones. For -# absolute ones, pressing it causes the position or orientation associated with -# it to be stored directly into the transformation. This enables the user to -# "teleport" to given locations by pressing buttons. For differential ones, -# the position or orientation are treated as deltas and are used to create a -# "change" matrix that is applied once per interval, accumulating changes as -# it goes; this enables the user to "fly" along by holding a button down, -# for example. -# Each button is associated with either a position (meters) or speed -# (meters/second) for absolute buttons; or an orientation (revolutions) -# or angular velocity (revolutions/second). -# An analog channel can be associated with a scale function that scales the -# velocity or angular velocity terms uniformly. The entry specifies an -# offset to be applied to the analog channel, a scale to be applied to it, -# and a power to which the result should be taken; the end result is used -# to scale all velocity or angular velocity terms. This channel has no -# effect on the effects of absolute buttons. -# The device will recenter (set itself to the identity transform) when the -# first connection is made to the server it is running on. -# Note that you could have multiple of these devices running simultaneously, -# each with a different name and interaction metaphor. The user could then -# connect to their favorite one. Arguments: -# char name_of_this_device[] -# float update_rate_to_send_tracker_reports -# [one or more lines follow, each of one of two types -# (1) char [] = "absolute" -# char name_of_button_device[] (start with * for local) -# int which_button_on_device -# float X_to_translate_to -# float Y_to_translate_to -# float Z_to_translate_to -# float rotation_about_X -# float rotation_about_Y -# float rotation_about_Z -# (2) char [] = "differential" -# char name_of_button_device[] (start with * for local) -# int which_button_on_device -# float X_translation_meters_per_second -# float Y_translation_meters_per_second -# float Z_translation_meters_per_second -# float spin_about_X_revolutions_per_second -# float spin_about_Y_revolutions_per_second -# float spin_about_Z_revolutions_per_second -# ] -# [An optional line describing an analog to scale the velocity -# char [] = "vel_scale" -# char name_of_button_device[] (start with * for local) -# int which_button_on_device -# float offset -# float scale -# float power -# ] -# [An optional line describing an analog to scale the rotation -# char [] = "rot_scale" -# char name_of_button_device[] (start with * for local) -# int which_button_on_device -# float offset -# float scale -# float power -# ] -# [one more line, consisting of the word "end"] -# Note that the same button can cause more than one action to take place, -# and the same analog can cause scaling of both the velocity and rotation. - -# This example for a Global Haptics Orb pushes the transformation away -# from the button that is pressed -# for all of the standard buttons. It rotates around the Y axis when the -# rocker switch is rocked up and down. It resets to the origin when one -# of the pushbuttons is pressed. Both the velocity and angular velocity -# are controlled by the thumbwheel. - -#vrpn_Tracker_ButtonFly Tracker0 60.0 -#differential *Orb0 0 0 1 0 0 0 0 -#differential *Orb0 1 0.707 0.707 0 0 0 0 -#differential *Orb0 2 1 0 0 0 0 0 -#differential *Orb0 3 0.707 -0.707 0 0 0 0 -#differential *Orb0 4 0 -1 0 0 0 0 -#differential *Orb0 5 -0.707 -0.707 0 0 0 0 -#differential *Orb0 6 -1 0 0 0 0 0 -#differential *Orb0 7 -0.707 0.707 0 0 0 0 -#differential *Orb0 8 0 0.707 -0.707 0 0 0 -#differential *Orb0 9 0.577 0.577 -0.577 0 0 0 -#differential *Orb0 10 0.707 0 -0.707 0 0 0 -#differential *Orb0 11 0.577 -0.577 -0.577 0 0 0 -#differential *Orb0 12 0 -0.707 -0.707 0 0 0 -#differential *Orb0 13 -0.577 -0.577 -0.577 0 0 0 -#differential *Orb0 14 -0.707 0 -0.707 0 0 0 -#differential *Orb0 15 -0.577 0.577 -0.577 0 0 0 -#differential *Orb0 16 0 0.707 0.707 0 0 0 -#differential *Orb0 17 0.577 0.577 0.577 0 0 0 -#differential *Orb0 18 0.707 0 0.707 0 0 0 -#differential *Orb0 19 0.577 -0.577 0.577 0 0 0 -#differential *Orb0 20 0 -0.707 0.707 0 0 0 -#differential *Orb0 21 -0.577 -0.577 0.577 0 0 0 -#differential *Orb0 22 -0.707 0 0.707 0 0 0 -#differential *Orb0 23 -0.577 0.577 0.577 0 0 0 -#differential *Orb0 24 0 0 -1 0 0 0 -#differential *Orb0 25 0 0 1 0 0 0 -#differential *Orb0 28 0 0 0 0 -0.1 0 -#differential *Orb0 29 0 0 0 0 0.1 0 -#absolute *Orb0 27 0 0 0 0 0 0 -#vel_scale *Orb0 0 -1.0 0.5 1.0 -#rot_scale *Orb0 0 -1.0 0.5 1.0 -#end - -################################################################################ -# 3Space Tracker. Runs a Polhemus 3Space (not Fastrak) tracker that is attached -# to a serial port on this machine. Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_Tracker_3Space Tracker0 /dev/ttyS0 19200 - -################################################################################ -# Logitech 3DMouse tracker attached to a serial port on this machine. -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# int filtering_count (this parameter is optional) - -#vrpn_Tracker_3DMouse Tracker0 /dev/ttyS0 19200 - -################################################################################ -# NDI Polaris Spectra or Vectra, attached to a serial or USB port -# This server works with the NDI Polaris Spectra and Polaris Vectra -# trackers. It doesn't work with the Optitrak or Aurora. It only -# handles rigid bodies made from passive sphere markers, and does -# not yet support active led markers nor single "stray" passive -# spheres. -# -# Each vrpn "sensor" is a single rigid body (or "tool" in NDI -# terminology), which consists of 3 or more passive spheres in a -# particular geometric arrangement. In order to define a custom -# rigid body (one that didn't come from NDI), you must use the NDI -# Architect software. That software produces .rom files for each -# rigid body. This vrpn tracker class will load those files during -# initialization. -# -# Before configuring the vrpn server here, you should first run -# the NDI software to track the rigid bodies using the NDI's -# interactive GUI. Only after you have configured and tested the -# tracker and rigid bodies to your satisfaction, should you try -# this vrpn server. -# -# This currently only handles an IR strobe rate of 60Hz, not -# 20Hz or 30Hz. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int number of sensors (i.e. num of rigid bodies) -# -# char rigidBody 0's .rom filename -# char rigidBody 1's .rom filename -# char rigidBody 2's ... - -# vrpn_Tracker_NDI_Polaris Tracker0 COM1 2 -# hello.rom -# ../world.rom - -################################################################################ -# CerealBox dial/button/analog. Runs a BG Systems CerealBox device that attaches -# to a serial port on this machine. As of VRPN version 04.07, 19200 is the -# only supported baud rate. The driver has been tested on an LV824-F-8e device. -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# int number_of_buttons_to_read (starting from 0) -# int number_of_analogs_to_read -# int number_of_encoders_to_read - -#vrpn_CerealBox Cereal0 /dev/cua0 19200 8 8 8 - -################################################################################ -# Magellan button/analog. Runs a Logitech Magellan device that attaches -# to a serial port on this machine. As of VRPN version 04.12, 9600 is the -# only supported baud rate. -# -# The Magellan is also known in some instances as the Magellan SpaceMouse, -# not to be confused with the 3DConnexion SpaceMouse (later version of the -# same product). -# 3DConnexion Magellan/SpaceMouse Plus XT Serial - -# works with vrpn_Magellan without "altreset" for some. -# requires "altreset" to avoid lots of beeping at startup for others. -# -# Note that if you want to use the Magellan as a tracking device, you will -# need to run a vrpn_Tracker_AnalogFly device that listens to its analog -# outputs and converts them into tracker reports -# -# John Stone added support for the SpaceBalls in version 06.03, an example -# startup is shown below. -# -# Julien Brisset discovered how to make this work with a slightly older version -# of the Magellan. If the example Magellan line doesn't work, add 'altreset' to -# the line to use the alternative reset string for the device. -# -# If your Magellan is connected through a usb-serial cable on Mac OS X, use -# /dev/tty.usbserial, on Linux you may want to try /dev/ttyUSB0 instead. -# -# NOTE: You should NOT run the driver that comes with the Magellan, since the -# VRPN driver opens the serial port and communicates with the device directly. -# If the Magellan driver from the manufacturer is running, then VRPN may not -# be able to open the port. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# char "altreset" {Optional, for older Magellans} - -#vrpn_Magellan Magellan0 COM1 9600 -#vrpn_Magellan Magellan0 /dev/ttyS0 9600 altreset -#vrpn_Spaceball Spaceball0 /dev/ttyS0 9600 -#vrpn_Magellan Magellan0 /dev/tty.usbserial 9600 altreset - -################################################################################ -# NRL Immersion Box dial/button/analog. Runs a Immersion Interface Box device -# attached to a serial port. As of March 28, 2000 code to read the analog and -# angle encoders has not been implemented. Also, baud rate on many SGI's is -# limited to 38400, but I have run the ibox at 115200 on PCs. -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# int number_of_buttons_to_read (i.e. 4 ==> 0,1,2,3) -# int number_of_analogs_to_read -# int number_of_encoders_to_read - -#vrpn_ImmersionBox ibox /dev/ttyd2 38400 4 0 0 -#vrpn_ImmersionBox ibox com1 115200 4 0 0 - -################################################################################ -# Wands button/analog, driver from Brown University. Runs a Wanda device -# attached to a serial port. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_port_to_use[] -# int baud_rate_of_serial_device -# float minimum_update_rate - -#vrpn_Wanda Wanda /dev/ttyd2 1200 60.0 -#vrpn_Wanda Wanda COM2 1200 60.0 - -################################################################################ -# Radamec Serial Position Interface analog. Camera tracker that attaches -# to a serial port on this machine. Note that for normal operation, 38400 is the -# only supported baud rate. -# -# Note that if you want to use the Radamec SPI as a tracking device, you will -# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety) -# that listens to its analog outputs and converts them into tracker reports. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_port[] -# int baud_rate_of_serial_port - -#vrpn_Radamec_SPI Analog0 /dev/ttyS16 38400 - -################################################################################ -# Zaber linear positioning element analog/out that attaches -# to a serial port on this machine. -# -# Note that if you want to use the Zaber as a tracking device, you will -# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety) -# that listens to its analog outputs and converts them into tracker reports. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_port[] - -#vrpn_Zaber Analog0 COM1 - -################################################################################ -# Biosciences Tools temperature control unit, analog/out that attaches -# to a serial port on this machine. -# -# This instrument also has a button device that reports whether the -# temperature control is turned on. -# -# Analog channels: (read by client) -# 0 Reading from stage 1 in degrees Celcius -# 1 Reading from bath 1 in degrees Celcius -# 2 Reading external 1 or Setpoint for control in degrees Celcius -# 3 Reading from stage 2 in degrees Celcius -# 4 Reading from bath 2 in degrees Celcius -# 5 Reading external 2 or Setpoint for control in degrees Celcius -# Button channels: (read by client) -# 0 Temperature control is on or off -# Analog_Output channels: (set by client) -# 0 Reference temperature for channel 1 -# 1 Reference temperature for channel 2 -# 2 Turn temperature control on/off (0 = off, otherwise on) -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_port[] -# float Temperature to set for channel 1 in degrees Celcius -# float Temperature to set for channel 2 in degrees Celcius -# int Do we turn on temperature control (0 = no, 1 = yes) - -#vrpn_BiosciencesTools Analog0 COM1 37.0 37.0 0 - -################################################################################ -# Omega temperature control unit, analog/out that attaches -# to a serial port on this machine. -# -# This instrument also has a button device that reports whether the -# temperature control is turned on. -# -# XXX Figure out the settings once the code has been finished. - -#vrpn_OmegaTemerature Analog0 COM1 XXX - -################################################################################ -# IDEA-drive linear positioning element analog that attaches -# to a serial port on this machine. -# -# Note that if you want to use the IDEA as a tracking device, you will -# need to run a vrpn_Tracker_AnalogFly device (of the absolute variety) -# that listens to its analog outputs and converts them into tracker reports. -# -# If the drive does not have a limit switch to calibrate against and you need to -# drive it to one rail to find a zero location, use a nonzero initial_move -# value to cause a move. To keep it from getting stuck against that limit, -# change the fractional_c_a value to be less than one -- this will lower -# both the current and the acceleration/deceleration by this fraction for -# this initial move. The location of the device is reset to 0 after the -# move is done. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_port[] -# int run_speed_tics_sec -# int start_speed_tics_sec -# int end_speed_tics_sec -# int accel_rate_tics_sec_sec -# int decel_rate_tics_sec_sec -# int run_current -# int hold_current -# int accel_current -# int decel_current -# int delay -# int step -# int high_limit_index (-1 for none) -# int low_limit_index (-1 for none) -# int output_1_value (0 for off, 1 for on, -1 for don't change) -# int output_2_value (0 for off, 1 for on, -1 for don't change) -# int output_3_value (0 for off, 1 for on, -1 for don't change) -# int output_4_value (0 for off, 1 for on, -1 for don't change) -# double initial_move (0 for no move) -# double fractional_c_a (Fraction of full current and acceleration) -# double reset_location (Where to set location on reset in full ticks) - -#vrpn_IDEA Analog0 COM1 3200 1200 2000 40000 100000 290 0 290 290 50 8 1 -1 0 0 0 0 0 1.0 -60.0 -#vrpn_IDEA Analog1 COM2 3200 1200 2000 40000 100000 290 0 290 290 50 8 1 -1 0 0 0 0 0 1.0 -60.0 -#vrpn_IDEA Analog2 COM3 3200 1200 2000 40000 100000 290 0 290 290 50 8 1 -1 0 0 0 0 0 1.0 -60.0 -#vrpn_IDEA Analog0 /dev/ttyUSB1 3200 1200 2000 40000 100000 290 0 290 290 50 8 -1 -1 0 0 0 0 10000 0.2 -60.0 -#vrpn_IDEA Analog1 /dev/ttyUSB2 3200 1200 2000 40000 100000 290 0 290 290 50 8 -1 -1 0 0 0 0 10000 0.2 -60.0 -#vrpn_IDEA Analog2 /dev/ttyUSB3 3200 1200 2000 40000 100000 290 0 290 290 50 8 -1 -1 0 0 0 0 10000 0.2 -60.0 - -################################################################################ -# SGI Dial and Button box, raw interface. Runs a dial-and-button box from SGI, -# talking to it through the raw serial interface (not using the GL interface -# supplied by SGI). This allows the box to be opened even if there is nobody -# logged on at the console. Note that to use this on an SGI, you will need to -# configure the port as a serial device, not as a button device, to get it to -# run. Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# [list of buttons to treat as toggles] int button_to_toggle - -#vrpn_raw_SGIBox Sgibox0 /dev/ttyS0 0 1 2 3 - -################################################################################ -# SGI Dial and Button box, cooked interface. Runs a dial-and-button box from SGI, -# talking to it through the GL interface supplied by SGI. Note that this can -# only be used on an SGI, and the serial port must be configured as a dial/button -# device and the dial/button server from SGI must be running to use it. Arguments: -# char name_of_this_device[] -# [list of buttons to treat as toggles] int button_to_toggle - -#vrpn_SGIBOX Sgibox0 1 2 - -################################################################################ -# UNC Python button device. UNC has developed a custom button input device, which -# is a 5-button controller that attaches to a parallel port and uses the sense -# lines to return the state of the buttons. This runs the device. Note that on -# Windows NT, you need to have installed the GiveIO driver for this code to -# work. It also works on Linux (no extra drivers needed), but on no other -# architecture. Arguments: -# char name_of_this_device[] -# int parallel_port_to_use_starting_with_1 -# int hexadecimal_io_base_number (default address used if left off) - -#vrpn_Button_Python Button0 1 - -################################################################################ -# UNC Joystick driver. UNC has developed a custom-build joybox, with 7 analog -# and 2 button inputs (two 3-axis joysticks and a slider, with a button on top -# of each joystick). This will drive one of these devices, which attaches to -# a serial port on this computer. I'm not sure what the baud rate should be; -# David Harrison might know. -# This driver can be used in conjunction with the JoyFly driver to produce a -# tracker that uses the joystick to fly around. Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# float minimum_update_rate_from_analogs_even_if_they_dont_move - -#vrpn_Joystick Joybox0 /dev/ttyd1 19200 10.0 - -################################################################################ -# Linux Joystick. Interface to the Linux Joystick driver by Vojtech Pavlik -# included in several Linux distributions. The server code has been tested -# with Linux Joystick driver version 1.2.14. Yet, there is no way how to -# map a typical joystick's zillion buttons and axes on few buttons and axes -# really used. Unfortunately, even joysticks of the same kind can have -# different button mappings from one to another. -# Arguments: -# char name_of_this_device[] -# char name_of_joystick_device[] - -#vrpn_Joylin Joylin0 /dev/input/js0 - -################################################################################ -# Fakespace Pinch Glove. Drives a Fakespace Pinch Glove device connected to a -# serial port on this machine. This device has ten buttons-two hands and five -# fingers on each hand. Buttons 0-4 are fingers for the right hand-thumb first -# and pinkie last- while buttons 5-9 are for the left hand-thumb first. The -# Button is ON when it is touching another finger. Therefore there cannot -# be just one Button ON. Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_Button_PinchGlove PinchGlove0 COM1 9600 - -################################################################################ -# Adrienne Electronics Corporation PCI time code driver. The PCI-VITC board -# for which this driver was developed reads in VITC time codes from an input -# signal. This will drive one of these devices. -# Arguments: -# char name_of_this_device[] - -#vrpn_TimeCode_Generator TimeGen0 - -################################################################################ -# 5DT glove (5 sensors plus optional tilt sensors). -# Drive a 5dt glove connected on a serial Port. This device uses -# optical fiber to get the finger position. -# -# See also vrpn_5DT16 (16-sensor serial) and vrpn_Analog_5dtUSB (5 or 14-sensor -# "Ultra" USB/wireless) -# -# 2 modes are driven: the first one let the driver get data from the glove -# when requested (we advise this mode). The second one makes the glove send -# data continuously. This mode may saturate the input buffer. -# -# The manual states that there will be 9 bytes per report, but one group -# has found that they get an extra one: 0x55 at the end of each report. -# So, you can choose whether to use 9 (the default) or 10 now. -# Gesture management is not implemented yet nor the mouse emulation mode -# -# The standard baud rate for the "wired" glove is 19200. For a "wireless" -# glove (which is send-only), even if directly connected, use baud rate -# 9600. The driver detects this and will adjust its behavior accordingly -# (forcing on continuous mode and 10-bytes-per-report, ignoring the settings -# you specify here). If you aren't sure what kind of glove you have, use the -# Glove Manager app in -# "5DT Data Glove Series: Full Package for Windows 95/98/NT/2000" downloaded from -# http://5dt.com/downloads.html and try to connect, it will tell you. -# Their Glove Manager worked for me on Linux 64-bit with WINE, and is probably the -# easiest way to find out this info if you don't know it. (Or, just try 9600 if -# 19200 doesn't work.) -# -# Reports the digit bend values in order, channels 1-5, in the range 0.0-1.0, -# and the tilt sensors in channels 6 and 7 in the range 0 to 180, if available -# -# arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device -# int mode_of_data_reporting (1 = on request, 2 = continuously) -# int ten_bytes_per_report (0 = no, use 9; 1 = yes) - -#vrpn_5dt glove_5dt /dev/ttyS0 19200 1 0 -#vrpn_5dt glove_5dt COM1 19200 1 0 -#vrpn_5dt glove_5dt_wireless /dev/ttyS1 9600 2 1 - -################################################################################ -# NRL Serial Mouse. A device made by wiring buttons in parallel with the buttons -# on a serial mouse. Both mousesystems or microsoft mouse protocols are -# supported. Note that the server code makes the connection at the standard -# 1200 baud. The mouse can be plugged into any serial port -- this driver goes -# directly through the raw port and does not use the built-in mouse drivers. -# NOTE: The middle button on the 3button type is toggled by moving the mouse -# on a surface while not toggling the other two buttons, strange as this may -# seem. The motion of the mouse is not reported, only the buttons. - -#vrpn_Button_SerialMouse Button0 /dev/ttyd1 mousesystems -#vrpn_Button_SerialMouse Button0 COM1 mousesystems -#vrpn_Button_SerialMouse Button0 COM1 3button -# For a Linux box with a mouse on port 0 -#vrpn_Button_SerialMouse Button0 /dev/ttyS0 3button -# For a mac with a Keyspan 4-port serial-to-USB converter -#vrpn_Button_SerialMouse Button0 /dev/tty.USA49W3b12P1.1 3button - -################################################################################ -# ReliaSolve Streaming Arduino. -# char name_of_this_device[] -# char name_of_serial_device[] -# int number_of_analogs_to_read - -#vrpn_Streaming_Arduino sa0 /dev/ttyd2 4 -#vrpn_Streaming_Arduino sa0 COM5 4 - -################################################################################ -# NRL TNG3. (Totally Neat Gadget) A device made by mindtel, available from -# pulsar.org. Powered off the serial port control lines, the TNG3 has 8 digital -# and 8 analog inputs. Analog resolution is 8 bits. Baud rate fixed internally -# at 19200. -# char name_of_this_device[] -# char name_of_serial_device[] -# int number_of_buttons_to_read (i.e. 8 ==> 0,1,2,3,4,5,6,7) -# int number_of_analogs_to_read - -#vrpn_Tng3 tng3name /dev/ttyd2 4 0 -#vrpn_Tng3 tng3name com1 8 8 -#vrpn_Tng3 tng3name com1 1 1 - -################################################################################ -# Microsoft DirectX compatible force-feedback joystick (or non-force-feedback -# joystick). -# char name_of_this_device[] -# int number of times per second to read from the device -# int number of times per second to update force (0 for non-force device) - -#vrpn_DirectXFFJoystick Joystick0 60 200 -#vrpn_DirectXFFJoystick Joystick0 60 0 - - -################################################################################ -# Microsoft DirectX compatible rumble-pad (e.g. Wingman) -# char name_of_this_device[] - -#vrpn_DirectXRumblePad RumblePad0 - -################################################################################ -# Microsoft XInput compatible controller (e.g. Xbox 360 gamepad) -# char name_of_this_device[] -# int userIndex (0 for "Player 1", 1 for "Player 2", etc.) - -#vrpn_XInputGamepad XInput0 0 - - -################################################################################ -# Manager for joysticks under windows using standard win32 calls. -# for force feedback support, see DirectX joystick above -# -# Arguments: -# char name_of_this_device[] -# int joystick Id -# (1 for first joystick JOYSTICKID1 or 2 for second JOYSTICKID2 only) -# int number of times per second to read from the device -# int readmode : 0 = raw data; -# 1 = 0,1 normalized data; -# 2=-1,1 normalized data -# int percentage (0 to 100) of deadzone (used mode 1 and 2 only) - -#vrpn_Joywin32 joyWin32 1 60 2 35 - -################################################################################ -# Global Haptics GeoOrb serial-line device that contains a number of buttons, -# a thumbwheel, and a trackball. For current devices, only 19200 baud works. -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_GlobalHapticsOrb Orb0 COM1 19200 - -################################################################################ -# SensAble Technologies Phantom force-feedback device opened using the -# GHOST software developer's kit. For Phantom Desktop systems, you don't -# need to have the user establish the reset position. For the Premium models, -# you do. -# Arguments: -# char name_of_this_device[] -# int establish_reset_position (0 or 1) -# float rate_to_send_tracker_reports -# char Name of the Phantom in the configuration control panel - -#vrpn_Phantom Phantom 0 60.0 Default PHANToM - -############################################################################## -# Virtual Presence Joystick tracker device. (http://www.vrweb.com) -# Use this driver to read the button states, -# use Flock-of-Birds driver for the position/orientation state -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_VPJoystick VPJoystick0 /dev/ttyS0 9600 - -################################################################################ -# Advanced Realtime Tracking GmbH (http://www.ar-tracking.de) DTrack client -# -# creates as many vrpn_Tracker as there are bodies or Flysticks, starting with the bodies -# creates 2 analogs per Flystick -# creates 8 buttons per Flystick -# -# NOTE: when using DTrack's older output format for Flystick data ('6df'), the numbering -# of Flystick buttons differs from DTrack documentation (for compatibility with -# older vrpn releases) -# -# Arguments: -# char name_of_this_device[] -# int udp_port (DTrack sends data to this UDP port) -# -# Optional arguments: -# float time_to_reach_joy (in seconds; see below) -# int number_of_bodies, number_of_flysticks (fixed numbers of bodies and Flysticks) -# int renumbered_ids[] (vrpn_Tracker IDs of bodies and Flysticks) -# char "3d" (activates 3dof marker output if available; -# always last argument if "-" is not present) -# char "-" (activates tracing; always last argument) -# -# NOTE: time_to_reach_joy is the time needed to reach the maximum value (1.0 or -1.0) of the -# joystick of older 'Flystick' devices when the corresponding button is pressed -# (one of the last buttons amongst the 8); not necessary for newer 'Flystick2' devices -# with its analog joystick -# -# NOTE: if fixed numbers of bodies and Flysticks should be used, both arguments -# number_of_bodies and number_of_flysticks have to be set -# -# NOTE: renumbering of tracker IDs is only possible, if fixed numbers of bodies and -# Flysticks are set; there has to be an argument present for each body/Flystick - -#vrpn_Tracker_DTrack DTrack 5000 -#vrpn_Tracker_DTrack DTrack 5000 - -#vrpn_Tracker_DTrack DTrack 5000 3d -#vrpn_Tracker_DTrack DTrack 5000 3d - -#vrpn_Tracker_DTrack DTrack 5000 0.5 -#vrpn_Tracker_DTrack DTrack 5000 0.5 2 2 -#vrpn_Tracker_DTrack DTrack 5000 0.5 2 2 2 1 0 3 -#vrpn_Tracker_DTrack DTrack 5000 0.5 2 2 2 1 0 3 3d - - -################################################################################ -# National Instruments Analog Output server. This will open the board whose -# name is specified, configure the number of channels specified, and set the -# polarity and maximum voltage range at which to drive the channels. -# -# XXX This server is deprecated, please use the vrpn_National_Instruments -# server listed below. -# -# Arguments: -# char vrpn_name_for_this_device[] -# char name_of_NI_board[] -# int number_of_channels -# int polarity : 0 = unipolar, 1 = bipolar -# float min_voltage -# float max_voltage - -#vrpn_NI_Analog_Output Analog_XY DAQCard-6036E 2 0 -10.0 10.0 -#vrpn_NI_Analog_Output Analog_ZTweeze DAQCard-6036E 2 0 -10.0 10.0 -#vrpn_NI_Analog_Output Analog_XYZ PCI-6733 3 0 -10.0 10.0 - -################################################################################ -# National Instruments A/D, D/A Analog and Analog Output server. This will open -# the board whose name is specified, configure the number of channels specified, -# and set the polarity and maximum voltage range at which to read and -# drive the channels. -## -# Arguments: -# char vrpn_name_for_this_device[] -# char name_of_NationalInstruments_board[] -# int number_of_input_channels (can be zero) -# float mininum_delay_between_Analog_Reports (zero for fastest) -# int input_polarity : 0 = unipolar, 1 = bipolar -# int input_mode : 0 = differential, 1 = ref single-end, 2 = non-ref SE -# int input_range : 5 = 5v, 10 = 10v, 20 = 20v -# int input_drive_ais : 0 = no, 1 = yes -# int input_gain -# int number_of_output_channels (can be zero) -# int output_polarity : 0 = unipolar, 1 = bipolar -# float min_out_voltage (used to guard against overdriving devices) -# float max_out_voltage (used to guard against overdriving devices) - -# Input example -#vrpn_National_Instruments MCLXYZIN PCI-6052E 7 0 0 0 10 0 1 0 0 -10.0 10.0 -# Output examples -#vrpn_National_Instruments MCLXYZOUT PCI-6733 0 0 0 0 10 0 1 3 0 0.0 10.0 -#vrpn_National_Instruments Analog_XY DAQCard-6036E 0 0 0 0 10 0 1 2 1 -10.0 10.0 - -################################################################################ -# Analog Poser. This is a poser that is intended to be used on top of -# an analog output (perhaps a National Instruments board), whose outputs -# directly drive the position of some actuated stage. It could be used on top -# of any analog output device, in fact. This device basically takes in poses -# and puts out analog outputs. -# One analog channel is associated with each axis (X, Y, Z) and rotation about -# each axis (RX, RY, RZ). For each axis, the position (meters) is converted into -# a voltage; the orientation is mapped from a quaternion into Euler angles and -# each of the Euler angles is converted into a voltage (XXX Orientation is not yet -# implemented; the RX,RY, and RZ values must be specified but they are not used). -# XXX Velocity and orientation velocity are not yet supported. -# Any axis can be disabled by setting the name of its associated device to the -# string "NULL". -# -# Arguments: -# char vrpn_name_for_this_device[] -# int send_tracker_reports -# [six lines follow, one for X Y Z RX RY RZ, each with: -# char axis_name[] (X Y Z RX RY RZ in that order) -# char vrpn_name_of_the_analog_output_to_use[] -# (Preface with a * if it uses the same connection) -# int channel_of_analog_output_device (First channel is channel 0) -# float offset -# float scale -# float min_value of workspace -# float max_value of workspace -# ] - -#vrpn_Poser_Analog Poser0 1 -#X *Analog_XY 0 0.0 1.0 -10 10 -#Y *Analog_XY 1 0.0 1.0 -10 10 -#Z *Analog_ZTweeze 0 0.0 1.0 -10 10 -#RX NULL 0 0.0 1.0 -10 10 -#RY NULL 0 0.0 1.0 -10 10 -#RZ NULL 0 0.0 1.0 -10 10 - -# Poser to drive Mad City Labs stage from an input value of -# 0 to 100 microns to an output (through a National Instruments -# D/A card) of 0-10 volts. -#vrpn_Poser_Analog Poser0 1 -#X *MCLXYZOUT 0 0.0 0.1 0 100 -#Y *MCLXYZOUT 1 0.0 0.1 0 100 -#Z *MCLXYZOUT 2 0.0 0.1 0 100 -#RX NULL 0 0.0 1.0 -10 10 -#RY NULL 0 0.0 1.0 -10 10 -#RZ NULL 0 0.0 1.0 -10 10 - -################################################################################ -# Nikon microscope connected to PC via serial port. Currently only controls -# the focus of the microscope using an analogout and reads the focus position -# using an analog. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] - -#vrpn_nikon_controls nikon COM1 - -################################################################################ -# Tektronix 4662 plotter. Attaches to a serial port. Acts as both a poser and -# a tracker. Reports positions 4x per second plus when a move command completes. -# Multiple move commands issued before they complete will result in only the last -# one being executed. -# -# Arguments: -# char name_of_this_device[] -# char name_of_serial_device[] -# int baud_rate_of_serial_device - -#vrpn_Tek4662 Tek4662 COM1 1200 - -############################################################################### -# keyboard and mouse button is a tracker with button system -# XXX These have been removed and replaced with vrpn_Mouse -# and vrpn_Keyboard. Use the clutch option on vrpn_AnalogFly to -# replicate the mouse behavior. The vrpn_Keyboard does not -# enable key mapping, just sends all of the keys' scancodes -# through. - -################################################################################ -# US Digital A2 Absolute Encoder Analog Input server. This will open the COM -# port specified, configure the number of channels specified, and report -# Absolute Encoder values in tenths of a degree from 0 to 3599. -# -# Arguments: -# char name_of_this_device[] -# int COM_port. If 0, search for correct COM port. -# int number_of_channels -# int 0 to report always, 1 to report on change only (optional, default=0) - -#vrpn_Analog_USDigital_A2 Analog0 1 2 - -################################################################################ -# This is a driver for National Instruments DAQCard- -# DIO-24, a PCMCIA card, which provides 24-bit digital I/O. -# -# Arguments: -# char name_of_this_device[] -# int number_of_channls to read: 1-24 (optional. default=24). - -#vrpn_Button_NI_DIO24 Button0 1 - -############################################################################## -# PhaseSpace Impulse system. This device type is not compiled by default, since -# it uses a proprietary library. However, you can get it to compile by -# defining VRPN_INCLUDE_PHASESPACE and including the appropriate libraries -# and headers when compiling (See vrpn_Configure.h). -# -# Arguments: -# char tracker_name[] # Tracker0, Tracker1, ... etc -# [Additional lines specifying tracker configuration] -# -# The section following the Tracker declaration is a tag delimited set of -# lines which specify system configuration and vrpn sensors. The section begins -# with an tag and ends with a tag. Each tag must be on a separate -# line. (see below) -# -# Each line in the specification section is a white-space separated set of -# key-value pairs. At most one sensor is defined per line. The sensor and type -# keys are mandatory. Other keys are are required based on the type. -# -# Comments can be embedded with the '#' character. -# -# Example: -# -# vrpn_Tracker_PhaseSpace Tracker0 -# -# device="192.168.1.1" -# frequency=960 -# slave=0 -# drop_frames=0 -# scale=0.001 -# debug=0 -# -# sensor=0 type=point tracker=0 led=0 # this is a comment -# sensor=1 type=point tracker=0 led=1 # map sensor 1 to led 1 on tracker 0 -# -# sensor=2 type=rigid_body tracker=1 # designate tracker 1 as a rigid body on sensor 2 -# sensor=3 type=point tracker=1 led=2 pos=0,0,0 # add led 2 to rigid body on tracker 1 -# sensor=4 type=point tracker=1 led=3 pos=100,0,0 # add led 3 to rigid body on tracker 1 -# sensor=5 type=point tracker=1 led=4 pos=0,100,0 # add led 4 to rigid body on tracker 1 -# sensor=6 type=point tracker=1 led=5 pos=0,0,100 # add led 5 to rigid body on tracker 1 -# -# -# Key Definitions -# ====================== -# -# device -# A string specifying the IP address of the Impulse server to connect to. -# -# frequency -# A floating-point number specifying the system streaming frequency. -# Usually 480 or 960. -# -# slave -# An integer specifying whether to enable slave mode. -# Set to 0 to disable, 1 to enable. If slave mode is enabled, unspecified -# markers are assigned an arbitrary sensor number. -# -# drop_frames -# An integer. Set to zero to disable. Specifying 1 for drop_frames will -# cause the server to drop frames in order to get the most recent data on -# every run through the mainloop. This may be desirable for most VR -# applications and for slower machines. -# -# debug -# An integer. Zero to disable. Specifying 1 for debug will cause the server -# to print out verbose debugging output. -# -# scale -# The floating-point factor to scale incoming positional data by. The default -# is 0.001. -# -# sensor -# The vrpn sensor number. -# -# type -# A string which specifies what type the sensor is. Required if sensor is -# specified. The following types are supported: -# point -# rigid -# rigid_body (deprecated) -# -# tracker -# An integer which specifies The Impulse tracker id of an led or rigid body. -# Required if type is "point" or "rigid". -# -# led -# An integer which specifies the led id of a sensor. -# Required if type is "point". -# -# pos -# An optional comma-separated list of three floating-point numbers specifying -# the 3D position of a marker on a rigid body. No spaces. Valid if type is -# "point". Specifying positions is only valid if the tracker number is set -# to a rigid body. The units MUST be in millimeters, regardless of scale -# setting. -# -# init -# An optional comma-separated list of four floating-point numbers specifying -# kalman parameters for a rigid body. Valid if type is "rigid_body". -# -# -# For support, questions, comments, or bug reports please send emails -# to: support@phasespace.com -# -#vrpn_Tracker_PhaseSpace Tracker0 -# -#device="192.168.1.230" -#frequency=480 -#slave=0 -#drop_frames=0 -#scale=0.001 -#sensor=0 type=point led=0 -#sensor=1 type=point led=1 -#sensor=2 type=point led=2 -#sensor=3 type=point led=3 -#sensor=4 type=point led=4 -#sensor=5 type=point led=5 -#sensor=6 type=point led=6 -#sensor=7 type=point led=7 -# - -################################################################################ -# Generic Auxiliary Logger. This is a server that will listen for requests to -# produce additional log files and the name of the connection it should make the -# log files for. It can only have one set of such logs open (can be more than -# one log but all for the same connection). There are two arguments: -# char name_of_this_device[] -# char name_of_connection_to_log - -#vrpn_Auxiliary_Logger_Server_Generic Logger0 localhost - -################################################################################ -# Imager Stream Buffer. This is a server that will listen for requests to -# produce additional log files and the name of the connection it should make the -# log files for. It can only have one set of such logs open (can be more than -# one log but all for the same connection). The "local" log files are with -# respect to the machine where this server is running, and the "remote" ones -# are with respect to the vrpn_Imager_Server it has connected to (which may -# be on yet a third machine compared to the client machine). -# There are two arguments: -# char name_of_this_device[] -# char name_of_imager_server_to_log - -#vrpn_Imager_Stream_Buffer ImageStream0 TestImage@localhost - -################################################################################ -# controllers from Futaba. There is one device we have -# drivers for. The only argument is the name of the device to open. -# -# For Interlink Elite: -# Analog channel assignments: -# 0=rudder (left joy X) -# 1=throttle (left joy Y) -# 2=aileron (right joy X) -# 3=elevator (right joy Y) -# 4=Ch6 Flaps Gain -# Button number assignments: -# 0=Ch5 fwd -# 1=Ch7 fwd -# 2=reset -# 3=Ch8 down -# 4=Ch8 up -# 5= -# 6=menu/select -# 7=cancel -# Next eight are for the trim buttons -# 8=aileron right -# 9=aileron left -# 10=elevator up -# 11=elevator down -# 12=rudder right -# 13=rudder left -# 14=throttle up -# 15=throttle down -# Next two are options button -# 16=up -# 17=down -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Futaba_InterLink_Elite futaba0 - -################################################################################ -# controllers from Griffin Technology. There is one device we have -# drivers for. The only argument is the name of the device to open. -# -# For PowerMate: -# Analog channel assignments: -# none -# Button number assignments: -# 0=only button -# Dial assignments: -# 0=only dial -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Griffin_PowerMate griffin0 - -################################################################################ -# controllers from Retrolink. There is one device we have -# drivers for. The only argument is the name of the device to open. -# -# For GameCube: -# Analog channel assignments: -# 0=Left joystick X axis; -1 = left, 1 = right -# 1=Left joystick Y axis; -1 = up, 1 = down -# 2=Right joystick X axis; -1 = left, 1 = right -# 3=Right joystick Y axis; -1 = up, 1 = down -# 4=Left rocker switch angle in degrees (-1 if nothing is pressed) -# Button number assignments: -# 0=Y -# 1=X -# 2=A -# 3=B -# 4=left trigger -# 5=right trigger -# 6=Z -# 7=Start/pause -# Buttons 8-11 are duplicate mappings for the rocker-switch; both -# these and the analog angle in degrees will change as they are pressed -# 8 = up -# 9 = right -# 10 = down -# 11 = left -# -# For Genesis: -# Analog channel assignments: -# 0=Rocker switch angle in degrees (-1 if nothing is pressed) -# Button number assignments: -# 0=A -# 1=B -# 2=C -# 3=X -# 4=Y -# 5=Z -# 6=Mode -# 7=Start -# Buttons 8-11 are duplicate mappings for the rocker-switch; both -# these and the analog angle in degrees will change as they are pressed -# 8 = up -# 9 = right -# 10 = down -# 11 = left -# -# There is one argument: -# char name_of_this_device[] - -# vrpn_Retrolink_GameCube retrolink0 -# vrpn_Retrolink_Genesis retrolink0 - -################################################################################ -# Controllers from Contour Design. There are two devices we have -# drivers for. The only argument is the name of the device to open. -# -# Dial: Moves in 0.1-revolution steps. -# -# Analogs: -# analog[0] is the shuttle, which goes from -1 to 1 -# analog[1] integrates the dial, with 1 meaning a full revolution -# -# Buttons on the ShuttlePROv2: -# Top row, left to right: buttons 0-3 -# Second row: Buttons 4-8 -# Four grey buttons below, left to right (two rows): 9-10, 11-12 -# Black buttons, left to right: 13-14 -# -# For ShuttleXpress and ShuttlePROv2: -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Contour_ShuttleXpress contour0 -#vrpn_Contour_ShuttlePROv2 contour0 - -################################################################################ -# controllers from Microsoft. The devices we have drivers for are listed below. -# The only argument is the name of the device to open. -# -# These show up as JoyLin devices under Linux and cannot be opened raw when -# that interface is running. -# -# These do not provide any raw inputs when run on a Mac with OS 11.6.5. -# -# For SideWinder Precision 2 joystick -# Analog channel assignments: -# 0=joystick X -# 1=joystick Y -# 2=Z rotate -# 3=slider -# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.) -# Button number assignments -# 0=1 -# 1=2 -# 2=3 -# 3=4 -# 4=5 -# 5=6 -# 6=7 -# 7=8 -# Next four are point of view hat buttons -# 8=Up -# 9=Right -# 10=Down -# 11=Left -# -# For SideWinder joystick -# Analog channel assignments: -# 0=joystick X -# 1=joystick Y -# 2=slider -# Button number assignments -# 0=1 -# 1=2 -# 2=3 -# 3=4 -# 4=5 -# 5=6 -# 6=7 -# 7=8 -# -# For Xbox Controller S: -# Requires USB cable and special driver. -# Analog channel assignments: -# 0=left joystick X -# 1=left joystick Y -# 2=right joystick X -# 3=right joystick Y -# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.) -# Button number assignments -# 0=A -# 1=B -# 2=X -# 3=Y -# 4=Black -# 5=White -# 6=Start -# 7=Back -# 8=left joystick -# 9=right joytick -# 10=left trigger -# 11=right trigger -# Next four are point of view hat buttons -# 12=Up -# 13=Right -# 14=Down -# 15=Left -# -# For Xbox 360 Controller: -# Analog channel assignments: -# 0=left joystick X -# 1=left joystick Y -# 2=right joystick X -# 3=right joystick Y -# 4=triggers (left goes positive, right goes negative) -# 5=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.) -# Button number assignments -# 0=A -# 1=B -# 2=X -# 3=Y -# 4=left bump -# 5=right bump -# 6=Back -# 7=Start -# 8=left joystick -# 9=right joytick -# Next four are point of view hat buttons -# 10=Up -# 11=Right -# 12=Down -# 13=Left -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Microsoft_SideWinder_Precision_2 microsoft0 -#vrpn_Microsoft_SideWinder microsoft0 -#vrpn_Microsoft_Controller_Raw_Xbox_S microsoft0 -#vrpn_Microsoft_Controller_Raw_Xbox_360 microsoft0 -#vrpn_Microsoft_Controller_Raw_Xbox_360_Wireless microsoft0 -#vrpn_Afterglow_Ax1_For_Xbox_360 microsoft0 - -################################################################################ -# X-Keys devices from P.I. Engineering. There are several devices we have -# drivers for. The only argument is the name of the device to open. The Pro -# and Joystick models have not been tested. The XK3 is a 3-button foot pedal. -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Xkeys_Desktop xkeys0 -#vrpn_Xkeys_Pro xkeys0 -#vrpn_Xkeys_Joystick xkeys0 -#vrpn_Xkeys_Joystick12 xkeys0 -#vrpn_Xkeys_Jog_And_Shuttle xkeys0 -#vrpn_Xkeys_Jog_And_Shuttle12 xkeys0 -#vrpn_Xkeys_Jog_And_Shuttle68 xkeys0 -#vrpn_Xkeys_XK3 xkeys0 - -################################################################################ -# controllers from Logitech other than 3Dconnexion which is listed separately. -# The devices we have drivers for are listed below. -# The only argument is the name of the device to open. -# -# For Extreme 3D Pro joystick -# Analog channel assignments: -# 0=joystick X -# 1=joystick Y -# 2=Z rotate -# 3=slider -# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.) -# Button number assignments -# 0=1 -# 1=2 -# 2=3 -# 3=4 -# 4=5 -# 5=6 -# 6=7 -# 7=8 -# 8=9 -# 9=10 -# 10=11 -# 11=12 -# Next four are point of view hat buttons -# 12=Up -# 13=Right -# 14=Down -# 15=Left -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Logitech_Extreme_3D_Pro logitech0 - -################################################################################ -# controllers from Saitek. -# The devices we have drivers for are listed below. -# The only argument is the name of the device to open. -# -# For ST290 Pro joystick -# Analog channel assignments: -# 0=joystick X -# 1=joystick Y -# 2=Z rotate -# 3=slider -# 4=Point of View Hat heading (-1=nothing, 0=North, 45=Northeast, etc.) -# Button number assignments -# 0=1 -# 1=2 -# 2=3 -# 3=4 -# 4=5 -# 5=6 -# 6=7 -# Next four are point of view hat buttons -# 7=Up -# 8=Right -# 9=Down -# 10=Left -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Saitek_ST290_Pro saitek0 - -################################################################################ -# controllers from CH products. -# The devices we have drivers for are listed below. -# The only argument is the name of the device to open. -# -# For Fighterstick USB joystick -# Analog channel assignments: -# 0=joystick X -# 1=joystick Y -# 2=throttle wheel -# 3=Point of View Hat heading (buttons 4-7: -1=nothing, 0=North, 45=Northeast, etc.) -# 4=Hat heading (buttons 8-11: -1=nothing, 0=North, 90=East, etc.) -# 5=Hat heading (buttons 12-15: -1=nothing, 0=North, 90=East, etc.) -# 6=Mode (buttons 2, 16-18): 0=unknown, 1=red, 2=yellow, 3=green) -# 7=Hat heading (buttons 20-23: -1=nothing, 0=North, 90=East, etc.) -# -# Button number assignments -# 0=trigger -# 1=top red button -# 2=red button using index finger (see 16, 17, & 18) -# 3=pinky red button -# Next four are on 8-way POV hat: upper right on top -# 4=up -# 5=right -# 6=down -# 7=left -# Next four are on 4-way hat #2: lower right on top -# 8=up -# 9=right -# 10=down -# 11=left -# Next four are on 4-way hat #1: left on top -# 12=up -# 13=right -# 14=down -# 15=left -# Next three are modes triggered by button 2. -# Mode LEDs show the color listed below when pressed, but releasing with advance the color to the next in the series. -# These "buttons" are all released when unknown. Once the mode is known, one button will always be considered pressed. -# 16=green -# 17=red -# 18=yellow -# 19= -# Next four are on 4-way hat #3: thumb -# 20=Up -# 21=Right -# 22=Down -# 23=Left -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_CHProducts_Fighterstick_USB chproducts0 - -################################################################################ -# Space Navigator, Space Traveler, and Space Mouse devices from 3DConnexion. -# 3Dconnexion is actually made by Logitech. -# Not to be confused with the Magellan Space Mouse, for which there is -# a Magellan driver. -# The only argument is the name of the device to open. -# -# There is one argument: -# char name_of_this_device[] -# -# For the SpaceMouse Pro: -# Analog channel assignments: -# 0=x -# 1=y -# 2=z -# 3=pitch -# 4=roll -# 5=yaw -# Button number assignments: -# (the ones similar to have a graphic on the button and are referred to the text enclosed text in the help) -# 0=Menu -# 1=Fit -# 2= -# 4= -# 5= -# 8= -# 12=1 -# 13=2 -# 14=3 -# 15=4 -# 22=Esc -# 23=Alt -# 24=Shift -# 25=Ctrl -# 26= -# -# On Linux, make sure the HID and evdev drivers are running so that these -# devices will be recognized: -# Start a separate Root shell: -# cd .../vrpn/server_src/pc_linux -# lsmod -# modprobe evdev -# modprobe hid -# lsmod -# (check that evdev and hid are running) -# On RedHat Linux, you need the have libusb1-devel installed and configure -# the system for VRPN_USE_LOCAL_HIDAPI to get these to work. - -#vrpn_3DConnexion_Navigator device0 -#vrpn_3DConnexion_Navigator_for_Notebooks device0 -#vrpn_3DConnexion_Traveler device0 -#vrpn_3DConnexion_SpaceMouse device0 -#vrpn_3DConnexion_SpaceMousePro device0 -#vrpn_3DConnexion_SpaceMouseCompact device0 -#vrpn_3DConnexion_SpaceMouseWireless device0 -#vrpn_3DConnexion_SpaceMouseProWireless device0 -#vrpn_3DConnexion_SpaceExplorer device0 -#vrpn_3DConnexion_SpaceBall5000 device0 -#vrpn_3DConnexion_SpacePilot spacepilot -#vrpn_3DConnexion_SpacePilotPro spacepilotpro - -################################################################################ -# Open the mouse as an analog and button devices. There is an implementation -# under Windows and another under Linux (using GPM). There are two analog -# channels, reporting in the range [0..1] as the mouse moves across the screen. -# There are 3 button channels: left, middle, right. -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Mouse Mouse0 - -################################################################################ -# Open the keyboard as a button device. There is an implementation -# under Windows. There are 256 buttons, and they are triggered according -# to the scan code that they represent. -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Keyboard Keyboard0 - -################################################################################ -# WARNING : LINUX ONLY ! -# Open the /dev/input devices and treat them as mouse events -# There is as many as available channel (kernel 2.6.38 : 10 channels) -# -# There is three argument: -# char name_of_this_device[] -# char "name of the hardware device" -# char type of the device (must be one of "keyboard", "absolute" and "relative" -# int in case of keyboard : the total number of keys ; in case of absolute mouse : size of the window (ie. to normalize the result) -# The "name of the hardware device" is the Name entry of the device -# from /proc/bus/input/devices -# Due to hardware access through /dev/input/*, there is no notion of window. -# Thus, you must specify the window size. If '-1' is provided, then, this device -# only provide relative displacement of the channel -# -# Keyboard are standard keyboard (ie : the one on which you type elements -# Absolute are pointing devices such as touchpad : the position of the pointer is absolute regarding the size of the touch pad -# Relative are pointing devices such as mouse : the position of the pointer is a relative displacement regarding previous position -# -# BEWARE that you must have read access to the wanted device - -#vrpn_DevInput Input0 "AT Translated keyboard" keyboard 255 -#vrpn_DevInput Input0 "USB Optical Mouse" relative -1 - -################################################################################ -# MotionNode inertial tracking system. -# -# There are four arguments: -# char name_of_this_device[] -# int num_sensors -# char address -# int port - -#vrpn_Tracker_MotionNode Tracker0 1 127.0.0.1 32079 - -################################################################################ -# GPS device. -# This driver reads a GPS connected to the serial port at a given baud rate, and looks for -# the NMEA message providing long/lat/alt, which get copied into x/y/z -# respectively (of the position). Should do a lot more (e.g., get velocity, -# bearing, perhaps convert to UTM). But, for now, this is all it does. - -# Open a GPS on MACOSX at 4800 baud - -#vrpn_Tracker_GPS Tracker0 /dev/tty.KeySerial1 4800 -#vrpn_Tracker_GPS Tracker0 /dev/tty.HOLUXGPSlim236-SPPslave-1 4800 - -#on windows -#vrpn_Tracker_GPS Tracker0 COM1 4800 - -################################################################################ -# Nintendo Wii Remote Controller -# char name_of_this_device[] -# int userIndex (1 for "Player 1", 2 for "Player 2", etc.) -# int useMotionSensing -# int useIR -# int reorderButtons (set to make button ids somewhat more sensible) -# char bluetooth_address[] (optional, only supported on Linux - upper case, -# include colons) - -#vrpn_WiiMote WiiMote0 1 0 0 1 - -################################################################################ -# Two-LED head tracking using Wii Remote Controller -# char name_of_this_device[] -# char name_of_vrpn_WiiMote_device[] -# float min_update_rate (default=60) -# float led_distance (default=0.205) -# -# Note: The WiiMote device must have useMotionSensing = 1 and useIR = 1 - -#vrpn_WiiMote WiiMote0 1 1 1 1 -#vrpn_Tracker_WiimoteHead Tracker0 WiiMote0@localhost - -################################################################################ -# Novint Falcon attached to USB. -# Arguments: -# char name_of_this_device[] -# int device index (starts at 0) -# char name_of_grip (optional, default and only one supported now = "4-button") -# char kinematic_model (optional, default and only one supported now ="stamper") -# float damping_factor (optional, range 1.0-1000.0, default=10.0) -#vrpn_Tracker_NovintFalcon Tracker0 0 4-button stamper 10.0 - -################################################################################ -# Hillcrest Labs Freespace device -# char name_of_this_device[] -# int Index (0 for device 1, 1 for device 2, ...) -# int Send body frames (0 = no, 1 = yes) -# int Send user frames (0 = no, 1 = yes) - -#vrpn_Freespace FreeSpace0 0 1 1 - -################################################################################ -# Dream Cheeky devices, of which only the USB Roll-Up Drum Kit is implemented. -# -# There is one argument: -# char name_of_this_device[] - -#vrpn_Dream_Cheeky_USB_roll_up_drums drums0 - -################################################################################ -# (OBSOLETE) Trivisio Colibri device. This is an inertial tracker that gives -# orientation information, no position (the tracker reports (0, 0, 0) for position). -# -# Arguments: -# char name_of_this_device[] -# int number_of_sensors (Number of connected devices to connect to) -# int Hz (Update rate) -# int bufLen (From the reference manual: -# An short buffer (0) ensures minimal delay until the sensor -# measurement is available at the risk of lost measurements. -# A long buffer guarantees that no data is dropped, at -# the same time if data is not read fast enough there is a -# potential risk of a bufLen frequency before the measurement -# becomes available.) - -#vrpn_Tracker_TrivisioColibri Colibri 1 60 0 - -################################################################################ -# Trivisio ColibriAPI support. This is an inertial tracker that gives orientation -# information, no position (the tracker reports (0, 0, 0) for position). -# If wireless Colibri do not answer, dongle scans for them automatically (20 seconds). -# Wireless Colibri must be in scanning mode (button pushed for 2 seconds, -# LED flashing fast). -# -# Arguments: -# char name_of_this_device[] -# char conf_file_name[] : xml-file with sensor network configuration. -# Use Colibri GUI to create the file. Settings must be set -# and saved in sensors' non-volatile memory using Colibri GUI. -# * - to use all connected devices. Default settings will be -# applied to sensors. -# int Hz : Update rate. -# int report_a_w : 0 = orientation only, -# 1 = orientation + angular velocity + acceleration. - -#vrpn_Tracker_Colibri Colibri * 100 0 - -################################################################################ -# LUDL USBMAC6000 device. This is a vrpn_Analog and a vrpn_Analog_Output device -# that lets you both move the stage by command and get a response when it has -# finished moving. -# -# Arguments: -# char name_of_this_device[] -# int Perform recentering on device (0 = no, 1 = yes) - -#vrpn_LUDL_USBMAC6000 Analog0 1 - -################################################################################ -# GameTrak tracker -# Reports 2 sensors with positions only -# This device uses another joystick device that needs to be configured (PC -# version of GameTrak shows up as a joystick device with 6 axes and a button) -# If the name of the joystick device starts with '*', it will take another -# one on this server, otherwise it will attempt a remote connection -# char name_of_this_device[] -# char name of the joystick device[] -#vrpn_Joylin RawGametrak /dev/input/js1 -#vrpn_Tracker_GameTrak GameTrak0 *RawGametrak - - -################################################################################ -# PNI SpacePoint Fusion 3DOF rotation tracker -# Reports 1 sensor as quaternion. -# The device index can be specified in order to open multiple identical devices, -# if not specified, 0 is assumed. -# char name_of_this_device[] -# [int device index] - -#vrpn_Tracker_SpacePoint SpacePoint0 0 - -################################################################################ -# 5DT DataGlove "Ultra" USB/USB Wireless support (based on HID) -# -# Reports 5 or 14 sensors' raw values as analogs 0-4 or 0-13, in range 0.0 - 1.0 -# Note that your code will probably need to perform some scaling/calibration: -# see vrpn_Analog_5dtUSB.h for more info -# -# Four device types as shown in examples below: the server will connect to the -# first device available of that type. -# -# For serial (non-"Ultra") gloves, see vrpn_5dt and vrpn_5DT16 -# -# Arguments: -# char name_of_this_device[] - -#vrpn_Analog_5dtUSB_Glove5Right Glove5Right -#vrpn_Analog_5dtUSB_Glove5Left Glove5Left -#vrpn_Analog_5dtUSB_Glove14Right Glove14Right -#vrpn_Analog_5dtUSB_Glove14Left Glove14Left - -################################################################################ -# JsonNet devices -# -# Any device that send updates formatted as JSON messages over UDP, including -# Vrpn Widgets for Android -# -# Messages are: -# for a tracker: -# { -# 'type': 1, -# 'id': sensor number, -# 'quat': quaternion, -# 'pos': position -# } -# -# for a button: -# { -# 'type': 2, -# 'button': button number, -# 'state': the boolean state -# } -# -# for an analog: -# { -# 'type': 3, -# 'num': channel number, -# 'data': the analog value -# } -# for a text message: -# { -# 'type': 4, -# 'data': the text value -# } -# -# Arguments: -# char name_of_this_device[] -# int udp_port (Device send JSON messages to this port) - -#vrpn_Tracker_JsonNet Jsonnet 7777 - -################################################################################ -# One-Euro Filter Tracker. This is a tracker that is intended to be used on top of -# another tracker to provide filtered output for it. This was originally designed -# for the Razer Hydra, but can be used along with any tracker. -# -# Arguments: -# char name_of_this_device[] -# char name_of_tracker_to_filter[] (start with * for local) -# int number_of_sensors_to_filter -# float vecMinCutoff -# float vecBeta -# float vecDerivativeCutoff -# float quatMinCutoff -# float quatBeta -# float quatDerivativeCutoff - -#vrpn_Tracker_FilterOneEuro Filter0 *Tracker0 2 1.15 1.0 1.2 1.5 5.0 1.2 - -################################################################################ -# Razer Hydra (Sixense TrueMotion) tracker (HID-based driver) -# -# The left wand (the one with LB and LT on its "end" buttons - look from above) -# is sensor 0, and the right wand (with RB and RT on it) is sensor 1. -# The "front" of the base is the side opposite the cables: there's a small -# logo on it. You can have the base in any orientation you want, but the info -# that follows assumes you have the base sitting on a desk, with the front toward you. -# If you have the base in a different coordinate frame in the world, please make -# the appropriate mental transformations yourself. :) -# -# When starting the VRPN server, make sure that the left wand is somewhere to -# the left of the base, and the right wand somewhere right of the base - -# they do not need to be placed on the base or any more complicated homing/calibration -# procedure. This is for the hemisphere tracking: it needs to have an "initial state" -# that is roughly known, so it uses the sign of the X coordinate position. -# -# The base coordinate system is right-handed with the axes: -# X - out the right of the base -# Y - out the front of the base -# Z - down -# -# The wands are also right-handed, with the tracked point somewhere near -# the cable entry to the controller . When held with the joystick vertical, -# the axes are: -# X - to the right -# Y - out the front of the controller (trigger buttons) -# Z - Up, along the joystick -# -# Buttons are as follows, with the right controller's button channels starting -# at 8 instead of 0: -# 0 - "middle" button below joystick -# 1-4 - numbered buttons -# 5 - "bumper" button (above trigger) -# 6 - joystick button (if you push straight down on the joystick) -# There is no button 7 on any controller; the offset of 8 per controller -# was done to make similar buttons differ by a power of 2. -# -# Analog channels are as follows, with the right controller starting at 3 -# instead of 0: -# 0 - joystick left/right: centered at 0, right is positive, in [-1, 1] -# 1 - joystick up/down: centered at 0, up is positive, in [-1, 1] -# 2 - analog trigger, in range 0 (not pressed) to 1 (fully pressed). -# -# Arguments: -# char name_of_this_device[] -# -# NOTE: If using the Hydra on Windows, the server will work with or without the official -# Razer Hydra drivers installed. If you are only using the device with VRPN, don't -# install the official drivers. However, if you do have them installed, make sure that -# the "Hydra Configurator" and the Hydra system tray icon are closed to avoid unexpected -# failure (their software can switch the device out of the mode that VRPN uses). You -# probably want to make sure that the tray icon doesn't auto-run on startup, since it -# can get even messier with Windows 7's "switch users" if you let it auto-run for each -# user. -# -# Works great on Linux (regardless of endianness) - no drivers needed, thanks to USB HID. -# -# NOTE: Because of the jitter in the tracker, you may want to add a -# filter to it and then read the filtered location values; you still read -# the buttons and analogs from the original device. -# - -#vrpn_Tracker_RazerHydra Tracker0 -#vrpn_Tracker_FilterOneEuro Filter0 *Tracker0 2 1.15 1.0 1.2 1.5 5.0 1.2 - -################################################################################ -# Sensics zSight HMD with built-in tracker. This is an inertial tracker that -# gives orientation information, but no position (the tracker reports -# (0, 0, 0) for position). -# -# Arguments: -# char name_of_this_device[] - -#vrpn_Tracker_zSight zSight - -################################################################################ -# Arrington Research ViewPoint EyeTracker. -# -# The VRPN server connects to the eye tracker using the VPX_InterApp DLL. -# Whatever other control software is being used to connect to the eye tracker -# (e.g. the ViewPoint software that comes with the tracker) to perform -# calibration, etc. should link to the same copy of the DLL, so they can share -# information. -# -#------------------------------------------------------------------------------- -# -# Tracker: -# -# The tracker has two sensors, as the ViewPoint can optionally have binocular -# tracking. In the case of monocular tracking, only sensor 0 (EYE_A) will have -# valid information. Retrieving smoothed or raw tracking data is controlled by -# the smoothedData parameter. -# -# Position: The (x,y) gaze point in gaze space (smoothed or raw). -# -# Rotation: The (x,y) gaze angle as a quaternion (smoothed or raw). -# -# Velocity: The x- and y- components of the eye movement velocity in gaze space -# (always smoothed). -# -#------------------------------------------------------------------------------- -# -# Analog: -# -# There are a lot of additional data that can be retrieved from the tracker. -# These values are always calculated from the smoothed gaze point. Currently, -# the following are sent as analog values, but more can be added as needed. -# Please see the ViewPoint documentation regarding what other data are available. -# -# Because each channel needs to be duplicated in the case of a binocular tracker, -# the first n/2 values are for EYE_A, and the second n/2 values are for EYE_B. -# -# EYE_A: -# -# Channel 0: The pupil aspect ratio, from 0.0 to 1.0. Can be used to detect -# blinks when it falls below a given threshold. -# -# Channel 1: The total velocity (magnitude of eye movement velocity). Can be -# used to detect saccades. -# -# Channel 2: The fixation seconds (length of time below the velocity criterion -# used to detect saccades). 0 if saccade is occurring. -# -# EYE_B: -# -# Channels 3-5: See EYE_A. -# -#------------------------------------------------------------------------------- -# -# Arguments: -# char name_of_this_device[] -# int smoothedData - -# vrpn_Tracker_ViewPoint ViewPoint 1 - -################################################################################ -# vrpn_inertiamouse -# (Need a description of how to run this and an example commented-out line.) - -############################################################################### -# To access Polhemus G4 on Windows using the Polhemus PDI library, -# use vrpn_Tracker_G4. -# -# The vrpn_Tracker_G4 tracker definition requires the tracker name and -# the vrpn server name for the tracker, followed by an optional Server Poll rate, -# and on the next line, the file path to the .g4c configuration file: -# -# vrpn_Tracker_G4 G4 \ -# C:\filepath\source_config_file.g4c -# -# The Server Poll Rate is optional. -# If it is not specified, the VRPN server will poll for new data at a rate of 120 frames per second. -# (120 frames per second is the default output rate of G4 hardware.) -# -# If you wish to poll at a slower rate than the tracker, you may specify any number. For example, if -# you wish to poll 20 times per second, then specify a poll rate of 20. -# -# The '\' at the end of the first line, after the server name, is optional and -# will be disregarded. A '\' on a subsequent line means that further commands -# are to be input. The format is to have one command per line after the file -# path. Each line that isn't the final line must end in a '\'. -# The final line should not have a '\' on the end. -# -# Supported G4 Configuration Commands: -# 'B' Set/Reset Boresight -# 'X' Set/Reset Position Filter -# 'Y' Set/Reset Attitude Filter -# 'T' Set/Reset G4 Translation Frame of Reference -# 'R' Set/Reset G4 Rotation Frame of Reference -# 'I' Set/Reset Sensor Increment/Auto-Increment -# 'N' Set/Reset Sensor Tip Offset -# -# The following commands are not G4 configuration commands but are used to -# create VRPN button server objects for G4 button devices: -# -# 'G4PowerTrak' Creates VRPN button server object with 4 buttons -# 'G4DigIO' Creates VRPN button server object with a configurable button count -# -# Command Syntax: -#------------------------------------------------------------------------------ -# 'B' Boresight Command 'B': -# -# Syntax: Baction,hub,sensor,[x,y,z,w] -# -# Arguments: -# action: -# 1 = Boresight -# 2 = Unboresight -# -# hub: HubID. (0-based.) To apply Boresight/Unboresight to all hubs & sensors, set to * or -1. -# sensor: Sensor Num. (0-based.) To apply Boresight/Unboresight to all sensors on a hub, set to * -# Note: If hub is *, set sensor to * also. -# [x,y,z,w]: Optional Quaternion XYZW Boresight Reference Orientation. -# All 4 values must be set. -# N/A for action=2 -# -# Examples: -# B2,-1,-1 Un-Boresights all sensors on all hubs -# B1,-1,-1 Boresights all sensors on all hubs -# B1,1,-1, -#------------------------------------------------------------------------------ -# 'X' Position Filter Command 'X': -# 'Y' Attitude Filter Command 'Y': -# -# Syntax: Xaction,hub,flevel,[F,FLow,FHigh,Factor] -# Yaction,hub,flevel,[F,FLow,FHigh,Factor] -# -# Arguments: -# action: -# 1 = Set -# 2 = Reset -# -# hub: HubID. (0-based.) To apply filter to all hubs, set to * -# flevel: Filter Level -# 0=None -# 1=Light -# 2=Medium -# 3=Heavy -# 4=Custom -# [F,FLow,FHigh,Factor]: Optional Floating-point Parameters used only if flevel=Custom. -# If custom parameters are used, it is assumed that all four custom parameters are present. -# See Tracker User manual for meaning of Custom Filter Values. -# Examples: -# X*,1 Sets Position Filtering to LIGHT on all hubs -# Y2,0 Sets Attitude Filtering to NONE on hub 2 -# X1,4,0.2,0.2,0.8,0.95 Sets Custom Filter on hub 1 -#------------------------------------------------------------------------------ -# 'T' Translation Frame of Reference Command 'T': -# -# Syntax: Taction,x,y,z -# -# Arguments: -# action: -# 1 = Set -# 2 = Reset -# -# x,y,z: Position Offset, measured in Meters -# All arguments must be present -# -# Examples: -# T1,1.0,1.5,1.0 Sets Translation Frame of Reference to (1.0, 1.5, 1.0) meters -# Y2 Resets Translation Frame of Reference -# -# Note: Frame of Reference commands apply to all G4 output. -#------------------------------------------------------------------------------ -# 'R' Rotation Frame of Reference Command 'R': -# -# Syntax: Raction,hub,x,y,z,w -# -# Arguments: -# action: -# 1 = Set -# 2 = Reset -# -# x,y,z,w: Rotation Quaternion XYZW -# All arguments must be present -# -# Examples: -# R1,0,0,0.707107,0.707107 Sets Rotation Frame of Reference -# R2 Resets Rotation Frame of Reference -# -# Note: Frame of Reference commands apply to all G4 output. -#------------------------------------------------------------------------------ -# 'I' Increment/AutoIncrement Command 'I': -# -# Syntax: Iaction,hub,sensor,fPosIncr,fOriIncr -# -# Arguments: -# action: -# 1 = Set -# 2 = Reset -# -# hub: HubID. (0-based.) To apply command to all hubs & sensors, set to * or -1 -# sensor: Sensor Num. (0-based.) To apply command to all sensors on a hub, set to * or -1 -# Note: If hub is *, set sensor to * also. -# -# posIncr: Position Threshold, Meters -# 0 Disables -# -1 Enables Auto-Increment -# -# oriIncr: Orientation Threshold, DEGREES -# 0 Disables -# -1 Enables Auto-Increment -# -# Examples: -# I1,*,*,0.01,5.0 For all hubs/sensors, sets position increment to 10 cm, -# rotation increment to 5 degrees -# I1,*,*,-1,-1 For all hubs/sensors, enables position and rotation auto-increment -# I2,0,2 For hub0, sensor2, resets/disables increment -# -#------------------------------------------------------------------------------ -# 'N' Tip Offset Command 'N': -# -# Syntax: Iaction,hub,sensor,x,y,z -# -# Arguments: -# action: -# 1 = Set -# 2 = Reset -# -# hub: HubID. (0-based.) To apply command to all hubs & sensors, set to * or -1 -# sensor: Sensor Num. (0-based.) To apply command to all sensors on a hub, set to * or -1 -# Note: If hub is *, set sensor to * also. -# -# x,y,z: Position Offset, measured in Meters -# All arguments must be present -# -# Examples: -# N1,0,0,0.005,0.001,0.001 For hub0,sensor0, sets tip offset to (5,1,1)cm -# N2,*,* For all hubs/sensors, resets tip offset -# -# -#------------------------------------------------------------------------------ -# 'G4PowerTrak' Command : -# If one or more hubs in the polhemus g4 system supports a Polhemus PowerTrak360, use this -# command to create a vrpn button object with 4 buttons. -# -# Syntax: G4PowerTrak name hub -# -# Arguments: -# name: Button Server Name -# hub: HubID. (0-based) Identifier of the hub to which the PowerTrak360 is connected. -# -# Examples: -# G4PowerTrak ptrak0 0 For 4-button server named ptrak0 plugged into Hub 0. -# -# Remember that the "remote" button object is not the same as the the tracking device, so be sure -# to use a remote button object that connects to the button rather than the tracker. -# In this example configuration, if the name of the machine running the server is "mytrackerserver" -# you would connect to the tracker as "myg4@mytrackerserver" and to the powertrak configured -# here as "ptrak0@mytrackerserver" -# -# Note: It is possible to have >1 G4PowerTrak configured on a vrpn_Tracker_G4, but they must be -# on different hubs. -# It is also possible to have a combination of G4PowerTrak and G4DigIO commands, but they -# must be on different hubs. -# -#------------------------------------------------------------------------------ -# 'G4DigIO' Command: -# If one or more hubs in the polhemus g4 system supports a custom digital IO accessory, use this -# command to create a vrpn button object with a configurable number of buttons -# -# Syntax: G4DigIO name hub inputs -# -# Arguments: -# name: Button Server Name -# hub: HubID. (0-based) Identifier of the hub to which the digital IO device is connected. -# inputs: Number of digital inputs (buttons) to capture. -# The G4 Digital I/O interface supports up to 8 digital inputs. The 'inputs' -# argument must be between 1 and 8, inclusive. -# -# Examples: -# G4DigIO 2btn0 0 For 2-button server named 2btnio0 plugged into Hub 0. -# G4DigIO 8sig4 8 For an 8-button server named 8sig4 plugged into Hub 4. -# -# Remember that the "remote" button object is not the same as the the tracking device, so be sure -# to use a remote button object that connects to the button rather than the tracker. -# In this example configuration, if the name of the machine running the server is "mytrackerserver" -# you would connect to the tracker as "myg4@mytrackerserver" and to the G4DigIO configured -# here as "2btn0@mytrackerserver" or "8btn4@mytrackerserver". -# -# Note: It is possible to have >1 G4DigIO configured on a vrpn_Tracker_G4, but they must be -# on different hubs. -# It is also possible to have a combination of G4PowerTrak and G4DigIO commands, but they -# must be on different hubs. -# -#------------------------------------------------------------------------------ -# Example command for setup of a G4 -# -# vrpn_Tracker_G4 G4\ -# C:\Program Files (x86)\Polhemus\G4\G4 Files\mysourceconfig.g4c \ -# G4PowerTrak myptraka 1 -# G4PowerTrak myptrakb 2 -# B1,-1,-1\ -# X1,*,1\ -# Y1,*,4,0.2,0.2,0.8,0.95\ -# T1, 10.0, 10.0, 10.0, 10.0\ -# R1,0,0,0,1\ -# I1,*,*,0.01,5.0\ -# N1,0,*,0.005,0.002,0.001\ -# N2,*,* - -############################################################################### -# To access Polhemus FasTrak on Windows using the Polhemus PDI library, -# use vrpn_Tracker_FastrakPDI. -# -# The vrpn_Tracker_FastrakPDI tracker definition requires the tracker name and -# the vrpn server name for the tracker, followed by an optional Server Poll rate: -# -# vrpn_Tracker_FastrakPDI myFastrak4 30\ <-valid -# vrpn_Tracker_FastrakPDI myFastrak2 60\ <-valid -# vrpn_Tracker_FastrakPDI myFastrak1 \ <-valid -# -# The Server Poll Rate is optional. -# If it is not specified, the VRPN server will poll for new data at a rate of 120 frames per second. -# (120 frames per second is the default output rate of FasTrak hardware with ONE sensor connected.) -# -# For FasTrak trackers the update rate depends on the number of sensors connected to the device: -# Number of Sensors Update Rate -# ----------------- ----------- -# 1 120 frames/sec -# 2 60 frames/sec -# 3 40 frames/sec -# 4 30 frames/sec -# -# If you wish to poll at the same rate as the tracker output, then you must specify the poll rate -# to match the update rate in the table above. -# -# If you wish to poll at a slower rate than the tracker, you may specify any number. For example, if -# you wish to poll 20 times per second, then specify and update rate of 20. -# -# The '\' at the end of the first line, after the server name, is optional and will be disregarded. -# a '\' on a subsequent line means that further commands are to be input. The format is to have -# one command per line. Each line that isn't the final line must end in a '\'. The final line should not -# have a '\' on the end. -# -# Supported Fastrak Configuration Commands: -# All commands are exposed, except C and c for continuous pno which would conflict with VRPN directly. -# Take note that O<> should be avoided, though it will be sent to the tracker. VRPN clients expect position -# x,y,z and quaternion q,r,s,t by default, so changing the frame structure could result in an overflow. -# The format commands ('F' for ASCII, f for binary) are especially useful since the tracker can mark -# syntax errors in ASCII mode. The tracker must be in binary mode for VRPN to gather data, so if you issue -# an F command at some point in this file (to troubleshoot syntax errors), be sure to issue an f<> -# command later. Not all fastrak commands have a response: boresight, for example. You can confirm -# such settings by requesting a single frame in ASCII mode with the command P (note, P requires no <>). -# Read the fastrak manual for a full list of commands. -# -# Command Syntax: -# Many commands, much like P (gather single pno frame), require no carriage return on the end. Carriage -# returns are represented by '<>'. Control commands, noted as ^$ (where $ is any capitol letter) in the -# manual require a '^' followed by the capital letter for the command. Syntax is precisely as given in -# examples in the fastrak manual. Note that all commands are case sensitive. -# Examples: -# F <-Sets the response frame format to ASCII -# f <-Sets the response frame format to binary -# b*<> <-Removes the boresight setting for all sensors -# B1<> <-Sets the boresight to 0,0,0 as a default or whatever G<> was set to -# G1,0,0,0<> <-Sets the boresight reference angles of station 1 to 0,0,0 -# ^Y <-Sends a reset command to the tracker, note that VRPN defaults for pno will be loaded on -# reconnect -# -# If a sensor on the FasTrak device is a Polhemus FasTrak Stylus, use the "PDIStylus" -# command. This command takes one argument: the station number of the stylus device. Remember that -# the station number is a 1-based index of sensors/'stations' on the Polhemus equipment. -# PDIStylus command syntax: -# -# PDIStylus [station-num] -# -# Use of the PDIStylus command will -# - Cause the Stylus Button Flag to be configured into the output of all stations. -# - Cause the creation of vrpn button device. The name of this device will be a concatenation of -# the server name for the tracker + "Stylus" + the specified station number. -# E.g: -# vrpn_Tracker_FasTrakPDI myFT \ -# PDIStylus 1 -# -# Will produce a button device named "myFTStylus1" -# -# Remember that the "remote" button object is not the same as the the tracking device, so be sure -# to use a remote button object that connects to the button rather than the tracker. -# In this example configuration, if the name of the machine running the server is "mytrackerserver" -# you would connect to the tracker as "myFT@mytrackerserver" and to the button on the stylus as -# "myFTStylus1@mytrackerserver" -# -# NOTE: The FasTrak tracker will only detect stylus input if the stylus is plugged into Station 1! -# However, the stylus flag can be output onto any station on the device. Therefore, it is -# possible to specify station 2 as your PDIStylus button, and the stylus output will be collected -# from the Station 2 output. BUT the actual Stylus device must be plugged into Station 1. -# This means that only one Stylus can be plugged into a FasTrak at any time, but up to 4 vrpn -# button objects can be created/accessed from that Stylus. -# -#------------------------------------------------------------------------------ -# The following example config: -# -specifies that station 1 is a FasTrak Stylus Device -# -sets the tracker to ASCII responses (F), -# -sets the boresight reference on sensor one to 0,0,0, (G1,0,0,0<>) -# -writes this reference to the system with B1<>, -# -confirms the change by collecting a single pno with P, -# -removes the boresight setting (^b1<>), -# -collects a second single pno to confirm this removal (P) and -# -finally returns to binary mode before passing control to VRPN (F1<>). -# The trackers name is TrackerJoe. -# The server poll rate is 120 Hz. - -# vrpn_Tracker_FastrakPDI TrackerJoe 120\ -# PDIStylus 1\ -# F\ -# G1,0,0,0<>\ -# B1<>\ -# P\ -# b1<>\ -# P\ -# f - -#------------------------------------------------------------------------------ -# The default config is below. -# -Assumes that one sensor is connected to FasTrak, and polls at 120 Hz - -# vrpn_Tracker_FastrakPDI myFasTrak - -############################################################################### -# To access Polhemus Liberty or Patriot on Windows using the Polhemus PDI library, -# use vrpn_Tracker_LibertyPDI. -# -# The vrpn_Tracker_LibertyPDI tracker definition requires the tracker name and -# the vrpn server name for the tracker, followed by an optional Server Poll rate: -# -# vrpn_Tracker_LibertyPDI MyLiberty 240\ <-valid -# vrpn_Tracker_LibertyPDI MyPatriot \ <-valid -# vrpn_Tracker_LibertyPDI MyPolhemus 120\ <-valid -# -# Note that "Tracker_LibertyPDI" is used for both Polhemus Patriot and Liberty tracker hardware! -# -# The Server Poll Rate is optional. -# If it is not specified, the VRPN server will poll for new data at a rate of 60 frames per second. -# (60 frames per second is the default output rate of Patriot tracker hardware.) -# -# For Liberty trackers, the default rate is 240 frames per second. If you wish for the server to poll -# at this rate, then you must specify 240! -# -# If you wish to poll at a slower rate than the tracker, you may specify any number. For example, if -# you wish to poll 20 times per second, then specify and update rate of 20. -# -# The '\' at the end of the first line, after the server name, is optional and will be disregarded. -# a '\' on a subsequent line means that further commands are to be input. The format is to have -# one command per line. Each line that isn't the final line must end in a '\'. The final line should not -# have a '\' on the end. -# -# Supported Liberty/Patriot Configuration Commands: -# All commands are accepted, except C<> for continuous pno output which would conflict with VRPN directly. -# Take note that O<> should be avoided, though it will be sent to the tracker. VRPN clients expect position -# x,y,z and quaternion q,r,s,t by default, so changing the frame structure could result in an overflow. -# The format command (F0<> for ASCII, F1<> for binary) is especially useful since the tracker can mark -# syntax errors in ASCII mode. The tracker must be in binary mode for VRPN to gather data, so if you issue -# an F0<> command at the beginning of this file (to troubleshoot syntax errors), be sure to issue an F1<> -# command later. Not all liberty/patriot commands have a response: boresight, for example. You can confirm -# these settings by requesting a single frame in ASCII mode with the command P (note, P requires no <>). -# Read the patriot or liberty manual for a full list of commands. -# -# Note: The R command is used to set the Liberty tracker update rate. This command has no effect on Patriot. -# For Liberty, if you use the R command to change the update rate, remember to change the Server Poll Rate -# specification in the tracker definition (like "MyPolhemus" example above). - -# Command Syntax: -# Every command, except P (gather single pno frame), requires a carriage return on the end. Carriage -# returns are represented by '<>'. Control commands, noted as ^X (where X is any capitol letter) in the -# manual require a '^' followed by the capital letter for the command. Syntax is precisely as given in -# examples in the patriot/liberty manuals. -# Examples: -# ^V<> <-This command sends a 'whoami' request to the tracker. Requires ascii mode for response -# F<> <-Queries format mode of tracker (binary or ascii) -# F0<> <-Sets the response frame format to ASCII -# F1<> <-Sets the response frame format to binary -# ^B*<> <-Removes the boresight setting for all sensors -# B1<> <-Queries the boresight setting for sensor one -# B1,0,0,0,0 <-Sets the boresight to 0,0,0 without a reset for sensor one -# ^Y<> <-Sends a reset command to the tracker, note that VRPN defaults for pno will be loaded on -# reconnect -# -# If one or more sensors on the polhemus device is a Polhemus Stylus, use the "PDIStylus" -# command. This command takes one argument: the station number of the stylus device. Remember that -# the station number is a 1-based index of sensors/'stations' on the Polhemus equipment. -# PDIStylus command syntax: -# -# PDIStylus [station-num] -# -# Use of the PDIStylus command will -# - Cause the Stylus Button Flag to be configured into the output of all stations. -# - Cause the creation of vrpn button device. The name of this device will be a concatenation of -# the server name for the tracker + "Stylus" + the specified station number. -# E.g: -# vrpn_Tracker_LibertyPDI myliberty \ -# PDIStylus 2 -# -# Will produce a button device named "mylibertyStylus2" -# -# Remember that the "remote" button object is not the same as the the tracking device, so be sure -# to use a remote button object that connects to the button rather than the tracker. -# In this example configuration, if the name of the machine running the server is "mytrackerserver" -# you would connect to the tracker as "myliberty@mytrackerserver" and to the button on this stylus as -# "mylibertyStylus2@mytrackerserver" -# -# NOTE: The Liberty and Patriots tracker will detect stylus button input on any station, and there is -# no limit on the number of Stylus devices that can be connected to the tracker. Only one vrpn -# button object can be created per stylus. -# -#------------------------------------------------------------------------------ -# The following example config for a Liberty tracker: -# -specifies that stations 1 and 2 are Polhemus Stylus Devices -# -sets the tracker to ASCII responses (F0<>), -# -sends the tracker a whoami (^V<>), -# -sets the boresight on sensor one (B1,0,0,0,0<>) to an arbitrary value, -# -confirms the boresight setting with P to collect a single pno, -# -removes the boresight setting (^B1<>), -# -collects a second single pno to confirm (P), -# -enters an invalid command to demonstrate the advantage of ASCII mode (^ZX<>) and finally, -# -most importantly, returns to binary mode before passing control to VRPN (F1<>). -# The tracker server name is myLiberty. -# The server poll rate is 240 Hz -# -# vrpn_Tracker_LibertyPDI myLiberty 240\ -# PDIStylus 1\ -# PDIStylus 2\ -# F0<>\ -# ^V<>\ -# B1,0,0,0,0<>\ -# P\ -# ^B1<>\ -# P\ -# ^ZX<>\ -# F1<> -# -#----------------------------------------------------------------------------- -# Finally the default config below: -# -May be used for a Liberty or a Patriot tracker -# -Polls the tracker 60 times per second -# -Sets tracker output to ASCII -# -Queries the tracker for WhoAmI information -# -Sets the output back to Binary -############################################################################## - -# vrpn_Tracker_LibertyPDI defaultPolhemus\ -# F0<>\ -# ^V<>\ -# F1<> - -############################################################################### -# This YEI 3Space_Sensor driver is used even for a wireless-capable sensor -# when it is plugged directly into the computer via USB. The Wireless -# driver (see next driver description) is used when the wireless unit is -# plugged into the computer. -# -# On Windows, the driver for the YEI 3-Space Sensor Suite requires installation -# of the device driver that comes with the system, which presents a serial-port -# interface to the device (as a COM port on Windows). On Mac and Linux, you -# can just plug in the device and it will show up as a new port. On Linux, the -# default permissions for the port only allow read access, so you'll need to -# either change the permissions or run vrpn_server as root. -# If the gyroscopes are calibrated at startup, the device should remain still -# while the server is started. -# If the device is set to tare at startup, it should be facing in the correct -# direction when the server is started. This is usually a manufacturing-time -# operation if the tracker is integrated into a larger device. -# -# This device exposes a Tracker interface, with the following inputs. Only the -# orientation portion of the pose is valid; the position is always reported as -# (0,0,0). Sensor 1 also reports linear acceleration. -# 0: Untared orientation -# 1: Tared orientation -# -# This device exports an Analog interface, with the following channels: -# 0: Corrected Gyro rate vector X component (radians/second) -# 1: Corrected Gyro rate vector Y component (radians/second) -# 2: Corrected Gyro rate vector Z component (radians/second) -# 3: Corrected Gravity vector X component (in fraction of g) -# 4: Corrected Gravity vector Y component (in fraction of g) -# 5: Corrected Gravity vector Z component (in fraction of g) -# 6: Corrected Compass vector X component (in Gauss) -# 7: Corrected Compass vector Y component (in Gauss) -# 8: Corrected Compass vector Z component (in Gauss) -# 9: Temperature Celsius -# 10: Confidence factor (1 if completely stationary down to 0 with motion) -# -# This device exports a Button_Filter interface, with the following channels: -# 0: First button (external button on the units in cases) -# 1: Second button (external button on the units in cases) -# 2-7: Other buttons (not installed at the factory) -# -# The device description for a wired device: -# vrpn_YEI_3Space_Sensor -# char name_of_this_device[] -# char port_name -# int baud_rate_of_serial_device -# int calibrate_gyros_on_startup (0 = no, 1 = yes) -# int tare_on_startup (0 = no, 1 = yes) -# double frames_per_second -# float red_LED_color to set (0-1) -# float green_LED_color to set (0-1) -# float blue_LED_color to set (0-1) -# int LED_mode (0 = standard, 1 = static) -# -# If the line ends with a backslash character '\', then the following -# line is an additional ASCII command to send to the tracker every -# time it is reset. There can be more than one such line, so long as -# each previous line ends with backslash. The commands should not include -# the beginning colon ':' character; it will be prepended automatically. -# Note that the decimal command number is used, with commas and then -# additional commands following. Also note that there must not be any -# spaces in the commands, and that there must be a space between the -# command and any trailing backslash. -# -# Note that this slash and backslash notation can only be used for the -# YEI tracker, not to extend the line for all other type of device -# listed in this configuration file. -# -# The device description for the first wireless device using a -# dongle includes the following arguments: -# vrpn_YEI_3Space_Sensor_Wireless -# char name_of_this_device[] -# int logical_id_on_wireless (0-14) -# char port_name -# int baud_rate_of_serial_device -# int calibrate_gyros_on_startup (0 = no, 1 = yes) -# int tare_on_startup (0 = no, 1 = yes) -# double frames_per_second -# float red_LED_color to set (0-1) -# float green_LED_color to set (0-1) -# float blue_LED_color to set (0-1) -# int LED_mode (0 = standard, 1 = static) -# -# If the line ends with a slash character '/', then the following line -# starts a description of an additional wireless device sharing the -# same dongle. -# The device description for an additional wireless device using the -# same dongle includes the following arguments: -# vrpn_YEI_3Space_Sensor_Wireless -# char name_of_this_device[] -# int logical_id_on_wireless (0-14) -# int calibrate_gyros_on_startup (0 = no, 1 = yes) -# int tare_on_startup (0 = no, 1 = yes) -# double frames_per_second -# float red_LED_color to set (0-1) -# float green_LED_color to set (0-1) -# float blue_LED_color to set (0-1) -# int LED_mode (0 = standard, 1 = static) -# -# Windows example, then mac example, then Linux example. Note: Ports may vary -# Note: The parser handles converting Windows ports greater than 9 into -# the correct format, so you can just put the name as COM14 without adding the -# backslashes. -# Final example shows how to use an ASCII reset command to set the -# LED color (it actually just sets it to three different colors, -# the last being yellow). -############################################################################### - -#vrpn_YEI_3Space_Sensor YEI0 COM7 115200 0 0 200.0 0 0 1 0 -#vrpn_YEI_3Space_Sensor YEI0 /dev/cu.usbmodemfa131 115200 0 0 200.0 0 0 1 0 -#vrpn_YEI_3Space_Sensor YEI0 /dev/ttyACM0 115200 0 0 200.0 0 0 1 0 - -# Example with extra commands sent. These examples change the LED color -# to multiple differene ones, ending with yellow. -#vrpn_YEI_3Space_Sensor YEI0 COM7 115200 0 0 200.0 0 0 1 0 \ -#238,1,1,1 \ -#238,1,0,1 \ -#238,1,1,0 - -# One sensor on a wireless connection. -#vrpn_YEI_3Space_Sensor_Wireless YEI0 0 COM5 115200 0 0 200.0 0 0 1 1 - -# Two sensors on the same wireless transmitter. Note the slash at the end of the -# final line for the first unit, which indicates that we're talking with the -# same base unit for a second wireless tracker (which we then don't specify the -# serial-port name for). -#vrpn_YEI_3Space_Sensor_Wireless YEI0 0 COM5 115200 0 0 200.0 0 0 1 1 \ -#238,1,1,0 / -#vrpn_YEI_3Space_Sensor_Wireless YEI1 1 0 0 200.0 0 1 0 1 \ -#238,0,1,1 - -################################################################################ -# Tracker that does dead-reckoning on orientation based on either reports of -# angular velocity (if received) or on successive orientation reports. -# It sends a new prediction report whenever it receives either a tracker pose -# update or a tracker velocity update. -# char name_of_this_device[] -# char name_of_device_to_predict_for[] (start with * for local) -# int number_of_sensors -# float how_far_to_predict_in_seconds - -#vrpn_Tracker_DeadReckoning_Rotation Tracker1 *Tracker0 2 0.0333 - -################################################################################ -# OSVR Hacker Dev Kit inertial measurement unit. This is an inertial tracker that -# gives orientation information, but no position. Position values are always -# 0. Version 1 of this device sends only poses. Version 2 also sends velocity -# reports. -# -# Arguments: -# char name_of_this_device[] - -#vrpn_Tracker_OSVRHackerDevKit Tracker0 - -################################################################################ -# Oculus Rift DK1 and DK2. There are two versions of the DK2 driver, which use the -# same hardware but in two different modes. -# -# vrpn_Oculus_DK2_inertial: Oculus DK2 inertial measurement unit only. This -# provides access to the magnetometer readings on the unit and has a different -# set of exported values. -# -# The LEDs device exports an Analog interface, with the following channels: -# 0: Uncalibrated temperature (degrees Celsius?) -# 1: Report ID counter that goes up to 65535 and then cycles back to 0 -# 2: Uncalibrated accelerometer X component (positive to left ear) (m/s/s) -# 3: Uncalibrated accelerometer Y component (positive down to feet) (m/s/s) -# 4: Uncalibrated accelerometer Z component (positive forward) (m/s/s) -# 5: Uncalibrated gyro X component (positive rotating head up) (radians/sec?) -# 6: Uncalibrated gyro Y component (positive rotating head left) (radians/sec?) -# 7: Uncalibrated gyro Z component (positive tilting head left) (radians/sec?) -# 8: Uncalibrated Magnetometer X component (positive to left ear) (varied, asymmetric range) -# 9: Uncalibrated Magnetometer Y component (positive down to feet) (varied, asymmetric range) -# 10: Uncalibrated Magnetometer Z component (positive forward) (varied, asymmetric range) -# -# vrpn_Oculus_DK2_LEDs: Oculus with LEDs enabled, which would enable reading -# from its camera to determine position. Note that the program reading from -# the camera will have to put the camera into synchronous mode using a -# special command before its results will line up with the LED flashing. -# NOTE: The VRPN driver does not yet read from the camera, so will not produce -# position reports with the DK2 in this mode, but an external program could -# read from the camera to do this (after putting it into synchronous mode). -# -# The LEDs device exports an Analog interface, with the following channels: -# 0: Uncalibrated temperature (degrees Celsius?) -# 1: Report ID counter that goes up to 65535 and then cycles back to 0 -# 2: Uncalibrated accelerometer X component (positive to left ear) (m/s/s) -# 3: Uncalibrated accelerometer Y component (positive down to feet) (m/s/s) -# 4: Uncalibrated accelerometer Z component (positive forward) (m/s/s) -# 5: Uncalibrated gyro X component (positive rotating head up) (radians/sec?) -# 6: Uncalibrated gyro Y component (positive rotating head left) (radians/sec?) -# 7: Uncalibrated gyro Z component (positive tilting head left) (radians/sec?) -# 8: Uncalibrated Magnetometer X component (positive to left ear) (varied, asymmetric range) -# 9: Uncalibrated Magnetometer Y component (positive down to feet) (varied, asymmetric range) -# 10: Uncalibrated Magnetometer Z component (positive forward) (varied, asymmetric range) -# 11: Time since device power-on (seconds) -# -# NOTE: The Oculus drivers may interfere with this raw driver if they are -# installed on the system. -# -# NOTE: A side effect of running this driver is that the HMDI output for the -# DK2 will become visible to the system if it is plugged in. If it is -# in DirectMode, it will not appear as a system display. If it is not, -# it will show up as another display. -# -# NOTE: The magnetometer ranges on each axis are different, and they are not -# symmetric around 0 for any of the axes, so the device needs to have been -# rotated around a lot to really have an idea of which way is North. A -# tracker based on this value needs to keep track of the extrema. -# Also, the magnetic North vector does not point straight along the -# plane of the ground, but rather into the Earth. Finally, even with a -# careful calibration there can still be drift/wobble caused by using -# the magnetometer, so it is recommended to not use it unless true north -# is needed. The system seems stable in rotation without it. -# -# Arguments: -# char name_of_this_device[] - -#vrpn_Oculus_DK1 Oculus0 -#vrpn_Oculus_DK2_inertial Oculus0 -#vrpn_Oculus_DK2_LEDs Oculus0 - -################################################################################ -# Magnetometer. This is an analog that is intended to be used on top of -# an analog that reads values from a 3-axis magnetometer. -# It could be used on top of any analog device, in fact. -# This device basically takes in analog signals and puts out analog -# values that are a unit vector. -# One analog channel is associated with each axis (X, Y, Z) -# For each axis, the value is scaled to a the correct orientation but the -# magnitude will be normalized and offset to fit the largest range of values -# ever received for that axis (self-calibrated). -# NOTE: The vector will not point perpendicular to gravity. -# NOTE: The examples below map the axes to the OSVR coordinate system, -# which has +X pointing from the center of the eyes through the right eye, -# the +Y axis pointing straight up, and the +Z axis pointing out the back of -# the user's head. -# -# The device exports an Analog interface, with the following channels: -# 0: X component of normalized, autocalibrated vector -# 1: Y component of normalized, autocalibrated vector -# 2: Z component of normalized, autocalibrated vector -# -# Arguments: -# char name_of_this_device[] -# float update_rate_to_send_analog_reports -# [one lines follows, describing the X Y Z, with: -# char name_of_analog_device[] (start with * for local) -# int x_channel_of_analog_device -# float x_offset (value ignored) -# float x_scale -# int y_channel_of_analog_device -# float y_offset (value ignored) -# float y_scale -# int z_channel_of_analog_device -# float z_offset (value ignored) -# float z_scale -# ] - -#vrpn_IMU_Magnetometer Magnetometer0 100.0 -#*Oculus0 8 0 -1.0 9 0 -1.0 10 0 -1.0 - -#vrpn_IMU_Magnetometer Magnetometer0 100.0 -#*Vality0 6 0 1.0 7 0 1.0 8 0 1.0 - -################################################################################ -# Inertial-measurement combiner. This is a tracker that combines -# analog values from inertial measurement units and reports orientation -# and orientation velocity. -# The accelerometer scale parameter should be set to produce values that -# are in meters/second/second. The rotational input scale parameters should -# be set to produce values that are in radians/second. The magnetometer -# scale should be set to produce a unit normal vector. -# One analog device is associated with an accelerometer, one with -# a rotational linear measurement device, and (optionally) one with -# a magnetometer. -# NOTE: The examples below map the axes to the OSVR coordinate system, -# which has +X pointing from the center of the eyes through the right eye, -# the +Y axis pointing straight up, and the +Z axis pointing out the back of -# the user's head. -# -# The device exports a Tracker interface with one sensor. -# -# Arguments: -# char name_of_this_device[] -# float update_rate_to_send_reports -# [two lines follow, describing the accelerometer and rotational inputs: -# char name_of_analog_device[] (start with * for local) -# int x_channel_of_analog_device -# float x_offset -# float x_scale -# int y_channel_of_analog_device -# float y_offset -# float y_scale -# int z_channel_of_analog_device -# float z_offset -# float z_scale -# ] -# A third following line gives the name of the magnetometer, or the -# name NULL if one is not used. The name starts with * for a device -# that should be connected to on the same VRPN connection object -# being used for the output. For some systems, the magnetometer -# adds drift/wobble to the orientation estimates, so should not be -# used unless true north is required. - -#vrpn_IMU_SimpleCombiner Tracker0 400.0 -#*Oculus0 2 0 -1.0 3 0 -1.0 4 0 -1.0 -#*Oculus0 5 0 1.0 6 0 1.0 7 0 1.0 -#NULL - -#vrpn_IMU_SimpleCombiner Tracker0 400.0 -#*Oculus0 2 0 -1.0 3 0 -1.0 4 0 -1.0 -#*Oculus0 5 0 1.0 6 0 1.0 7 0 1.0 -#*Magnetometer0 - -#vrpn_IMU_SimpleCombiner Tracker0 400.0 -#*Vality0 1 0 -1.0 0 0 1.0 2 0 1.0 -#*Vality0 4 0 -1.0 3 0 1.0 5 0 1.0 -#NULL - -#vrpn_IMU_SimpleCombiner Tracker0 400.0 -#*Vality0 1 0 -1.0 0 0 1.0 2 0 1.0 -#*Vality0 4 0 -1.0 3 0 1.0 5 0 1.0 -#*Magnetometer0 - -################################################################################ -# nVidia Shield controllers. The only argument is the name of the device to open. -# -# The vrpn_nVidia_shield_USB is the original Shield controller, which has a -# touch-pad mouse, plugged into a USB port. -# The vrpn_nVidia_shield_stealth_USB is the newer model, which has a tesselated -# exterior and no touch pad. -# -# Note: On a mac, the shield controller sometimes requests shutdown on the machine -# when it is plugged in, and the volume controls control the volume, -# and the shield emblem causes it to sleep. The events are still -# passed through to VRPN. Also on a Mac, the Stealth controller does -# not present reports to VPRN, so is not useful. -# On the latest MacOS (11.6.5) the shield controller also does not pass -# events to VRPN, so it is not useful. -# Note: On Windows 8.1, this controller's touch pad controls the mouse and -# its analog events are not passed on to VRPN. -# On Linux, there are no system controls and all of the events are passed through -# to VRPN. -# Note: The rumble outputs are not yet implemented on the Stealth. -# Note: The mappings are the same for both devices, but the Stealth does -# not report some (which remain 0/off). -# -# Analogs: -# analog[0] is the left joystick X, -1 to left and 1 to right. -# analog[1] is the left joystick Y, -1 up and 1 down. -# analog[2] is the right joystick X, -1 to left and 1 to right. -# analog[3] is the right joystick Y, -1 up and 1 down. -# analog[4] is the left finger bumper, 0 unpressed and 1 pressed fully. -# analog[5] is the right finger bumper, 0 unpressed and 1 pressed fully. -# analog[6] is the touch pad X axis, lower to left and higher to right -# (Missing on the stealth) -# analog[7] is the touch pad Y axis, lower to top and higher to bottom -# (Missing on the stealth) -# analog[8] is the hi-hat X position (-1 left, 0 center, 1 right) -# analog[9] is the hi-hat Y position (-1 up, 0 center, 1 down) -# -# Buttons: -# button[0] A -# button[1] B -# button[2] X -# button[3] Y -# button[4] Left finger trigger -# button[5] Right finger trigger -# button[6] Left joystick pushed down -# button[7] Right joystick pushed down -# button[8] Touch pad assembly (including volume control) pressed down -# (Missing on the stealth) -# button[9] Play/pause icon touched -# button[10] Unknown -# button[11] Right volume control (+) pressed -# (Left arrow on the stealth) -# button[12] Left volume control (-) pressed -# (Circle on the stealth) -# button[13] Shield emblem touched -# button[14] Back icon touched -# button[15] Home icon touched -# button[16] Hi-hat up pressed (may chord with left/right) -# button[17] Hi-hat right pressed (may chord with up/down) -# button[18] Hi-hat down pressed (may chord with left/right) -# button[19] Hi-hat left pressed (may chord with up/down) -# button[20] Touch pad touched -# - -#vrpn_nVidia_shield_USB shield0 -#vrpn_nVidia_shield_stealth_USB shield0 - -################################################################################ -# Adafruit 10DOF IMU I2C controller driver for Raspberry Pi. -# char name_of_this_device[] -# char name_of_system_device_to_open[] -# float update_interval_in_seconds -# -# Analogs: -# analog[0] is the X axis for the accelerometer, in meters/second/second -# analog[1] is the Y axis for the accelerometer, in meters/second/second -# analog[2] is the Z axis for the accelerometer, in meters/second/second -# analog[3] is the X axis for the rate gyro, in radians/second -# analog[4] is the Y axis for the rate gyro, in radians/second -# analog[5] is the Z axis for the rate gyro, in radians/second -# analog[6] is the X axis for the magnetometer, in XXX -# analog[7] is the Y axis for the magnetometer, in XXX -# analog[8] is the Z axis for the magnetometer, in XXX -# analog[9] will be the temperature in Celcius (not impl. as of 7/2016) -# analog[10] will be the pressure in Pascal (not impl. as of 7/2016) -# NOTE: This class is not completely implemented as of 7/2016. -# The accelerometer and gyro may be reading, but they are raw readings. - -#vrpn_Adafruit_10DOF Analog0 /dev/i2c-1 10e-3 - -################################################################################ -# OzzMaker BerryIMUIMU I2C controller driver for Raspberry Pi. -# char name_of_this_device[] -# char name_of_system_device_to_open[] -# float update_interval_in_seconds -# -# Analogs: -# analog[0] is the X axis for the accelerometer, in meters/second/second -# analog[1] is the Y axis for the accelerometer, in meters/second/second -# analog[2] is the Z axis for the accelerometer, in meters/second/second -# analog[3] is the X axis for the rate gyro, in radians/second -# analog[4] is the Y axis for the rate gyro, in radians/second -# analog[5] is the Z axis for the rate gyro, in radians/second -# analog[6] is the X axis for the magnetometer, in Gauss -# analog[7] is the Y axis for the magnetometer, in Gauss -# analog[8] is the Z axis for the magnetometer, in Gauss -# analog[9] will be the temperature in Celcius (not impl. as of 7/2016) -# analog[10] will be the pressure in Pascal (not impl. as of 7/2016) - -#vrpn_OzzMaker_BerryIMU Analog0 /dev/i2c-1 10e-3 - -# Laputa VR HMD inertial measurement unit. This driver only provides IMU reports -# via analog and will need to use IMU combiner to get an orientation out of it. -# -# Arguments: -# char name_of_this_device[] - -#vrpn_Laputa Laputa0 - -################################################################################ -# vGlass Vality vGlass head-mounted display. -# char name_of_this_device[] -# -# Analogs: -# analog[0] is the X axis for the accelerometer, in meters/second/second -# analog[1] is the Y axis for the accelerometer, in meters/second/second -# analog[2] is the Z axis for the accelerometer, in meters/second/second -# analog[3] is the X axis for the rate gyro, in radians/second -# analog[4] is the Y axis for the rate gyro, in radians/second -# analog[5] is the Z axis for the rate gyro, in radians/second -# (As of 7/11/2019, the magnetometer readings are not parsed.) -# analog[6] is the X axis for the magnetometer, in microTesla -# analog[7] is the Y axis for the magnetometer, in microTesla -# analog[8] is the Z axis for the magnetometer, in microTesla - -#vrpn_Vality_vGlass Vality0