Merge branch 'FLSCleanup' into 'master'

FLS Calibration changes

See merge request !183

Base/Devices/imstkVRPNArduinoDeviceClient.cpp

@@ -32,6 +32,7 @@ VRPNArduinoDeviceClient::initModule()
 
     m_vrpnAnalog = std::make_shared<vrpn_Analog_Remote>(fullDeviceIp);
     m_vrpnAnalog->register_change_handler(this, analogChangeHandler);
+    m_vrpnAnalog->shutup = true;
 }
 
 void
@@ -43,9 +44,9 @@ VRPNArduinoDeviceClient::runModule()
 void
 VRPNArduinoDeviceClient::cleanUpModule()
 {
-    m_vrpnAnalog->unregister_change_handler(this, analogChangeHandler);
-
-    m_vrpnAnalog.reset();
+    //Module cleanup is causing TCP errors - seems to work fine without it
+    //m_vrpnAnalog->unregister_change_handler(this, analogChangeHandler);
+    //m_vrpnAnalog.reset();
 }
 
 

Base/Devices/imstkVRPNDeviceServer.cpp

@@ -106,7 +106,7 @@ VRPNDeviceServer::initModule()
         {
             SerialInfo connectionSettings = m_SerialInfoMap[name];
             //open with 6 channels (max needed for IMU, can use less)
-            m_deviceConnections->add(new vrpn_Streaming_Arduino(name.c_str(), m_serverConnection, connectionSettings.port, 6,connectionSettings.baudRate));
+            m_deviceConnections->add(new vrpn_Streaming_Arduino(name.c_str(), m_serverConnection, connectionSettings.port, 6, connectionSettings.baudRate));
         } break;
         default:
         {

Base/SceneElements/Controllers/imstkFLSCameraController.cpp

@@ -61,22 +61,43 @@ FLSCameraController::setArduinoDevice(std::shared_ptr<VRPNArduinoDeviceClient> a
 }
 
 void
-FLSCameraController::runModule()
+FLSCameraController::setAngleCalibration(const double angle)
 {
-    //Get head angle from Arduino, performing calibration if this is the first valid report
-    if (arduinoActive & calibrated)
-    {
-        this->setCameraHeadAngleOffset(arduinoClient->getRoll() - m_rollOffset);
-    }
-    else if (arduinoActive)
+    m_rollOffset = angle;
+}
+
+double FLSCameraController::getAngleCalibration()
+{
+    return m_rollOffset;
+}
+
+void
+FLSCameraController::recalibrate()
+{
+    if (arduinoActive)
     {
         if (arduinoClient->getRoll() != 0)
         {
-            std::cout << "FLS Camera Controller:  Calibration complete; Safe to move camera" << std::endl;
             m_rollOffset = arduinoClient->getRoll();
+            std::cout << "FLS Camera Controller:  Calibration complete" << std::endl;
             calibrated = true;
         }
+        else
+        {
+            std::cout << "FLS Camera Controller:  Cannot calibrate - bad input from device" << std::endl;
+        }
     }
+}
+
+void
+FLSCameraController::runModule()
+{
+    //Get head angle from Arduino
+    if (arduinoActive)
+    {
+        this->setCameraHeadAngleOffset(arduinoClient->getRoll() - m_rollOffset);
+    }
+
     auto roff = Quatd(Eigen::AngleAxisd(m_cameraHeadAngleOffset*PI / 180., Vec3d(0., 0., 1.)));
     this->setCameraRotationOffset(roff);
 

Base/SceneElements/Controllers/imstkFLSCameraController.h

@@ -54,6 +54,12 @@ public:
     void setCameraHeadAngleOffset(const double angle);
     const double getCameraHeadAngleOffset() const;
 
+    ///
+    /// \brief Get/Set the cameraHead angle calibration offset
+    ///
+    void setAngleCalibration( const double angle);
+    double getAngleCalibration();
+
     ///
     /// \brief Get/Set the angulation
     ///
@@ -62,6 +68,8 @@ public:
 
     void setArduinoDevice(std::shared_ptr<VRPNArduinoDeviceClient> aClient);
 
+    void recalibrate();
+
 protected:
 
     ///