io-isense - Nim bindings for the InterSense SDK.

Types

IsdHwnd = cint

Window handle. Source

IsdBool = enum isdFalse = 0, isdTrue = 1

Boolean return values. Source

IsdOnOff = enum isdOff = 0, isdOn = 2

On and off states. Source

IsdSystemType = enum none = 0, ## Not found, unable to identify, or not initialized precisionSeries, ## InertiaCube, NavChip, IS-300, IS-600, IS-900 and IS-1200 intertraxSeries ## InterTrax

Supported tracking system types. Source

IsdSystemModel = enum unknown = 0, is300, ## 3DOF system (unsupported) is600, ## 6DOF system (unsupported) is900, ## 6DOF system intertrax, ## InterTrax (Serial) (unsupported) intertrax2, ## InterTrax (USB) (unsupported) intertraxLS, ## InterTraxLS, verification required (unsupported) intertraxLC, ## InterTraxLC (unsupported) icube2, ## InertiaCube2 icube2pro, ## InertiaCube2 Pro is1200, ## 6DOF system icube3, ## InertiaCube3 navchip, ## NavChip intertrax3, ## InterTrax3 (unsupported) imuk, ## K-Sensor icube2bPro, ## InertiaCube2B Pro icube2Plus, ## InertiaCube2 Plus icubeBT, ## InertiaCube BT icube4 ## InertiaCube4

Supported tracking system models. Source

IsdInterfaceType = enum unknown = 0, serial, usb, udp, tcp, ioCard, pcmcia, file, pipe

Supported device interface types. Source

IsdAngleFormat = enum euler = 1, quaternion = 2

Supported orientation angle formats. Source

IsdCoordFrame = enum defaultFrame = 1, vsetFrame = 2

Supported coordinate frames. Source

IsdTrackerSyncState = enum off = 0, ## Off (system is in free run) autoGenlock, ## On (hardware genlock frequency is automatically determined) userGenlock, ## On (hardware genlock frequency is specified by the user) userFrequency ## On (no hardware signal, lock to user specified frequency)

Tracker synchronization states.

Note: used for IS-X devices only.

Source

IsdBatteryState = enum notAvailable = 0, voltageLow, voltageOk

Battery states Source

IsdTrackerHandle = cint

Source

IsdTrackerHandleArray = array[isdMaxTrackers, IsdTrackerHandle]

Source

IsdTrackerInfo = object libVersion*: cfloat ## InterSense Library version (version of DLL or shared ## library) trackerType*: IsdSystemType ## The type of tracking system trackerModel*: IsdSystemModel ## The tracking device model port*: cint ## Number of the RS232 port that the tracker is connected to ## (starts with 1 for COM1/ttyS0) recordsPerSec*: cuint ## Data records per second from tracker kBitsPerSec*: cfloat ## kB per second of data from tracker syncState*: IsdTrackerSyncState ## Synchronization state syncRate*: cfloat ## Number of hardware sync signals per second, or, if ## `SyncState` is 3, data record output frequency syncPhase*: cint ## The time within the sync period at which a data record ## is transmitted. The phase point is specified as a percentage of the ## sync period. 0% (the default) instructs the tracker to output a data ## record as soon as possible after the sync period begins. 100% delays ## the output of a record as much as possible before the next sync period ## begins. Interface*: IsdInterfaceType ## Hardware interface type ultTimeout*: cint ## Ultrasonic timeout (sampling rate); IS-900 only ultVolume*: cint ## Ultrasonic speaker volume; IS-900 only dwReserved4*: cint ## Reserved for future use firmwareRev*: cfloat ## Firmware revision fopr tracker fReserved2*: cfloat ## Reserved for future use fReserved3*: cfloat ## Reserved for future use fReserved4*: cfloat ## Reserved for future use ledEnable*: IsdBool ## Enables flashing blue LEDs on SoniStrips/SoniDiscs if ## `isdTrue <#IsdBool>`_; IS-900 only bReserved2*: IsdBool ## Reserved for future use bReserved3*: IsdBool ## Reserved for future use bReserved4*: IsdBool ## Reserved for future use

Tracking device information.

The first six fields are for informational purpose only. The remaining fields can be configured in the isenseX.ini configuration file.

Source

IsdStationInfo = object id*: cint ## Unique number identifying a station. It is the same as that ## passed to the `isdSetStationConfig` and `isdGetStationConfig` functions ## and can be `1` to `isdMaxStations <#isdMaxStations>`_ state*: IsdBool ## Whether the station is turned on or off ## (`isdTrue <#IsdBool>`_ = ON, `isdFalse <#IsdBool>`_ = OFF). ## InertiaCubes are considered to be a tracking system consisting of one ## station, which cannot be turned off, so this field will always be ## `true <#IsdBool>`_. The IS-900 may have up to 7 stations ## connected. compass*: IsdOnOff ## Controls the state of the compass component (only ## available for InertiaCube devices). The compass is only used when the ## station is is configured GEOS or Dual modes. In Fusion mode, compass ## readings are not used, regardless of this setting. When the station is ## configured for full compass mode, the readings produced by the ## magnetometers inside the InertiaCube are used as absolute reference ## orientation for yaw. Compasses can be affected by metallic objects and ## electronic equipment in close proximity to an InertiaCube. inertiaCube*: cint ## InertiaCube associated with this station. If no ## InertiaCube is assigned, this number is `-1`. Otherwise, it is a ## positive number between `1` and `isdMaxStations <#isdMaxStations>`_. ## Only relevant for IS-300 and IS-600 series devices. For IS-900 systems ## it is always the same as the station number, and for InterTrax and ## InertiaCubes it is always `1`. enhancement*: cint ## Perceptual enhancement level (0, 1, or 2) sensitivity*: cint ## Sensitivity level (1 to 4) if `enhancement` is 1 or 2 prediction*: cint ## Motion prediction (0 to 50 msec); only supported by ## IS-300, IS-600, IS-900 and InertiaCubes; not available for InterTrax angleFormat*: IsdAngleFormat ## Format of returned orientation angles. Used ## only for IS-900 and IS-1200 series devices. 3DOF sensors report both, ## regardless of this setting. timeStamped*: IsdBool ## Whether data should be timestamped getInputs*: IsdBool ## Whether button and joystick data should be included getEncoderData*: IsdBool ## Whether raw encoder data should be included. compassCompensation*: cuchar ## Controls how Magnetic Environment Calibration ## is applied. This calibration calculates nominal field strength and dip ## angle for the environment in which the sensor is used. Based on these ## values, the system can assign a weight to compass measurements, ## allowing it to reject bad measurements. ## ## If CompassCompensation is set to `0`, the calibration is ignored and ## all compass data is used. Higher values result in a tighter rejection ## threshold, resulting in more measurements being rejected. If the sensor ## is used in an environment with significant magnetic interference this ## can result in drift due to insufficient compensation from the compass ## data. Default setting is 2, maximum setting is 3. ## ## Note: the sensor must be calibrated in the ISDemo Compass Calibration ## Tool for this setting to have any effect. imuShockSuppression*: cuchar ## Controls how the system deals with sharp ## changes in IMU data that can be caused by shock or impact. Sensors may ## experience momentary rotation rates or accelerations that are outside ## of the specified range, resulting in undesirable behavior. By turning ## on shock suppression you can have the system filter out corrupted data. ## ## Values 0 (OFF) to 2 are accepted, with higher values resulting in ## greater filtering. urmRejectionFactor*: cuchar ## Controls the rejection threshold for ## ultrasonic measurements. Currently implemented only for the IS-900 ## PCTracker. Default setting is 4, which results in measurements with ## range errors greater than 4 times the average to be rejected. ## ## Note: do not change this setting without first consulting with ## InterSense technical support. bReserved2*: cuchar ## Reserved for future use coordFrame*: IsdCoordFrame ## Coordinate frame in which position and ## orientation data is reported accelSensitivity*: cint ## Acceleration sensitivity for 3-DOF tracking with ## InertiaCube products only. It controls how fast tilt correction, using ## accelerometers, is applied. Valid values are 1 to 4, with 2 as default. ## ## - Level 1 reduces the amount of tilt correction during movement. While ## it will prevent any effect linear accelerations may have on pitch and ## roll, it will also reduce stability and dynamic accuracy. It should ## only be used in situations when sensor is not expected to experience ## a lot of movement. ## - Level 2 (default) is best for head tracking in static environment, ## with user seated. ## - Level 3 allows for more aggressive tilt compensation, appropriate ## when sensor is moved a lot, for example, when the user is walking for ## long periods of time. ## - Level 4 allows for even greater tilt corrections. It will reduce ## orientation accuracy by allowing linear accelerations to effect ## orientation, but increase stability. This level is appropriate for ## when the user is running, or in other situations where the sensor ## experiences a great deal of movement. fReserved1*: cfloat ## Reserved for future use fReserved2*: cfloat ## Reserved for future use tipOffset*: array[3, cfloat] ## Offset of the reported position from the ## physical point being tracked. This is only applicable system capable of ## tracking position. fReserved3*: cfloat ## Reserved for future use getCameraData*: IsdBool ## Whether to include computed FOV, aperture and ## other camera data in output (default is `isdFalse <#IsdBool>`_) getAuxInputs*: IsdBool ## Whether to include values from auxiliary inputs ## connected to the I2C port in MicroTrax devices getCovarianceData*: IsdBool getExtendedData*: IsdBool ## Retrieving extended data will reduce update ## rate with even a single tracker when using serial communications; ## Ethernet is highly recommended when retrieving extended data

Station configuration information.

This type can only be used with IS Precision Series tracking devices. If passed to isdSetStationConfig or isdGetStationConfig with InterTrax, isdFalse is returned.

Source

IsdStationData = object trackingStatus*: cuchar newData*: cuchar ## `1` if data changed since last call to ## `isdGetTrackingData <#isdGetTrackingData>`_, `0` otherwise commIntegrity*: cuchar ## Communication integrity (percentage of packets ## received from tracker, 0-100) batteryState*: IsdBatteryState ## Battery state (wireless devices only; not ## currently used by MiniTrax and MicroTrax stations) euler*: array[3, cfloat] ## Orientation in Euler angles (yaw, pitch, roll) Quaternion*: array[4, cfloat] ## Orientation in Quaternion format (W,X,Y,Z) position*: array[3, cfloat] ## Position in meters timeStamp*: cfloat ## Timestamp in seconds, reported only if requested stillTime*: cfloat ## InertiaCube and PC-Tracker products only, whether ## sensor is still batteryLevel*: cfloat ## Battery voltage, if available compassYaw*: cfloat ## Magnetometer heading, computed based on current ## orientation; available for InertiaCube products only, such as IC2, IC3 ## and IC2+ buttonState*: array[isdMaxButtons, IsdBool] ## Button states, if requested analogData*: array[isdMaxChannels, cshort] ## Analog data, if requested ## Current hardware is limited to 10 channels, with only 2 being used. The ## only device using this is the IS-900 wand that has a built-in analog ## joystick. Channel 1 is X-axis rotation, channel 2 is Y-axis rotation auxInputs*: array[isdMaxAuxInputs, cuchar] ## Auxiliary data, if requested angularVelBodyFrame*: array[3, cfloat] ## rad/sec, in sensor body coordinate ## frame. Reported as rates about X, Y and Z axes, corresponding to Roll, ## Pitch, Yaw order. This is the processed angular rate, with current ## biases removed. This is the angular rate used to produce orientation ## updates. angularVelNavFrame*: array[3, cfloat] ## rad/sec, in world coordinate frame, ## with boresight and other transformations applied. Reported as rates ## about X, Y and Z axes, corresponding to Roll, Pitch, Yaw order. accelBodyFrame*: array[3, cfloat] ## meter/sec^2, in sensor body coordinate ## frame. These are the accelerometer measurements in the sensor body ## coordinate frame. Only factory calibration is applied to this data, ## gravity component is not removed. Reported as accelerations along X, Y ## and Z axes. accelNavFrame*: array[3, cfloat] ## meters/sec^2, in the navigation (earth) ## coordinate frame. This is the accelerometer measurements with ## calibration, current sensor orientation applied, and gravity ## subtracted. This is the best available estimate of tracker ## acceleration. Reported as accelerations along X, Y and Z axes. velocityNavFrame*: array[3, cfloat] ## meters/sec, 6-DOF systems only. ## Reported as velocity along X, Y and Z axes. angularVelRaw*: array[3, cfloat] ## Raw gyro output, only factory ## calibration is applied. Some errors due to temperature dependant gyro ## bias drift will remain. measQuality*: cuchar ## Ultrasonic Measurement Quality (IS-900 only, ## firmware >= 4.26) bReserved2*: cuchar ## Reserved for future use bReserved3*: cuchar ## Reserved for future use bReserved4*: cuchar ## Reserved for future use timeStampSeconds*: cuint ## Time Stamp in whole seconds timeStampMicroSec*: cuint ## Fractional part of the Time Stamp in ## micro-seconds. oSTimeStampSeconds*: cuint ## Data record arrival time stamp based on ## OS time oSTimeStampMicroSec*: cuint ## Reserved for future use; not implemented reserved*: array[55, cfloat] ## Reserved for future use temperature*: cfloat ## Station temperature in degrees C (3DOF sensors only) magBodyFrame*: array[3, cfloat] ## 3DOF sensors only. Magnetometer data ## along the X, Y, and Z axes Units are nominally in Gauss, and factory ## calibration is applied. Note, however, that most sensors are not ## calibrated precisely since the exact field strength is not necessary ## to for tracking purposes. Relative magnitudes should be accurate, ## however. Fixed metal compass calibration may rescale the values, as ## well.

Tracking status, represents "Tracking Quality" (0-255; 0 if lost) Source

IsdCameraEncoderData = object trackingStatus*: cuchar ## Tracking status bReserved1*: cuchar ## Pack to 4 byte boundary bReserved2*: cuchar bReserved3*: cuchar timecode*: cuint ## Timecode, not implemented yet apertureEncoder*: cint ## Aperture encoder counts, relative to last reset ## or power up focusEncoder*: cint ## Focus encoder counts zoomEncoder*: cint ## Zoom encoded counts timecodeUserBits*: cint ## Time code user bits, not implemented yet aperture*: cfloat ## Computed aperture value focus*: cfloat ## Computed focus value (mm), not implemented yet fOV*: cfloat ## Computed vertical FOV value (degrees) nodalPoint*: cfloat ## Nodal point offset due to zoom and focus (mm) covarianceOrientation*: array[3, cfloat] ## Available only for IS-1200 covariancePosition*: array[3, cfloat] dwReserved1*: cint ## Reserved for future use dwReserved2*: cint ## Reserved for future use fReserved1*: cfloat ## Reserved for future use fReserved2*: cfloat ## Reserved for future use fReserved3*: cfloat ## Reserved for future use fReserved4*: cfloat ## Reserved for future use

Camera encoder data. Source

IsdTrackingData = object station*: array[isdMaxStations, IsdStationData]

Tracking data for all stations. Source

IsdCameraData = object camera*: array[isdMaxStations, IsdCameraEncoderData]

Camera data for all stations. Source

IsdAuxSystem = enum none = 0, ultrasonic, optical, magnetic, rf, gps

Supported auxiliary systems. Source

IsdHardwareCapability = object position*: IsdBool ## Can track position orientation*: IsdBool ## Can track orientation encoders*: IsdBool ## Can support lens encoders prediction*: IsdBool ## Predictive algorithms are available enhancement*: IsdBool ## Enhancement level can be changed compass*: IsdBool ## Compass setting can be changed selfTest*: IsdBool ## Has the self-test capability errorLog*: IsdBool ## Can keep error log ultVolume*: IsdBool ## Can control ultrasonic volume via software ultGain*: IsdBool ## Can control microphone sensitivity by software ultTimeout*: IsdBool ## Can change ultrasonic sampling frequency photoDiode*: IsdBool ## SoniDiscs support photodiode maxStations*: cint ## Number of supported stations maxImus*: cint ## Number of supported IMUs maxFPses*: cint ## Maximum number of Fixed Position Sensing Elements ## (constellation/galaxy) maxChannels*: cint ## Max. number of analog channels supported per station maxButtons*: cint ## Maximum number of digital button inputs per station measData*: IsdBool ## Can provide measurement data diagData*: IsdBool ## Can provide diagnostic data pseConfig*: IsdBool ## Supports PSE configuration/reporting tools configLock*: IsdBool ## Supports configuration locking ultMaxRange*: cfloat ## Maximum ultrasonic range fReserved2*: cfloat ## Reserved for future use fReserved3*: cfloat ## Reserved for future use fReserved4*: cfloat ## Reserved for future use compassCal*: IsdBool ## Supports dynamic compass calibration bReserved2*: IsdBool ## Reserved for future use bReserved3*: IsdBool ## Reserved for future use bReserved4*: IsdBool ## Reserved for future use dwReserved1*: cint ## Reserved for future use dwReserved2*: cint ## Reserved for future use dwReserved3*: cint ## Reserved for future use dwReserved4*: cint ## Reserved for future use

Hardware capabilities. Source

IsdHardwareInfo = object valid*: IsdBool ## Set to `isdTrue <#IsdBool>`_ if ## `isdGetSystemHardwareInfo <#isdGetSystemHardwareInfo>`_ succeeded trackerType*: IsdSystemType ## See `IsdSystemType <#IsdSystemType>`_ trackerModel*: IsdSystemModel ## See `IsdSystemModel <#IsdSystemModel>`_ port*: cint ## Hardware port number (1 for COM1/ttyS0, etc.) iftype*: IsdInterfaceType ## Hardware interface (RS232, USB, etc.) onHost*: IsdBool ## `isdTrue <#IsdBool>`_ if tracking algorithms are ## executed in the library auxSystem*: IsdAuxSystem ## Position tracking hardware ## (see `IsdAuxSystemType <#IsdAuxSystemType>`_) firmwareRev*: cfloat ## Firmware revision modelName*: array[128, cchar] ## Model name string capability*: IsdHardwareCapability ## Hardware capabilities bReserved1*: IsdBool ## Reserved for future use bReserved2*: IsdBool ## Reserved for future use bReserved3*: IsdBool ## Reserved for future use bReserved4*: IsdBool ## Reserved for future use baudRate*: cuint ## Serial port baud rate numTestLevels*: cint ## Number of self test levels dwReserved3*: cint ## Reserved for future use dwReserved4*: cint ## Reserved for future use fReserved1*: cfloat ## Reserved for future use fReserved2*: cfloat ## Reserved for future use fReserved3*: cfloat ## Reserved for future use fReserved4*: cfloat ## Reserved for future use cReserved1*: array[128, cchar] ## Reserved for future use cReserved2*: array[128, cchar] ## Reserved for future use cReserved3*: array[128, cchar] ## Reserved for future use cReserved4*: array[128, cchar] ## Reserved for future use

System hardware information. Source

IsdStationCapability = object position*: IsdBool ## Whether the station can track position orientation*: IsdBool ## Wether the station can track orientation encoders*: cint ## Number of lens encoders (`0` = none are available) numChannels*: cint ## Number of analog channels supported by this station, ## wand has 2 (joystick axes) numButtons*: cint ## Number of digital button inputs supported by this ## station auxInputs*: cint ## Number of auxiliary input channels (OEM products) auxOutputs*: cint ## Number of auxiliary output channels (OEM products) compass*: IsdBool ## Whether the station has a compass bReserved1*: IsdBool ## Reserved for future use bReserved2*: IsdBool ## Reserved for future use bReserved3*: IsdBool ## Reserved for future use bReserved4*: IsdBool ## Reserved for future use dwReserved1*: cint ## Reserved for future use dwReserved2*: cint ## Reserved for future use dwReserved3*: cint ## Reserved for future use dwReserved4*: cint ## Reserved for future use

Station capabilities information. Source

IsdStationHardwareInfo = object Valid*: IsdBool ## Will be set to `isdTrue <#IsdBool>`_ if ## `isdGetStationHardwareInfo <#isdGetStationHardwareInfo>`_ succeeded id*: cint ## Unique number identifying a station. It is the same as that ## passed to the `isdSetStationConfig` and `isdGetStationConfig` functions ## and can be `1` to `isdMaxStations <#isdMaxStations>`_ descVersion*: array[20, cchar] ## Station Descriptor version firmwareRev*: cfloat ## Station firmware revision serialNum*: cint ## Station serial number calDate*: array[20, cchar] ## Last factory calibration date (mm/dd/yyyy) port*: cint ## Hardware port number capability*: IsdStationCapability ## Station capabilities bReserved1*: IsdBool ## Reserved for future use bReserved2*: IsdBool ## Reserved for future use bReserved3*: IsdBool ## Reserved for future use bReserved4*: IsdBool ## Reserved for future use stationType*: cint deviceId*: cint dwReserved3*: cint ## Reserved for future use dwReserved4*: cint ## Reserved for future use fReserved1*: cfloat ## Reserved for future use fReserved2*: cfloat ## Reserved for future use fReserved3*: cfloat ## Reserved for future use fReserved4*: cfloat ## Reserved for future use cReserved1*: array[128, cchar] ## Reserved for future use cReserved2*: array[128, cchar] ## Reserved for future use cReserved3*: array[128, cchar] ## Reserved for future use cReserved4*: array[128, cchar] ## Reserved for future use

Station hardware information. Source

IsdPortWirelessInfo = object valid*: IsdBool status*: cint wireless*: IsdBool channel*: cint id*: array[4, cint] radioVersion*: cint ## Type of radio hardware: ## - 15 or 31: 2.4 GHz (Aerocomm, radio used with older MiniTrax trackers) ## - 128: 2.4 GHz (Chipcon, MicroTrax only) ## - 144: 900 MHz (MicroTrax only) ## - 160: 868 MHz (MicroTrax only) dReserved1*: cint ## Reserved for future use dReserved2*: cint ## Reserved for future use dReserved3*: cint ## Reserved for future use dReserved4*: cint ## Reserved for future use

Wireless hardware information. Source

Consts

islibVersion = "4.2381": Source
isdMaxTrackers = 32: Maximum number of trackers Source
isdMaxStations = 8: Maximum number of stations Source
isdMaxButtons = 8: Number of supported stylus buttons Source
isdMaxChannels = 10: Hardware is limited to 10 analog/digital input channels per station Source
isdMaxAuxInputs = 4: Maximum supported number of bytes for auxiliary input data Source
isdMaxAuxOutputs = 4: Maximum supported number of bytes for auxiliary output data Source

Procs

proc isdOpenTracker(hParent: IsdHwnd; commPort: cint; infoScreen: IsdBool; verbose: IsdBool): IsdTrackerHandle {.cdecl, dynlib: dllname, importc: "ISD_OpenTracker".}

Open a single tracker.

hParent

Handle to the parent window, or nil. This parameter is optional and should only be used if information screen or tracker configuration tools are to be used when available in the future releases.

commPort

If this parameter is a number other than 0, program will try to locate an InterSense tracker on the specified RS232 port. Otherwise it looks for USB device, then for serial port device on all ports at all baud rates. Most applications should pass 0 for maximum flexibility. If you have more than one InterSense device and would like to have a specific tracker, connected to a known port, initialized first, then enter the port number instead of 0.

infoScreen

This feature has not been implemented. Its purpose is to display an information window to show the tracker detection progress and results. Currently, the DLL writes only to the console. Most applications should pass isdFalse.

verbose

Pass isdTrue if you would like a more detailed report of the DLL activity. Messages are printed to the console

result

Handle of the opened tracker on success
-1 on failure

This function is used for opening a single tracker. It may be called multiple times in order to open multiple trackers, though typically using isdOpenAllTrackers is recommended instead for use with multiple trackers.

Note that wireless 3DOF sensors such as the wireless IC3 are considered trackers, not stations (even if using a shared receiver), so each tracker must have a separate handle associated with it. A station is a concept associated with the IS-900 and IS-1200 systems.

Source

proc isdOpenAllTrackers(hParent: IsdHwnd; handles: ptr IsdTrackerHandleArray; infoScreen: IsdBool; verbose: IsdBool): cint {.cdecl, dynlib: dllname, importc: "ISD_OpenAllTrackers".}

Open multiple trackers.

handles

Will contain the handles for all detected trackers

infoScreen

verbose

Pass isdTrue if you would like a more detailed report of the DLL activity. Messages are printed to the console

result

Number of detected trackers on success
-1 on failure

This is the recommended method for opening multiple trackers.

Source

proc isdCloseTracker(handle: IsdTrackerHandle): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_CloseTracker".}

Close a tracker.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

result

isdTrue on success
isdFalse otherwise

This function call uninitializes a tracker, closes communications port and frees the resources associated with the tracker handle. If 0 is passed, all currently open trackers are closed. When the last tracker is closed, program frees the library.

Source

proc isdGetTrackerConfig(handle: IsdTrackerHandle; tracker: ptr IsdTrackerInfo; verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_GetTrackerConfig".}

Get general tracker information, such as type, model, port, etc.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

tracker

Pointer to an IsdTrackerInfo object.

result

isdTrue on success
isdFalse otherwise

Also retrieves genlock synchronization configuration, if available. See IsdTrackerInfo for a complete list

Source

proc isdSetTrackerConfig(handle: IsdTrackerHandle; tracker: ptr IsdTrackerInfo; verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_SetTrackerConfig".}

Set tracker configuration.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

tracker

Pointer to an IsdTrackerInfo object.

result

isdTrue on success
isdFalse otherwise

When used with IS Precision Series (IS-300, IS-600, IS-900, IS-1200) tracking devices, this function call will set genlock synchronization parameters; all other fields in the IsdTrackerInfo structure are for information purposes only.

Source

proc isdGetCommInfo(handle: IsdTrackerHandle; tracker: ptr IsdTrackerInfo): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_GetCommInfo".}

Get communication data rate information.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

tracker

Pointer to an IsdTrackerInfo object.

result

isdTrue on success
isdFalse otherwise

This function reads recordsPerSec and kBitsPerSec without requesting genlock settings from the tracker. Use this instead of isdGetTrackerConfig to prevent your program from stalling while waiting for the tracker response.

Source

proc isdSetStationConfig(handle: IsdTrackerHandle; station: ptr IsdStationInfo; stationId: cshort; verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_SetStationConfig".}

Set station configuration settings.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

station

Pointer to a structure of type IsdStationInfo. The structure definition is given below.

stationId

Number from 1 to isdMaxStations

result

isdTrue on success
isdFalse otherwise

Before this function is called, all elements of the station structure must be assigned a value. This function should only be used with IS Precision Series tracking devices; not valid for InterTrax.

Source

proc isdGetStationConfig(handle: IsdTrackerHandle; station: ptr IsdStationInfo; stationId: cshort; verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_GetStationConfig".}

Get station configuration settings.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

station

Pointer to a structure of type IsdStationInfo. The structure definition is given below.

stationId

Number from 1 to isdMaxStations

result

isdTrue on success
isdFalse otherwise

Fills the IsdStationInfo structure with current settings. Function requests configuration records from the tracker and waits for the response. If communications are interrupted, it will stall for several seconds while attempting to recover the settings. Should only be used with IS Precision Series tracking devices, not valid for InterTrax.

Source

proc isdConfigureFromFile(handle: IsdTrackerHandle; path: cstring; verbose: IsdBool): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_ConfigureFromFile".}

Configure a tracker from a configuration file.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

path

Pointer to a string representing the complete path to the file to load.

result

isdTrue on success
isdFalse otherwise

When a tracker is first opened, library automatically looks for a configuration file in current directory of the application. File name convention is isenseX.ini where X is a number, starting at 1, identifying the first tracking system in the order of initialization. This function provides for a way to manually configure the tracker using an arbitrary configuration file instead.

Source

proc isdConfigSave(handle: IsdTrackerHandle): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_ConfigSave".}

Save tracker configuration.

handle: Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

For devices with on-host processing, like the IS-900 PCTracker, this will write to the isenseX.cfg file. Serial port devices like IS-300, IS-600 and IS-900 save configuration in the base unit, and this call will just send a command to commit the changes to permanent storage.

Source

proc isdGetTrackingData(handle: IsdTrackerHandle; data: ptr IsdTrackingData): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_GetTrackingData".}

Get data from all configured stations.

data

Will contain the tracking data

result

isdTrue on success
isdFalse otherwise

Source

proc isdGetTrackingDataAtTime(handle: IsdTrackerHandle; atTime: cdouble; maxSyncWait: cdouble): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_GetTrackingDataAtTime".}

Get data from all configured stations (at a specified time).

data

Will contain the tracking data

atTime

The time at which the data was generated (?)

result

isdTrue on success
isdFalse otherwise

Source

proc isdGetCameraData(handle: IsdTrackerHandle; data: ptr IsdCameraData): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_GetCameraData".}

Get camera encode and other data for all configured stations.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

data

Pointer to a structure of type IsdTrackerData. See below for structure definition. Orientation data order is Yaw, Pitch, and Roll for Euler angles and W, X, Y, Z for quaternions.

result

isdTrue on success
isdFalse otherwise

Data is placed in the IsdCameraData structure. This function does not service the serial port, so isdGetTrackingData must be called prior to this.

Source

proc ISD_RingBufferSetup(handle: IsdTrackerHandle; stationId: cshort; dataBuffer: ptr IsdStationData; samples: cint): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_RingBufferSetup".}

Set up the ring buffer.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

dataBuffer

An array of IsdStationData structures. Pass in nil if you do not need visibility into the complete buffer (typical).

samples

The size of the ring buffer. isdGetTrackingData should be called frequently enough to avoid buffer overrun.

result

isdTrue on success
isdFalse otherwise

By default, isdGetTrackingData processes all records available from the tracker and only returns the latest data. As the result, data samples can be lost. If all the data samples are required, you can use a ring buffer to store them.

isdRingBufferSetup accepts a pointer to the ring buffer, and its size. Once activated, all processed data samples are stored in the buffer for use by the application.

isdGetTrackingData can still be used to read the data, but will return the oldest saved data sample, then remove it from the buffer (first in - first out). By repeatedly calling isdGetTrackingData, all samples are retrieved, the latest coming last. All consecutive calls to isdGetTrackingData will return the last sample, but the NewData flag will be isdFalse to indicate that the buffer has been emptied.

Source

proc isdRingBufferStart(handle: IsdTrackerHandle; stationId: cshort): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_RingBufferStart".}

Activate the ring buffer.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

result

isdTrue on success
isdFalse otherwise

While active, all data samples are stored in the buffer. Because this is a ring buffer, it will only store the number of samples specified in the call to isdRingBufferSetup, so the oldest samples can be overwritten.

Source

proc isdRingBufferStop(handle: IsdTrackerHandle; stationId: cshort): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_RingBufferStop".}

Stop collection.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

result

isdTrue on success
isdFalse otherwise

The library will continue to process data, but the contents of the ring buffer will not be altered.

Source

proc isdRingBufferQuery(handle: IsdTrackerHandle; stationId: cshort; currentData: ptr IsdStationData; head: ptr cint; tail: ptr cint): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_RingBufferQuery".}

Queries the library for the latest data without removing it from the buffer or affecting the NewData flag.

handle: Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.
stationId: Number from 1 to isdMaxStations
currentData: An array of IsdStationData used as the buffer.
head: Pointer to the current head of the ring buffer.
tail: Pointer to the current tail of the ring buffer.

This function also returns the indexes of the newest and the oldest samples in the buffer. These can then be used to parse the buffer.

Source

proc isdResetHeading(handle: IsdTrackerHandle; stationId: cshort): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_ResetHeading".}

Reset heading (yaw) to zero.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

result

isdTrue on success
isdFalse otherwise

Source

proc isdBoresightReferenced(handle: IsdTrackerHandle; stationId: cshort; yaw: cfloat; pitch: cfloat; roll: cfloat): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_BoresightReferenced".}

Boresight station using specific reference angles.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

yaw

Yaw reference angle

pitch

Pitch reference angle

roll

Roll reference angle

result

isdTrue on success
isdFalse otherwise

This is useful when you need to apply a specific offset to system output. For example, if a sensor is mounted at 40 degrees pitch relative to an HMD, you can pass in 0, 40, 0 to make the system output (0,0,0) when the HMD is horizontal.

This function works with all IS-X00 series products, InterTraxLC and InertiaCube products. For InterTrax30 and InterTrax2, it behaves like isdResetHeading.

Source

proc isdBoresight(handle: IsdTrackerHandle; stationId: cshort; set: IsdBool): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_Boresight".}

Boresight, or unboresight a station.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

set

Whether to reset all angles to zero

result

isdTrue on success
isdFalse otherwise

If set is isdTrue, all angles are reset to zero. Otherwise, all boresight settings are cleared, including those set by isdResetHeading and isdBoresightReferenced.

Note that the angles are reset relative to the current yaw; if the station is at 90 degrees yaw and 0 degrees pitch/roll when this function is called, rolling the sensor (relative to its current heading) will be considered pitch, and pitch (relative to its current heading) will be considered roll; it does not perform a boresight 'relative' to the current orientation vector.

This function works with all IS-X00 series products, InterTraxLC and InertiaCube products. For InterTrax30 and InterTrax2, it behaves like isdResetHeading.

Source

proc isdSendScript(handle: IsdTrackerHandle; script: cstring): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_SendScript".}

Send a configuration script to the tracker.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

script

Pointer to a string containing the command script

result

isdTrue on success
isdFalse otherwise

The script must consist of valid commands as described in the interface protocol. Commands in the script should be terminated by the newline character 'n'. The linefeed character 'r' is added by the function, and is not required.

Note that this may not be supported when using the shared memory interface, such as with sfServer, and is primarily intended for the IS-300/IS-600/IS-900 system.

Source

proc isdAuxOutput(handle: IsdTrackerHandle; stationId: cshort; AuxOutput: ptr cuchar; length: cushort): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_AuxOutput".}

Sends up to 4 output bytes to the auxiliary interface of the station specified.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

stationId

Number from 1 to isdMaxStations

auxOutput

An array of bytes to send

length

Number of bytes to send

result

isdTrue on success
isdFalse otherwise

The number of bytes should match the number the auxiliary outputs the interface is configured to expect. If too many are specified, extra bytes are ignored.

Source

proc isdNumOpenTrackers(num: ptr cshort): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_NumOpenTrackers".}

Get the number of currently opened trackers.

num

Will hold the number of trackers

result

isdTrue on success
isdFalse otherwise

Source

proc isdGetTime(): cfloat {.cdecl, dynlib: dllname, importc: "ISD_GetTime".}

Platform independent time function.

result: Time value

Source

proc isdUdpDataBroadcast(handle: IsdTrackerHandle; port: cint; trackingData: ptr IsdTrackingData; cameraData: ptr IsdCameraData): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_UdpDataBroadcast".}

Broadcast tracker data over the network using UDP broadcast.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

port

UDP port (0 to 65535)

trackingData

An IsdTrackingData structure containing the data to send, retrieved with`isdGetTrackingData <#isdGetTrackingData>`_.

cameraData

Pass nil to this

result

isdTrue on success
isdFalse otherwise

Source

proc isdGetSystemHardwareInfo(handle: IsdTrackerHandle; hwInfo: ptr IsdHardwareInfo): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_GetSystemHardwareInfo".}

Retrieve system hardware information.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

hwInfo

An IsdHardwareInfo structure containing the information.

result

isdTrue on success
isdFalse otherwise

Note that the system is a single tracker (and will thus have one handle). For details on individual stations (such as the devices on each port of an IS-900), use isdGetStationHardwareInfo instead.

Source

proc isdGetStationHardwareInfo(handle: IsdTrackerHandle; info: ptr IsdStationHardwareInfo; stationId: cshort): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_GetStationHardwareInfo".}

Retrieve station hardware information.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

info

An IsdStationHardwareInfo structure containing the information.

stationId

Number from 1 to isdMaxStations

result

isdTrue on success
isdFalse otherwise

Source

proc isdEnterHeading(handle: IsdTrackerHandle; stationId: cshort; yaw: cfloat): IsdBool {. cdecl, dynlib: dllname, importc: "ISD_EnterHeading".}

result

isdTrue on success
isdFalse otherwise

Source

proc isdGetPortWirelessInfo(handle: IsdTrackerHandle; port: cshort; info: ptr IsdPortWirelessInfo): IsdBool {.cdecl, dynlib: dllname, importc: "ISD_GetPortWirelessInfo".}

Retrieve wireless configuration information.

handle

Handle to the tracking device. This is a handle returned by isdOpenTracker or isdOpenAllTrackers.

port

Station or port to get info from, starting at 0 for the first port.

info

An IsdPortWirelessInfo structure containing the information.

result

isdTrue on success
isdFalse otherwise

Source

Module isense

Types

Consts

Procs