Beckman Institute University of Illinois at Urbana-Champaign

Syzygy Documentation: Supported Input Devices

Integrated Systems Lab
12/21/2006

Background
Device Drivers Contained in the Base Distribution

Background

Most input devices get their real-time data served up to other Syzygy programs through a single executable, DeviceServer, which can be configured to dynamically load various device driver modules at start up, as is detailed in the chapter on input devices. In this chapter, we mention the input devices having drivers built in to the core Syzygy software distribution. Please note that Syzygy's input framework is extensible: you can write and compile your own loadable device drivers.

Some devices have additional database parameters associated with them for configuration. These parameters are stored via a service name, corresponding to a parameter group (e.g. SZG_JOYSTICK for joystick devices), and should be associated with the computer on which DeviceServer runs.

Device Drivers Contained in the Base Distribution

The following are device drivers that interface with a single hardware device. IMPORTANT: In general, for examples which require parameters, substitute the name of the computer on which you will be running DeviceServer for "TRACKER_COMPUTER".

Joystick

Loadable module: arJoystickDriver Platform: Linux and Windows. Service: none

Run this on a host with a joystick attached. Linux hosts use the joystick device /dev/js0. Win32 hosts use the default DirectInput joystick. JoystickServer's data is in the format of 20 buttons and 20 axes, accessed through an arJoystickClient object.

Intel Wireless Gamepad

Loadable module: arIntelGamepadDriver Platform: Windows. Service: none

Run this on a Win32 host with an Intel Wireless Series Gamepad attached. GamepadIntelServer emulates a joystick, so it sends data to an arJoystickClient object just like "arJoystickServer". The two axes correspond to the D-pad's horizontal and vertical axes; holding the D-pad for a few moments increases the value. The 20 buttons are the following, in order: A, B, C, X, Y, Z, L (left trigger), R (right trigger); then the same buttons with the gamepad's shift key held down, namely D, E, F, U, V, W, G, H; then the HOME and END keys for the gamepad's start button, unshifted and shifted. Since Windows sees this gamepad as a DirectInput keyboard, a normal keyboard can also be used.

Ascension MotionStar Wireless 6DOF Tracker

Loadable module: arMotionstarDriver Platform: All platforms. Service: SZG_TRACKER

Run this on a host connected via Ethernet to the base station PC of an Ascension Motionstar motion tracker.

  TRACKER_COMPUTER SZG_TRACKER IPhost XXX.XXX.XXX.XXX
  XXX.XXX.XXX.XXX is the IP address of the Motionstar base station.

FaroArm

Loadable module: arFaroDriver Platform: All platforms. Service: none

Run this on a host connected via RS232 to a FaroArm mechanical motion tracker. It reports one transformation matrix which takes into account the probe dimensions, as well as two boolean-valued buttons.

Ascension SpacePad

Loadable module: arSpacepadDriver Platform: Windows 98. Service: SZG_TRACKER

Run this on a host connected to an Ascension Spacepad motion tracker.

  TRACKER_COMPUTER SZG_TRACKER transmitter_offset 0.972229/0.196838/0.123962/0/-0.0494389/0.695801/-0.716003/0/-0.227356/0.69043/0.686707/0/0.0876952/6.71073/-2.72462/1
  Matrix (a sequence of 16 floats, representing an 4x4 matrix, in OpenGL order)
  by which we post-multiply the the matrix returned by the device.
  This compensates for the possibility that the tracker antennae might be rotated
  so that a sensor position that should be the identity matrix is, in fact, not
  reported by the tracker that way.
  TRACKER_COMPUTER SZG_TRACKER sensor0_rot 0/0/1/-90
  A rotation matrix by which we pre-multiply the matrix returned by the
  device. This compensates for the possibility that we might place the
  sensors on the wand or glasses in something other than the default position.
  Here, the head sensor (sensor 0) has been rolled by 90 degrees (i.e. it's
  on the side of the glasses).
  TRACKER_COMPUTER SZG_TRACKER sensor1_rot 0/0/1/180
  Same as above, but for sensor 1 (the wand sensor).

Ascension Flock-of-Birds Tracker (cross-platform)

Loadable module: arFOBDriver Platform: Linux/Windows Service: SZG_FOB

Run this on a host connected to an Ascension Flock of Birds motion tracker. The Ascension Flock-of-Birds is a complicated device since it can be configured in many ways. The Syzygy driver supports those configurations that are attached via a single serial connection to the host computer. In this case, the serial connection goes to one flock unit (the master), which itself is connected to the other, slave, units. Each flock unit can have various items attached: a transmitter, a transmitter, and a bird, an extended range transmitter, or an extended range transmitter and a bird. Calibration-wise, the Flock-of-Birds is handled exactly as the Spacepad.

TRACKER_COMPUTER SZG_FOB config 0/3/0/0
This parameter gives a list of codes (one per unit in the Flock) that gives
how each is configured. The codes should be listed in order of their internal
Flock IDs. The example parameter shows a four unit flock, where the first,
third, and four units only have a bird attached while the second unit has
an extended range transmitter attached.
0: Bird attached
1: Transmitter attached
2: Transmitter and bird attached.
3: Extended range trasnmitter attached.
4: Extended range trasnmitter and bird attached.
TRACKER_COMPUTER SZG_FOB com_port 4
The serial port to which the Flock-of-Birds is attached. We only
use numerical IDs for the serial ports (not the OS-specific names). Serial
ports start at 1 in Windows and 0 in Linux (so /dev/xxxxx0 is Syzygy port 1).
TRACKER_COMPUTER SZG_FOB baud_rate 38400
The baud rate at which the Flock-of-Birds runs. This must be one of:
2400, 4800, 9600, 19200, 38400, 57600, 115200.
TRACKER_COMPUTER SZG_FOB hemisphere lower
Sets the hemisphere of the transmitter in which our sensors are operating.
This must be one of: front, rear, upper, lower, left, right.
TRACKER_COMPUTER SZG_FOB transmitter_offset -0.246783/0.016408/-0.968587/0.000000/0.160796/0.986350/-0.024259/0.000000/0.955287/-0.161785/-0.246135/0.000000/0.677432/7.824321/-1.981552/1.000000
Matrix (a sequence of 16 floats, representing an 4x4 matrix, in OpenGL order)
by which we post-multiply the the matrix returned by the device. This
compensates for the possibility that the tracker antennae might be rotated so
that a sensor position that should be the identity matrix is, in fact, not
reported by the tracker that way. Same as with the Spacepad.
TRACKER_COMPUTER SZG_TRACKER sensor0_rot 0/0/1/90
A rotation matrix by which we pre-multiply the matrix returned by the
device. This compensates for the possibility that we might place the sensors
on the wand or glasses in something other than the default position. Here, the
head sensor (sensor 0) has been rolled by 90 degrees (i.e. it's on the side of
the glasses). Same as with the Spacepad.
TRACKER_COMPUTER SZG_TRACKER sensor1_rot 0/0/1/180
Same as above, but for sensor 1 (the wand sensor).

Ascension Flock-of-Birds Tracker (using supplied dll)

Loadable module: arBirdWinDriver Platform: Windows. We are working on a cross-platform FOB driver. Service: none

Run this on a host connected to an Ascension Flock of Birds motion tracker.

Motion Analysis EVaRT Real-Time Optical Tracker

Loadable module: arEVaRTDriver Platform: Windows. Service: SZG_EVART

Run this to retrieve data from an EVaRT-based optical motion tracking system from Motion Analysis.

  TRACKER_COMPUTER SZG_EVART IPhost XXX.XXX.XXX.XXX
  XXX.XXX.XXX.XXX gives the IP address of the EVaRT system.

Intersense Trackers

Loadable module: arIntersenseDriver Platform: Windows/Linux. Service: SZG_INTERSENSE

Run this to retrieve data from an Intersense tracker. Due to the unified nature of the Intersense tracker drivers, this should work with any of the trackers in the Intersense line. The Intersense driver is very configurable. You will need to set parameters in the Syzygy database to use your tracker.

  TRACKER_COMPUTER SZG_INTERSENSE sleep 10/0
  Sleep for 10 msec between polling the tracker.
  TRACKER_COMPUTER SZG_INTERSENSE station0_1 0/0/0
  The 1st sensor associated with the 0th tracker has 0 buttons and 0 axes.
  Perhaps it is a head sensor.
  TRACKER_COMPUTER SZG_INTERSENSE station0_2 4/2/0
  The 2nd sensor associated with the 0th tracker has 4 buttons and 2 axes.
  TRACKER_COMPUTER SZG_INTERSENSE convert0_0 0/0/-1.0/2.0
  TRACKER_COMPUTER SZG_INTERSENSE convert0_1 1.0/0/0/1.0
  TRACKER_COMPUTER SZG_INTERSENSE convert0_2 0/-1.0/0/-2.0
  TRACKER_COMPUTER SZG_INTERSENSE convert0_3 0/0/0/1.0
  A 4x4 conversion matrix used to convert the Intersense coordinate system
  to the Syzygy coordinate system. The 4th column (the translation) will
  vary from installation to installation, but the first should be generally
  applicable. Specifically,
  ( 0,  0, -1 )
  ( 1,  0,  0 )
  ( 0, -1,  0 )
  Converts from Intersense coordinates to Syzygy coordinates.

PLEASE NOTE: You'll need to install the shared library (from Intersense) as appropriate for your system to have this driver work.

vrpn Driver

Loadable module: arVRPNDriver Platform: Linux. Service: SZG_VRPN.

This creates a bridge between Syzygy programs and input devices as managed by a vrpn server.

  TRACKER_COMPUTER SZG_VRPN name
  Here "name" designates the VRPN device to which one will connect.

Motion Capture File

Loadable module: arFileSource Platform: All platforms. Service: none

This driver provides playback of previously-captured input data. It does so at the same approximate rate as the file's internal time stamps. The file read is "inputdump.xml" as located by searching the SZG_DATA/path. An input event stream can be recorded by sending a DeviceServer instance a "dumpon" message. The logging is ended by sending a "dumpoff" message. The event stream will be saved in a file "inputdump.xml" in the SZG_DATA/path.

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