/* An actor that begins tracking a "trackable" object in opti-track.
 * returns x,y,z coordinates of markers as well as orientations (yaw-pitch-roll)
 * Uses the VRPN library.

 Copyright (c) 2010-2013 The Regents of the University of California.
 All rights reserved.
 Permission is hereby granted, without written agreement and without
 license or royalty fees, to use, copy, modify, and distribute this
 software and its documentation for any purpose, provided that the above
 copyright notice and the following two paragraphs appear in all copies
 of this software.

 IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY
 FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES
 ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF
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 THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE
 PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND THE UNIVERSITY OF
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 */

package ptolemy.actor.lib.reactable;




import ptolemy.actor.lib.Transformer;
import ptolemy.data.ObjectToken;
import ptolemy.data.type.BaseType;
import ptolemy.kernel.CompositeEntity;
import ptolemy.kernel.util.IllegalActionException;
import ptolemy.kernel.util.NameDuplicationException;

//import vrpn.*;



///////////////////////////////////////////////////////////////////
//// Tracker

/**
 * Begin Tracking a Trackable object using VRPN.
 * @author Dorsa Sadigh, Steve Bako
 * @version $Id: Tracker.java 67784 2013-10-26 16:53:27Z cxh $
 * @since Ptolemy II 10.0
 * @Pt.ProposedRating Red (cxh)
 * @Pt.AcceptedRating Red (cxh)
 */
public class Tracker extends Transformer {
    /** Construct an actor with the given container and name.
     *  In addition to invoking the base class constructors, construct
     *  the <i>init</i> and <i>step</i> parameter and the <i>step</i>
     *  port. Initialize <i>init</i>
     *  to IntToken with value 0, and <i>step</i> to IntToken with value 1.
     *  @param container The container.
     *  @param name The name of this actor.
     *  @exception IllegalActionException If the actor cannot be contained
     *   by the proposed container.
     *  @exception NameDuplicationException If the container already has an
     *   actor with this name.
     */
    public Tracker(CompositeEntity container, String name)
            throws IllegalActionException, NameDuplicationException {
        super(container, name);
        //input.setTypeEquals(BaseType.OBJECT);
        output.setTypeEquals(BaseType.OBJECT);

    }

    ///////////////////////////////////////////////////////////////////
    ////                         public methods                    ////
    /** Output an OpenCV Object.
     *  @exception IllegalActionException If thrown while writing to the port.
     */
    public void fire() throws IllegalActionException {
        super.fire();
        try {
       /* TrackerRemote tracker = new TrackerRemote("Tracker", null, null, null, null);
        tracker.run();
        boolean connectionCheck = tracker.isConnected();
        boolean doingOkay = tracker.doingOkay();
        //output.send(0, new ObjectToken(connectionCheck));
        output.send(0, new ObjectToken(doingOkay)); */
        } catch(Exception e) {
            System.out.print("Error: exception " + e.getMessage());
            return;
        }

       // double[] positions = tracker.pos;
        //double x = positions[0];
        //double y = positions[1];
        //double z = positions[2];
    }

}