added ref_position_offset to ssr_client; added single ref_orientation shift and continous ref_position_offset shift to lwfs second instance;

Author: feliximmohr

opti_ssr/bridges.py

@@ -175,6 +175,9 @@ def __init__(self, optitrack, ssr, ssr_virt_repr, N, R, rb_id=0, *args, **kwargs
 
         # second ssr instance feat. virtual sources as reproduction setup
         self._ssr_virt_repr = ssr_virt_repr
+        # reference orientation of this instance has to be changed once
+        # in order to compensate for the SSRs standard reference orientation shift
+        self._ssr_virt_repr.set_ref_orientation(0)
 
         # self._create_virtual_sources()
 
@@ -212,4 +215,5 @@ def _send(self, center):
         # sending position data to SSR; number of source id depends on number of existing sources
         for src_id in range(1, self._N+1):
             self._ssr.set_src_position(src_id, src_pos[src_id-1, 0], src_pos[src_id-1, 1])
-            self._ssr_virt_repr.set_ref_position(center[0], center[1])
+        self._ssr.set_ref_offset_position(center[0], center[1])
+        self._ssr_virt_repr.set_ref_position(center[0], center[1])

opti_ssr/ssr_client.py

@@ -46,6 +46,13 @@ def set_ref_position(self, x, y):
         ref_position = '<request><reference><position x="{0}" y="{1}"/></reference></request>'.format(x, y)+self._end_message
         self._s.send(ref_position.encode())
 
+    def set_ref_offset_position(self, x, y):
+        """
+        Set reference offset position in meters.
+        """
+        ref_offset_position = '<request><reference_offset><position x="{0}" y="{1}"/></reference_offset></request>'.format(x, y)+self._end_message
+        self._s.send(ref_offset_position.encode())
+
     def set_ref_orientation(self, alpha):
         """
         Set reference orientation in degrees (zero in positive x-direction).