REFAC: Update OpenHaptics build support

48b4758d · Aaron Bray · 19a2a5eb · 48b4758d · 48b4758d · 48b4758d
Commit 48b4758d authored Oct 18, 2019 by Aaron Bray
20 changed files
--- a/CMake/External/CMakeLists.txt
+++ b/CMake/External/CMakeLists.txt
@@ -21,7 +21,7 @@ if(MSVC)
    set(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} /MP${iMSTK_NUM_BUILD_PROCESSES}" CACHE STRING INTERNAL FORCE)
  endif()
 endif()
-message(STATUS "CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}" )
+
 mark_as_superbuild(
  VARS
    CMAKE_BUILD_TYPE
@@ -85,7 +85,7 @@ ExternalProject_Add( ${PROJECT_NAME}
    -DBUILD_EXAMPLES:BOOL=${BUILD_EXAMPLES}
    -DBUILD_TESTING:BOOL=${BUILD_TESTING}
    -D${PROJECT_NAME}_SUPERBUILD:BOOL=OFF
-    -D${PROJECT_NAME}_USE_OMNI:BOOL=${${PROJECT_NAME}_USE_OMNI}
+    -D${PROJECT_NAME}_USE_OpenHaptics:BOOL=${${PROJECT_NAME}_USE_OpenHaptics}
    -D${PROJECT_NAME}_USE_Vulkan:BOOL=${${PROJECT_NAME}_USE_Vulkan}
    -D${PROJECT_NAME}_ENABLE_AUDIO:BOOL=${${PROJECT_NAME}_ENABLE_AUDIO}
    -D${PROJECT_NAME}_ENABLE_VR:BOOL=${${PROJECT_NAME}_ENABLE_VR}

--- a/CMake/External/External_FTD2XX.cmake
+++ b/CMake/External/External_FTD2XX.cmake
@@ -14,7 +14,7 @@ set(FTD2XX_EXTRACT_DIR ${FTD2XX_PREFIX}/ftd2xx-2.12.18)
 # Set install commands
 #-----------------------------------------------------------------------------
 set(ftd2xx_libdir "i386")
-if(${CMAKE_GENERATOR} MATCHES "Win64")
+if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
  set(ftd2xx_libdir "amd64")
 endif()

@@ -28,6 +28,11 @@ set(copy_ftd2xx_lib_command
  ${FTD2XX_EXTRACT_DIR}/${ftd2xx_libdir}/ftd2xx.lib
  ${CMAKE_INSTALL_PREFIX}/lib/ftd2xx.lib
  )
+set(copy_ftd2xx_dll_command
+  ${CMAKE_COMMAND} -E copy
+  ${FTD2XX_EXTRACT_DIR}/${ftd2xx_libdir}/ftd2xx64.dll
+  ${CMAKE_INSTALL_PREFIX}/bin/ftd2xx64.dll
+  )

 #-----------------------------------------------------------------------------
 # Add External Project
@@ -45,6 +50,7 @@ imstk_add_external_project( FTD2XX
  INSTALL_COMMAND
    COMMAND ${copy_ftd2xx_headers_command}
    COMMAND ${copy_ftd2xx_lib_command}
+    COMMAND ${copy_ftd2xx_dll_command}
  RELATIVE_INCLUDE_PATH "/"
  #VERBOSE
  )
--- a/CMake/External/External_Libusb.cmake
+++ b/CMake/External/External_Libusb.cmake
@@ -14,7 +14,7 @@ set(Libusb_EXTRACT_DIR ${Libusb_PREFIX}/libusb-1.0.20)
 # Set install commands
 #-----------------------------------------------------------------------------
 set(libusb_libdir "MS32")
-if(${CMAKE_GENERATOR} MATCHES "Win64")
+if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
  set(libusb_libdir "MS64")
 endif()

@@ -25,9 +25,14 @@ set(copy_libusb_headers_command
  )
 set(copy_libusb_lib_command
  ${CMAKE_COMMAND} -E copy
-  ${Libusb_EXTRACT_DIR}/${libusb_libdir}/static/libusb-1.0.lib
+  ${Libusb_EXTRACT_DIR}/${libusb_libdir}/dll/libusb-1.0.lib
  ${CMAKE_INSTALL_PREFIX}/lib/libusb-1.0.lib
  )
+set(copy_libusb_dll_command
+  ${CMAKE_COMMAND} -E copy
+  ${Libusb_EXTRACT_DIR}/${libusb_libdir}/dll/libusb-1.0.dll
+  ${CMAKE_INSTALL_PREFIX}/bin/
+  )

 #-----------------------------------------------------------------------------
 # Add External Project
@@ -45,6 +50,7 @@ imstk_add_external_project( Libusb
  INSTALL_COMMAND
    COMMAND ${copy_libusb_headers_command}
    COMMAND ${copy_libusb_lib_command}
+    COMMAND ${copy_libusb_dll_command}
  RELATIVE_INCLUDE_PATH "include/libusb-1.0"
  #VERBOSE
  )
--- a/CMake/External/External_OpenHaptics.cmake
+++ b/CMake/External/External_OpenHaptics.cmake
+if(NOT WIN32)
+  message(WARNING "System not supported. Currently, only Windows is supported for External_OpenHaptics.cmake.")
+  return()
+endif()
+
+#-----------------------------------------------------------------------------
+# Set install commands
+#-----------------------------------------------------------------------------
+if(WIN32)
+  set(open_haptics_libdir "Win32")
+  if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
+    set(open_haptics_libdir "x64")
+  endif()
+  set(lib_ext "lib")
+  set(bin_ext "dll")
+endif()
+
+# Header Directories
+set(open_haptics_headers_dest ${CMAKE_INSTALL_PREFIX}/include/OpenHaptics)
+set(open_haptics_headers_dir ${OPENHAPTICS_ROOT_DIR}/include/)
+set(open_haptics_util_headers_dir ${OPENHAPTICS_ROOT_DIR}/utilities/include/)
+# Library Directories
+set(open_haptics_libs_dest ${CMAKE_INSTALL_PREFIX}/lib/)
+set(open_haptics_libs_dir ${OPENHAPTICS_ROOT_DIR}/lib/${open_haptics_libdir}/Release)
+set(open_haptics_util_libs_dir ${OPENHAPTICS_ROOT_DIR}/utilities/lib/${open_haptics_libdir}/Release)
+# Binary Directory
+set(open_haptics_bin_dest ${CMAKE_INSTALL_PREFIX}/bin/)
+
+#-----------------------------------------------------------------------------
+# Add External Project
+#-----------------------------------------------------------------------------
+include(imstkAddExternalProject)
+imstk_add_external_project( OpenHaptics
+  SOURCE_DIR ${OPENHAPTICS_ROOT_DIR}
+  UPDATE_COMMAND ${SKIP_STEP_COMMAND}
+  CONFIGURE_COMMAND ${SKIP_STEP_COMMAND}
+  BUILD_COMMAND ${SKIP_STEP_COMMAND}
+  INSTALL_COMMAND
+    COMMAND ${CMAKE_COMMAND} -E copy_directory ${open_haptics_headers_dir} ${open_haptics_headers_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy_directory ${open_haptics_util_headers_dir} ${open_haptics_headers_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy ${open_haptics_libs_dir}/hd.${lib_ext} ${open_haptics_libs_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy ${open_haptics_libs_dir}/hd.${bin_ext} ${open_haptics_bin_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy ${open_haptics_libs_dir}/hl.${lib_ext} ${open_haptics_libs_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy ${open_haptics_libs_dir}/hl.${bin_ext} ${open_haptics_bin_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy ${open_haptics_util_libs_dir}/hdu.${lib_ext} ${open_haptics_libs_dest}
+    COMMAND ${CMAKE_COMMAND} -E copy ${open_haptics_util_libs_dir}/hlu.${lib_ext} ${open_haptics_libs_dest}
+  RELATIVE_INCLUDE_PATH "/"
+  #VERBOSE
+  )
--- a/CMake/External/External_VRPN.cmake
+++ b/CMake/External/External_VRPN.cmake
@@ -10,8 +10,8 @@ endif(WIN32)
 #-----------------------------------------------------------------------------
 # Phantom Omni
 #-----------------------------------------------------------------------------
-option(${PROJECT_NAME}_USE_OMNI "Build OpenHaptics to support the Phantom Omni in VRPN." OFF)
-if(${${PROJECT_NAME}_USE_OMNI})
+option(${PROJECT_NAME}_USE_OpenHaptics "Build OpenHaptics to support the Phantom Omni in VRPN." OFF)
+if(${${PROJECT_NAME}_USE_OpenHaptics})
  message(STATUS "Superbuild -   VRPN => ENABLING Phantom Omni support")
  if(NOT DEFINED OPENHAPTICS_ROOT_DIR OR NOT EXISTS ${OPENHAPTICS_ROOT_DIR})
    set(OPENHAPTICS_ROOT_DIR "$ENV{OH_SDK_BASE}" CACHE PATH "Path to OpenHaptics install directory." FORCE)
@@ -32,7 +32,7 @@ endif()
 include(imstkAddExternalProject)
 imstk_add_external_project( VRPN
  GIT_REPOSITORY https://gitlab.kitware.com/iMSTK/vrpn.git
-  GIT_TAG d7b36581721e0b13a9699eac6f0ea698f0a1c830
+  GIT_TAG 3c5426a28a70c8fcaf595f9e810ad548fbfc6650
  # This is the improve-openhaptics-rebase branch
  CMAKE_CACHE_ARGS
    -DBUILD_TESTING:BOOL=OFF
@@ -46,9 +46,9 @@ imstk_add_external_project( VRPN
    -DVRPN_USE_LIBUSB_1_0:BOOL=ON
    -DVRPN_USE_HID:BOOL=ON
    -DVRPN_USE_LIBNIFALCON:BOOL=ON
-    -DVRPN_BUILD_SERVERS:BOOL=${${PROJECT_NAME}_USE_OMNI}
-    -DVRPN_USE_PHANTOM_SERVER:BOOL=${${PROJECT_NAME}_USE_OMNI}
-    -DVRPN_USE_HDAPI:BOOL=${${PROJECT_NAME}_USE_OMNI}
+    -DVRPN_BUILD_SERVERS:BOOL=${${PROJECT_NAME}_USE_OpenHaptics}
+    -DVRPN_USE_PHANTOM_SERVER:BOOL=${${PROJECT_NAME}_USE_OpenHaptics}
+    -DVRPN_USE_HDAPI:BOOL=${${PROJECT_NAME}_USE_OpenHaptics}
    -DOPENHAPTICS_ROOT_DIR:PATH=${OPENHAPTICS_ROOT_DIR}
  DEPENDENCIES ${VRPN_DEPENDENCIES}
  RELATIVE_INCLUDE_PATH ""

--- a/CMake/FindOpenHapticsSDK.cmake
+++ b/CMake/FindOpenHapticsSDK.cmake
+include(imstkFind)
+#-----------------------------------------------------------------------------
+# Find All Headers and Libraries for OpenHaptics SDK
+#-----------------------------------------------------------------------------
+
+imstk_find_header(OpenHapticsSDK HD/hd.h OpenHaptics)
+imstk_find_libary(OpenHapticsSDK hd " ")#Use same library for debug
+imstk_find_libary(OpenHapticsSDK hl " ")#Use same library for debug
+imstk_find_libary(OpenHapticsSDK hdu " ")#Use same library for debug
+imstk_find_libary(OpenHapticsSDK hlu " ")#Use same library for debug
+
+imstk_find_package(OpenHapticsSDK)
+
+message(STATUS "OpenHapticsSDK include : ${OPENHAPTICSSDK_INCLUDE_DIRS}")
+message(STATUS "OpenHapticsSDK libraries : ${OPENHAPTICSSDK_LIBRARIES}")
--- a/CMake/Utilities/imstkFind.cmake
+++ b/CMake/Utilities/imstkFind.cmake
@@ -16,22 +16,21 @@ macro(imstk_find_header package header)

  unset(_SEARCH_DIR)
  if(${package}_ROOT_DIR)
-    set(_SEARCH_DIR ${${package}_ROOT_DIR})
+    set(_SEARCH_DIR ${${package}_ROOT_DIR}/${sub_dir})
  else()
-    set(_SEARCH_DIR ${CMAKE_INSTALL_PREFIX})
+    set(_SEARCH_DIR ${CMAKE_INSTALL_PREFIX}/include/${sub_dir})
  endif()
-  #message(STATUS "Using search dir : ${_SEARCH_DIR}/include/${sub_dir}")
+  #message(STATUS "Searching for : ${_SEARCH_DIR}/${header}")

  find_path(${package}_INCLUDE_DIR
  NAMES
    ${header}
  PATHS
-    ${_SEARCH_DIR}/include/${sub_dir}
+    ${_SEARCH_DIR}
  NO_DEFAULT_PATH
    )
-  #message(STATUS "${package}_INCLUDE_DIR : ${${package}_INCLUDE_DIR}")
+  #message(STATUS "Found it : ${${package}_INCLUDE_DIR}/${header}")

-  unset(${PACKAGE}_INCLUDE_DIRS)
  if (EXISTS ${${package}_INCLUDE_DIR}/${header})
    string(TOUPPER ${package} PACKAGE)
    list(APPEND ${PACKAGE}_INCLUDE_DIRS ${${package}_INCLUDE_DIR})
@@ -39,7 +38,7 @@ macro(imstk_find_header package header)
  else()
    message(FATAL_ERROR "Could not find ${${package}_INCLUDE_DIR}/${header}")
  endif()
-  
+  #message(STATUS "${package}_INCLUDE_DIRS : ${${package}_INCLUDE_DIRS}")
  unset(${package}_INCLUDE_DIR CACHE)
 endmacro()

@@ -62,9 +61,12 @@ macro(imstk_find_libary package library)
  
  unset(_SEARCH_DIR)
  if(${package}_ROOT_DIR)
-    set(_SEARCH_DIR ${${package}_ROOT_DIR})
+    if(${package}_LIB_DIR)
+      set(_SEARCH_DIR ${${package}_ROOT_DIR}/${${package}_LIB_DIR})
+    endif()
+    #message(STATUS "Looking for ${package} libs in ${_SEARCH_DIR}")
  else()
-    set(_SEARCH_DIR ${CMAKE_INSTALL_PREFIX})
+    set(_SEARCH_DIR ${CMAKE_INSTALL_PREFIX}/lib)
  endif()
  
  
@@ -73,7 +75,9 @@ macro(imstk_find_libary package library)
      NAMES
        ${library}
        lib${library}
-      PATHS ${_SEARCH_DIR}/lib
+      PATHS
+        ${_SEARCH_DIR}
+        ${_SEARCH_DIR}/Release
      NO_DEFAULT_PATH
  )
  if (EXISTS ${${PACKAGE}_LIBRARY_${library}-RELEASE})
@@ -88,7 +92,9 @@ macro(imstk_find_libary package library)
      NAMES
        ${library}${debug_postfix}
        lib${library}${debug_postfix}
-      PATHS ${_SEARCH_DIR}/lib
+      PATHS
+        ${_SEARCH_DIR}
+        ${_SEARCH_DIR}/Debug
      NO_DEFAULT_PATH
  )
  if (EXISTS ${${PACKAGE}_LIBRARY_${library}-DEBUG})

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -107,6 +107,9 @@ if(${PROJECT_NAME}_SUPERBUILD)
  imstk_define_dependency(tbb)
  imstk_define_dependency(VegaFEM)
  imstk_define_dependency(VTK)
+  if(${PROJECT_NAME}_USE_OpenHaptics)
+    imstk_define_dependency(OpenHaptics)
+  endif()
  imstk_define_dependency(VRPN)

  if(WIN32)
@@ -219,13 +222,11 @@ find_package( VegaFEM REQUIRED CONFIG )

 # VRPN
 find_package( VRPN REQUIRED )
-if(${PROJECT_NAME}_USE_OMNI)
-  find_package( OMNI REQUIRED )
+if(${PROJECT_NAME}_USE_OpenHaptics)
+  find_package( OpenHapticsSDK REQUIRED )
  add_definitions( -DiMSTK_USE_OPENHAPTICS )
-  add_definitions( -DVRPN_USE_PHANTOM_SERVER )
 else()
  remove_definitions( -DiMSTK_USE_OPENHAPTICS )
-  remove_definitions( -DVRPN_USE_PHANTOM_SERVER )
 endif()

 # VTK

--- a/Docs/source/documentation.rst
+++ b/Docs/source/documentation.rst
@@ -102,7 +102,7 @@ device, follow the steps below:

 2. Reboot your system.

-3. Configure your CMake project with the variable :code:`iMSTK_USE_OMNI` set to ON.
+3. Configure your CMake project with the variable :code:`iMSTK_USE_OpenHaptics` set to ON.

 4. After configuration, the CMake variable OPENHAPTICS_ROOT_DIR should
   be set to the OpenHaptics path on your system.

--- a/Examples/BoneDrilling/CMakeLists.txt
+++ b/Examples/BoneDrilling/CMakeLists.txt
@@ -16,7 +16,7 @@
 #
 ###########################################################################

-if(iMSTK_USE_OMNI)
+if(iMSTK_USE_OpenHaptics)

  project(Example-BoneDrilling)

@@ -36,12 +36,14 @@ if(iMSTK_USE_OMNI)
  if(UNIX)
    target_link_libraries(${PROJECT_NAME}
    SimulationManager
-    apiUtilities)     
+    apiUtilities
+    OpenHapticsSDK)
  else()
    target_link_libraries(${PROJECT_NAME}
    SimulationManager
    apiUtilities
-    SFML) 
+    SFML
+    OpenHapticsSDK)
  endif()
  


--- a/Examples/CameraController/CMakeLists.txt
+++ b/Examples/CameraController/CMakeLists.txt
@@ -15,7 +15,7 @@
 #  limitations under the License.
 #
 ###########################################################################
-if(iMSTK_USE_OMNI)
+if(iMSTK_USE_OpenHaptics)

    project(Example-CameraController)


--- a/Examples/ObjectController/CMakeLists.txt
+++ b/Examples/ObjectController/CMakeLists.txt
@@ -15,7 +15,7 @@
 #  limitations under the License.
 #
 ###########################################################################
-if(iMSTK_USE_OMNI)
+if(iMSTK_USE_OpenHaptics)

  project(Example-ObjectController)


--- a/Examples/VirtualCoupling/CMakeLists.txt
+++ b/Examples/VirtualCoupling/CMakeLists.txt
@@ -15,7 +15,7 @@
 #  limitations under the License.
 #
 ###########################################################################
-if(iMSTK_USE_OMNI)
+if(iMSTK_USE_OpenHaptics)

  project(Example-VirtualCoupling)


--- a/README.md
+++ b/README.md
@@ -91,7 +91,7 @@ To support the [Geomagic Touch (formerly Sensable Phantom Omni)](http://www.geom
       - for [Windows](https://3dsystems.teamplatform.com/pages/102774?t=r4nk8zvqwa91)
       - for [Linux](https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc)
  2. Reboot your system.
-  3. Configure your CMake project with the variable `iMSTK_USE_OMNI` set to `ON`.
+  3. Configure your CMake project with the variable `iMSTK_USE_OpenHaptics` set to `ON`.
  4. After configuration, the CMake variable `OPENHAPTICS_ROOT_DIR` should be set to the OpenHaptics path on your system.

 * ##### Vulkan Renderer

--- a/Source/Devices/CMakeLists.txt
+++ b/Source/Devices/CMakeLists.txt
@@ -6,6 +6,7 @@ imstk_add_library( Devices
  DEPENDS
    Core
    VRPN
+    OpenHapticsSDK
  )

 #-----------------------------------------------------------------------------

--- a/Source/Devices/imstkHDAPIDeviceClient.h
+++ b/Source/Devices/imstkHDAPIDeviceClient.h
@@ -87,4 +87,4 @@ private:
 }

 #endif // ifndef imstkHDAPIDeviceClient_h
-#endif // ifdef iMSTK_USE_OMNI
+#endif // ifdef iMSTK_USE_OpenHaptics
--- a/Source/Devices/imstkHDAPIDeviceServer.cpp
+++ b/Source/Devices/imstkHDAPIDeviceServer.cpp
@@ -65,4 +65,4 @@ HDAPIDeviceServer::cleanUpModule()
 }
 } // imstk

-#endif // ifdef iMSTK_USE_OMNI
+#endif // ifdef iMSTK_USE_OpenHaptics
--- a/Source/Devices/imstkHDAPIDeviceServer.h
+++ b/Source/Devices/imstkHDAPIDeviceServer.h
@@ -82,4 +82,4 @@ private:
 } // imstk

 #endif // ifndef imstkHDAPIDeviceServer_h
-#endif // ifdef iMSTK_USE_OMNI
+#endif // ifdef iMSTK_USE_OpenHaptics
--- a/Source/Devices/imstkVRPNDeviceServer.cpp
+++ b/Source/Devices/imstkVRPNDeviceServer.cpp
@@ -25,6 +25,9 @@
 #include "vrpn_Tracker_NovintFalcon.h"
 #include "vrpn_Tracker_OSVRHackerDevKit.h"
 #include "vrpn_Streaming_Arduino.h"
+#ifdef VRPN_USE_PHANTOM_SERVER
+  #include "vrpn_Phantom.h"
+#endif

 #include "g3log/g3log.hpp"


--- a/iMSTKConfig.cmake.in
+++ b/iMSTKConfig.cmake.in
@@ -9,7 +9,7 @@ set(iMSTK_SOURCE_DIR "@CMAKE_CURRENT_SOURCE_DIR@")
 list(INSERT CMAKE_MODULE_PATH 0 "${iMSTK_SOURCE_DIR}/CMake")

 # iMSTK settings
-set(iMSTK_USE_OMNI @iMSTK_USE_OMNI@)
+set(iMSTK_USE_OpenHaptics @iMSTK_USE_OpenHaptics@)
 set(iMSTK_USE_Vulkan @iMSTK_USE_Vulkan@)
 set(VegaFEM_DIR @VegaFEM_DIR@)
 set(VTK_DIR @VTK_DIR@)
@@ -55,7 +55,7 @@ include( ${VTK_USE_FILE} )
 find_package( VRPN REQUIRED )
 include_directories( ${VRPN_INCLUDE_DIRS} )
 add_definitions( -DVRPN_USE_LIBNIFALCON )
-if(iMSTK_USE_OMNI)
+if(iMSTK_USE_OpenHaptics)
  add_definitions( -DiMSTK_USE_OPENHAPTICS )
  add_definitions( -DVRPN_USE_PHANTOM_SERVER )
 else()