diff --git a/Examples/BoneShaving/BoneShavingExample.cpp b/Examples/BoneShaving/BoneShavingExample.cpp
index 94ad4f0410a72dfb728627b55a142c3471d18821..c17e5050fe3f8857bdbd1e7910f316c8b4e85c43 100644
--- a/Examples/BoneShaving/BoneShavingExample.cpp
+++ b/Examples/BoneShaving/BoneShavingExample.cpp
@@ -47,9 +47,6 @@
#include "imstkCollisionGraph.h"
#include "imstkObjectInteractionFactory.h"
-// global variables
-const std::string phantomOmni1Name = "Default Device";
-
using namespace imstk;
///
@@ -67,7 +64,8 @@ main()
// Device Server
imstkNew<HapticDeviceManager> server;
- std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(phantomOmni1Name);
+ const std::string deviceName = "";
+ std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(deviceName);
// Create bone scene object
// Load the mesh
diff --git a/Examples/CameraController/CameraControllerExample.cpp b/Examples/CameraController/CameraControllerExample.cpp
index 5cb6ef3b6424a821f5c229d0ebc9bd9ecc889444..d8ca513925e68680dbdb1fb088db621cdbad6c60 100644
--- a/Examples/CameraController/CameraControllerExample.cpp
+++ b/Examples/CameraController/CameraControllerExample.cpp
@@ -36,8 +36,6 @@
#include "imstkSurfaceMesh.h"
#include "imstkVTKViewer.h"
-const std::string phantomOmni1Name = "Default Device";
-
using namespace imstk;
///
@@ -55,7 +53,8 @@ main()
// Device Server
imstkNew<HapticDeviceManager> server;
- std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(phantomOmni1Name);
+ const std::string deviceName = "";
+ std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(deviceName);
// Load Mesh
auto mesh = MeshIO::read<SurfaceMesh>(iMSTK_DATA_ROOT "/asianDragon/asianDragon.obj");
diff --git a/Examples/ObjectController/ObjectControllerExample.cpp b/Examples/ObjectController/ObjectControllerExample.cpp
index 5d17119b8ac7785fe616a4625fdd22139ba7fdd0..188dc66bfb4f34870eba15f533f633c983f73e16 100644
--- a/Examples/ObjectController/ObjectControllerExample.cpp
+++ b/Examples/ObjectController/ObjectControllerExample.cpp
@@ -34,9 +34,6 @@
#include "imstkSceneObjectController.h"
#include "imstkVTKViewer.h"
-// global variables
-const std::string phantomOmni1Name = "Default Device";
-
using namespace imstk;
///
@@ -54,7 +51,8 @@ main()
// Device Server
imstkNew<HapticDeviceManager> server;
- std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(phantomOmni1Name);
+ const std::string deviceName = "";
+ std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(deviceName);
// Object
imstkNew<Cube> geom(Vec3d(0.0, 1.0, 0.0), 2.0);
diff --git a/Examples/RigidBodyVirtualCoupling/RigidBodyVirtualCouplingExample.cpp b/Examples/RigidBodyVirtualCoupling/RigidBodyVirtualCouplingExample.cpp
index ed6df35219da121c25c5dd32e838fb06fb7114e3..28b1d41c894d2313508d819c1f53e0dcb87ab812 100644
--- a/Examples/RigidBodyVirtualCoupling/RigidBodyVirtualCouplingExample.cpp
+++ b/Examples/RigidBodyVirtualCoupling/RigidBodyVirtualCouplingExample.cpp
@@ -43,9 +43,6 @@
#include "imstkVisualModel.h"
#include "imstkVTKViewer.h"
-// global variables
-const std::string phantomOmni1Name = "Default Device";
-
using namespace imstk;
std::shared_ptr<imstk::RigidObject>
@@ -201,7 +198,8 @@ main()
// Device Server
imstkNew<HapticDeviceManager> server;
- std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(phantomOmni1Name);
+ const std::string deviceName = "";
+ std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(deviceName);
// Create a virtual coupling object
imstkNew<Sphere> visualGeom(Vec3d(0.0, 0.0, 0.0), 5.0);
diff --git a/Examples/VirtualCoupling/VirtualCouplingExample.cpp b/Examples/VirtualCoupling/VirtualCouplingExample.cpp
index 7d2253acb84c707cefc6c5211abb8503e9782786..179dc73ca9cb035d05e772249f21ecef5063a0af 100644
--- a/Examples/VirtualCoupling/VirtualCouplingExample.cpp
+++ b/Examples/VirtualCoupling/VirtualCouplingExample.cpp
@@ -41,9 +41,6 @@
#include "imstkVisualModel.h"
#include "imstkVTKViewer.h"
-// global variables
-const std::string phantomOmni1Name = "Default Device";
-
using namespace imstk;
///
@@ -72,7 +69,8 @@ main()
// Device Server
imstkNew<HapticDeviceManager> server;
- std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(phantomOmni1Name);
+ const std::string deviceName = "";
+ std::shared_ptr<HapticDeviceClient> client = server->makeDeviceClient(deviceName);
// Create a virtual coupling object
imstkNew<Sphere> visualGeom(Vec3d(0.0, 0.0, 0.0), 20.0);
diff --git a/Source/Devices/imstkHapticDeviceClient.cpp b/Source/Devices/imstkHapticDeviceClient.cpp
index beac639ef00c9643ed2429d57fbe4669256eb366..2f1ffa456135c26566883237c15a4c2db762b69d 100644
--- a/Source/Devices/imstkHapticDeviceClient.cpp
+++ b/Source/Devices/imstkHapticDeviceClient.cpp
@@ -40,18 +40,36 @@ HapticDeviceClient::initialize()
while (HD_DEVICE_ERROR(errorFlush = hdGetError())) {}
// Initialize the device
- m_handle = hdInitDevice(this->getDeviceName().c_str());
+ if (m_deviceName == "")
+ {
+ m_handle = hdInitDevice(HD_DEFAULT_DEVICE);
+ }
+ else
+ {
+ m_handle = hdInitDevice(getDeviceName().c_str());
+ }
// If failed
HDErrorInfo error;
- LOG_IF(FATAL, HD_DEVICE_ERROR(error = hdGetError())) << "Failed to initialize Phantom Omni " << this->getDeviceName();
+ LOG_IF(FATAL, HD_DEVICE_ERROR(error = hdGetError())) << "Failed to initialize Phantom Omni \"" << this->getDeviceName() + "\"";
+
+ // If initialized as default, set the name
+ if (m_deviceName == "")
+ {
+ // Worth noting that in this case the name will not match the actual device name and is
+ // now only useful for scene level identification, OpenHaptics provides no mechanisms
+ // for querying device names
+ hdMakeCurrentDevice(m_handle);
+ HDstring str = hdGetString(HD_DEVICE_SERIAL_NUMBER);
+ m_deviceName = "Device_" + std::string(str);
+ }
// Enable forces
hdEnable(HD_FORCE_OUTPUT);
hdEnable(HD_FORCE_RAMPING);
// Success
- LOG(INFO) << this->getDeviceName() << " successfully initialized.";
+ LOG(INFO) << "\"" << this->getDeviceName() << "\" successfully initialized.";
}
void
diff --git a/Source/Devices/imstkHapticDeviceClient.h b/Source/Devices/imstkHapticDeviceClient.h
index ed9b11ff57fcc49d9d4e8e6c58eb671e5c702056..35bc72f251ac7c10ee14d403467019f832706329 100644
--- a/Source/Devices/imstkHapticDeviceClient.h
+++ b/Source/Devices/imstkHapticDeviceClient.h
@@ -52,8 +52,9 @@ public:
protected:
///
/// \brief Constructor/Destructor, only the DeviceManager can construct
+ /// \param Device name or use empty string for default device
///
- HapticDeviceClient(const std::string& name) : DeviceClient(name, "localhost"), m_handle(HD_INVALID_HANDLE) { }
+ HapticDeviceClient(std::string name = "") : DeviceClient(name, "localhost"), m_handle(HD_INVALID_HANDLE) { }
///
/// \brief Initialize the phantom omni device
diff --git a/Source/Devices/imstkHapticDeviceManager.cpp b/Source/Devices/imstkHapticDeviceManager.cpp
index 08a45a5ea512b1b0f6c8711976164c3e76513d36..fab91e0b94848c8d4b887816ec34cdcf1257e60c 100644
--- a/Source/Devices/imstkHapticDeviceManager.cpp
+++ b/Source/Devices/imstkHapticDeviceManager.cpp
@@ -29,7 +29,7 @@
namespace imstk
{
std::shared_ptr<HapticDeviceClient>
-HapticDeviceManager::makeDeviceClient(const std::string& name)
+HapticDeviceManager::makeDeviceClient(std::string name)
{
auto deviceClient = std::shared_ptr<HapticDeviceClient>(new HapticDeviceClient(name));
m_deviceClients.push_back(deviceClient);
diff --git a/Source/Devices/imstkHapticDeviceManager.h b/Source/Devices/imstkHapticDeviceManager.h
index bc6dda73210389f03eebf80a335ab3059eca4a01..26eeb9c92d5e02a4a6bcb57f8ab31e2489aff20c 100644
--- a/Source/Devices/imstkHapticDeviceManager.h
+++ b/Source/Devices/imstkHapticDeviceManager.h
@@ -50,8 +50,9 @@ public:
///
/// \brief Create a haptic device client and add it to the internal list
+ /// \param Device name or use empty string for default device
///
- std::shared_ptr<HapticDeviceClient> makeDeviceClient(const std::string& name);
+ std::shared_ptr<HapticDeviceClient> makeDeviceClient(std::string name = "");
///
/// \brief Initialize the client devices and start the scheduler