From 8177fc48c2eaec962535a4c3abedb8159c839353 Mon Sep 17 00:00:00 2001
From: Ricardo Ortiz <ricardo.ortiz@kitware.com>
Date: Thu, 28 Jan 2016 09:56:53 -0500
Subject: [PATCH] ENH: Enable the vrpn_Phantom device in the device server.
---
Devices/VRPNDeviceServer.cpp | 111 +++++++++++++++++++++++------------
1 file changed, 74 insertions(+), 37 deletions(-)
diff --git a/Devices/VRPNDeviceServer.cpp b/Devices/VRPNDeviceServer.cpp
index 0e08d4652..a8c0d80c0 100644
--- a/Devices/VRPNDeviceServer.cpp
+++ b/Devices/VRPNDeviceServer.cpp
@@ -50,6 +50,7 @@ bool VRPNDeviceServer::addDeviceClient(
std::string newDeviceIP = newDeviceURL.substr(newDeviceURL.find_last_of("@") + 1);
if (newDeviceIP != "localhost")
{
+ // TODO: Log this
std::cerr<< "addDeviceClient error: VRPNDeviceServer can only communicate "
<< "with devices connected locally (devicename@localhost)." << std::endl;
return EXIT_FAILURE;
@@ -62,6 +63,7 @@ bool VRPNDeviceServer::addDeviceClient(
&& this->buttonDevicesList.find(newDeviceName) != this->buttonDevicesList.end()
)
{
+ // TODO: Log this
std::cerr<< "addDeviceClient error: name already use by another client ("
<< newDeviceName << ")" << std::endl;
return EXIT_FAILURE;
@@ -73,60 +75,90 @@ bool VRPNDeviceServer::addDeviceClient(
std::shared_ptr<vrpn_Button> vrpnButtonDevice;
switch( newDeviceClient->getDeviceType() )
{
- case DeviceType::SPACE_EXPLORER_3DCONNEXION:
- vrpnAnalogDevice = std::make_shared<vrpn_3DConnexion_SpaceExplorer>
- (newDeviceName.c_str(), this->connection);
- break;
- case DeviceType::NAVIGATOR_3DCONNEXION:
- vrpnAnalogDevice = std::make_shared<vrpn_3DConnexion_Navigator>
- (newDeviceName.c_str(), this->connection);
- break;
- case DeviceType::RAZER_HYDRA:
- vrpnTrackerDevice = std::make_shared<vrpn_Tracker_RazerHydra>
- (newDeviceName.c_str(), this->connection);
- break;
- case DeviceType::XKEYS_XK3:
- vrpnButtonDevice = std::make_shared<vrpn_Xkeys_XK3>
- (newDeviceName.c_str(), this->connection);
- break;
- case DeviceType::OSVR_HDK:
- vrpnTrackerDevice = std::make_shared<vrpn_Tracker_OSVRHackerDevKit>
- (newDeviceName.c_str(), this->connection);
- break;
- case DeviceType::PHANTOM_OMNI:
-#ifdef VRPN_USE_PHANTOM_SERVER
- vrpnDevice = std::make_shared<vrpn_Phantom> // TODO
- (newDeviceName.c_str(), this->connection, 60.0f, "Default PHANToM");
-#else
- std::cerr<< "addDeviceClient error: needs VRPN_USE_PHANTOM_SERVER to be true "
- << "to connect a Panthom omni device." << std::endl;
- return EXIT_FAILURE;
-#endif
- break;
- default:
- std::cerr<< "addDeviceClient error: unknown device type."
- << std::endl;
- return EXIT_FAILURE;
+ case DeviceType::SPACE_EXPLORER_3DCONNEXION:
+ {
+ vrpnAnalogDevice =
+ std::make_shared<vrpn_3DConnexion_SpaceExplorer>(newDeviceName.c_str(),
+ this->connection);
+ break;
+ }
+ case DeviceType::NAVIGATOR_3DCONNEXION:
+ {
+ vrpnAnalogDevice =
+ std::make_shared<vrpn_3DConnexion_Navigator>(newDeviceName.c_str(),
+ this->connection);
+ break;
+ }
+ case DeviceType::RAZER_HYDRA:
+ {
+ vrpnTrackerDevice =
+ std::make_shared<vrpn_Tracker_RazerHydra>(newDeviceName.c_str(),
+ this->connection);
+ break;
+ }
+ case DeviceType::XKEYS_XK3:
+ {
+ vrpnButtonDevice =
+ std::make_shared<vrpn_Xkeys_XK3>(newDeviceName.c_str(),
+ this->connection);
+ break;
+ }
+ case DeviceType::OSVR_HDK:
+ {
+ vrpnTrackerDevice =
+ std::make_shared<vrpn_Tracker_OSVRHackerDevKit>(newDeviceName.c_str(),
+ this->connection);
+ break;
+ }
+ case DeviceType::PHANTOM_OMNI:
+ {
+ #ifdef VRPN_USE_PHANTOM_SERVER
+ // TODO: Add an extra parameter to set the name of the phantom omni.
+ // This is necessary because vrpn_Phantom only take non-const names.
+ char * deviceName = const_cast<char*>(newDeviceName.c_str());
+ vrpnTrackerDevice =
+ std::make_shared<vrpn_Phantom>(deviceName,
+ this->connection,
+ 60.0f, "Default PHANToM");
+ #else
+ // TODO: add to logger
+ std::cerr<< "addDeviceClient error: needs VRPN_USE_PHANTOM_SERVER defined "
+ << "to connect a Panthom omni device." << std::endl;
+ return EXIT_FAILURE;
+ #endif
+ break;
+ }
+ default:
+ {
+ // TODO: add to logger
+ std::cerr<< "addDeviceClient error: unknown device type."
+ << std::endl;
+ return EXIT_FAILURE;
+ }
}
// Add vrpn device in list
if(vrpnAnalogDevice != nullptr)
{
this->analogDevicesList[newDeviceName] = vrpnAnalogDevice;
+ // TODO: add to logger
std::cout<<newDeviceName<<" successfully added."<<std::endl;
}
else if(vrpnTrackerDevice != nullptr)
{
this->trackerDevicesList[newDeviceName] = vrpnTrackerDevice;
+ // TODO: add to logger
std::cout<<newDeviceName<<" successfully added."<<std::endl;
}
else if(vrpnButtonDevice != nullptr)
{
this->buttonDevicesList[newDeviceName] = vrpnButtonDevice;
+ // TODO: add to logger
std::cout<<newDeviceName<<" successfully added."<<std::endl;
}
else
{
+ // TODO: add to logger
std::cerr<< "addDeviceClient error: could not instantiate VRPN device."
<< std::endl;
return EXIT_FAILURE;
@@ -137,15 +169,18 @@ bool VRPNDeviceServer::addDeviceClient(
{
std::string filterName = newDeviceName +"_Filter";
- std::shared_ptr<vrpn_Tracker_FilterOneEuro> filter =
- std::make_shared<vrpn_Tracker_FilterOneEuro>
- (filterName.c_str(), this->connection, newDeviceName.c_str(), 7);
+ auto filter = std::make_shared<vrpn_Tracker_FilterOneEuro>(filterName.c_str(),
+ this->connection,
+ newDeviceName.c_str(),
+ 7);
this->trackerDevicesList[filterName] = filter;
+ // TODO: add to logger
std::cout<<filterName<<" successfully added."<<std::endl;
}
else if( addFiltering )
{
+ // TODO: add to logger
std::cerr<< "addDeviceClient warning: can not filter device which is not a tracker."
<< std::endl;
}
@@ -177,9 +212,11 @@ void VRPNDeviceServer::exec()
// connections allocated with vrpn_create_server_connection()
// must decrement their reference to be auto-deleted by VRPN
+ // TODO: add to logger
std::cout<<"VRPNDeviceServer: removing connection references"<<std::endl;
this->connection->removeReference();
+ // TODO: add to logger
std::cout<<"VRPNDeviceServer: closing server"<<std::endl;
delete(this->connection);
--
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