From 97db2d8d2205ab3c70b706c0f2d8dae92ced8e26 Mon Sep 17 00:00:00 2001
From: Ricardo Ortiz <ricardo.ortiz@kitware.com>
Date: Thu, 28 Jan 2016 15:10:51 -0500
Subject: [PATCH] ENH: Add utility functions to the SDK
in order to facilitate the creation of device servers and clients.
---
Devices/VRPNDeviceServer.cpp | 8 ++++----
Examples/FEMSimulator/main.cpp | 17 +++--------------
SimulationManager/SDK.cpp | 24 ++++++++++++++++++++++++
SimulationManager/SDK.h | 15 +++++++++++++++
4 files changed, 46 insertions(+), 18 deletions(-)
diff --git a/Devices/VRPNDeviceServer.cpp b/Devices/VRPNDeviceServer.cpp
index a8c0d80c0..e7a0bb7c8 100644
--- a/Devices/VRPNDeviceServer.cpp
+++ b/Devices/VRPNDeviceServer.cpp
@@ -116,10 +116,10 @@ bool VRPNDeviceServer::addDeviceClient(
// 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");
+ 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 "
diff --git a/Examples/FEMSimulator/main.cpp b/Examples/FEMSimulator/main.cpp
index 6419e25b1..9b93572c9 100644
--- a/Examples/FEMSimulator/main.cpp
+++ b/Examples/FEMSimulator/main.cpp
@@ -81,20 +81,9 @@ int main(int ac, char** av)
return EXIT_FAILURE;
}
- // setup device client
+ // Set up a controller to control a mesh with an external device
std::string deviceURL = "Phantom@localhost";
-// auto client = std::make_shared<imstk::VRPNForceDevice>(deviceURL);
-// sdk->addModule(client);
-
- // setup controller
-// auto controller = std::make_shared<imstk::ToolCoupler>(client);
-// controller->setScalingFactor(20.0);
-// sdk->addModule(controller);
-
- // setup server
- auto server = std::make_shared<imstk::VRPNDeviceServer>();
-// server->addDeviceClient(client);
- sdk->addModule(server);
+ auto controller = sdk->createForceDeviceController(deviceURL);
//-------------------------------------------------------
// Create scene actor 1: fem scene object + fem simulator
@@ -168,7 +157,7 @@ int main(int ac, char** av)
loliMesh->transform(transform);
loliMesh->updateInitialVertices();
-// controller->setMesh(loliCollisionModel->getMesh());
+ controller->setMesh(loliCollisionModel->getMesh());
//-------------------------------------------------------
// Enable collision between scene actors 1 and 2
diff --git a/SimulationManager/SDK.cpp b/SimulationManager/SDK.cpp
index 3f03dd9fd..b7561a5a3 100644
--- a/SimulationManager/SDK.cpp
+++ b/SimulationManager/SDK.cpp
@@ -251,4 +251,28 @@ void SDK::addInteraction(std::shared_ptr< CollisionManager > collisionPair,
contactHandling);
}
+//---------------------------------------------------------------------------
+std::shared_ptr< VRPNDeviceServer > SDK::createDeviceServer()
+{
+ auto server = std::make_shared<imstk::VRPNDeviceServer>();
+ this->addModule(server);
+ return server;
+}
+
+//---------------------------------------------------------------------------
+std::shared_ptr< ToolCoupler > SDK::createForceDeviceController(std::string &deviceURL)
+{
+ auto server = this->createDeviceServer();
+
+ auto client = std::make_shared<VRPNForceDevice>(deviceURL);
+ this->addModule(client);
+
+ server->addDeviceClient(client);
+
+ auto controller = std::make_shared<ToolCoupler>(client);
+ this->addModule(controller);
+
+ return controller;
+}
+
}
diff --git a/SimulationManager/SDK.h b/SimulationManager/SDK.h
index 506e17832..c1ee304a6 100644
--- a/SimulationManager/SDK.h
+++ b/SimulationManager/SDK.h
@@ -41,6 +41,9 @@
#include "Core/ContactHandling.h"
#include "Core/CollisionManager.h"
#include "Core/CollisionDetection.h"
+#include "Devices/VRPNDeviceServer.h"
+#include "Devices/VRPNForceDevice.h"
+#include "VirtualTools/ToolCoupler.h"
namespace imstk {
@@ -186,6 +189,18 @@ public:
std::shared_ptr<CollisionDetection> collisionDetection,
std::shared_ptr<ContactHandling> contactHandling);
+ ///
+ /// \brief Utility function to create a device server
+ ///
+ std::shared_ptr<VRPNDeviceServer> createDeviceServer();
+
+ ///
+ /// \brief Utility function to create a device client, server and controller
+ ///
+ /// \param deviceURL Client name to make the connection
+ ///
+ std::shared_ptr<ToolCoupler> createForceDeviceController(std::string &deviceURL);
+
private:
SDK() = default;
--
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