Joystick::Joystick(VRDevice::Factory* sFactory,VRDeviceManager* sDeviceManager,Misc::ConfigurationFile& configFile)
:VRDevice(sFactory,sDeviceManager,configFile),
joystickDeviceFd(open(configFile.retrieveString("./joystickDeviceFile").c_str(),O_RDONLY)),
axisGains(0),
reportEvents(false),
buttonStates(0),valuatorStates(0)
{
/* Check if the joystick device port was properly opened: */
if(joystickDeviceFd<0)
Misc::throwStdErr("Joystick: Unable to open joystick device port");
/* Query the joystick's geometry: */
char cNumButtons,cNumAxes;
ioctl(joystickDeviceFd,JSIOCGBUTTONS,&cNumButtons);
ioctl(joystickDeviceFd,JSIOCGAXES,&cNumAxes);
#ifdef VERBOSE
/* Query the joystick's name: */
char joystickName[256];
if(ioctl(joystickDeviceFd,JSIOCGNAME(sizeof(joystickName)),joystickName)>=0)
{
joystickName[sizeof(joystickName)-1]='\0';
printf("Joystick: %s with %d buttons and %d axes found\n",joystickName,int(cNumButtons),int(cNumAxes));
}
else
printf("Joystick: Unknown joystick with %d buttons and %d axes found\n",int(cNumButtons),int(cNumAxes));
#endif
/* Set device configuration: */
setNumTrackers(0,configFile);
setNumButtons(cNumButtons,configFile);
setNumValuators(cNumAxes,configFile);
/* Initialize gain arrays: */
axisGains=new float[getNumValuators()];
for(int i=0; i<getNumValuators(); ++i)
{
char axisGainTag[40];
snprintf(axisGainTag,sizeof(axisGainTag),"./axisGain%d",i);
axisGains[i]=configFile.retrieveValue<float>(axisGainTag,1.0f);
}
/* Initialize state arrays: */
buttonStates=new bool[getNumButtons()];
for(int i=0; i<getNumButtons(); ++i)
buttonStates[i]=false;
valuatorStates=new float[getNumValuators()];
for(int i=0; i<getNumValuators(); ++i)
valuatorStates[i]=0.0f;
/* Start device thread (joystick device cannot be disabled): */
startDeviceThread();
}
void HIDDevice::start(void)
{
/* Set device manager's button and valuator states to current states: */
{
Threads::Mutex::Lock stateLock(stateMutex);
for(int i=0;i<getNumButtons();++i)
setButtonState(i,buttonStates[i]);
for(int i=0;i<getNumValuators();++i)
setValuatorState(i,valuatorStates[i]);
/* Start reporting events to the device manager: */
reportEvents=true;
}
}
VRPNClient::VRPNClient(VRDevice::Factory* sFactory,VRDeviceManager* sDeviceManager,Misc::ConfigurationFile& configFile)
:VRDevice(sFactory,sDeviceManager,configFile),
VRPNConnection(configFile.retrieveString("./serverName").c_str(),configFile.retrieveValue<int>("./serverPort",3883)),
reportEvents(false),
trackerStates(0),trackerFlags(0),buttonStates(0),valuatorStates(0)
{
#ifdef VERBOSE
printf("VRPNClient: Initializing senders...");
fflush(stdout);
#endif
/* Check if the z axis if incoming position data needs to be flipped: */
setFlipZAxis(configFile.retrieveValue<bool>("./flipZAxis",false));
/* Retrieve list of sender names: */
typedef std::vector<std::string> StringList;
StringList senderNames=configFile.retrieveValue<StringList>("./senderNames");
/* Process all senders: */
int totalNumTrackers=0;
int totalNumButtons=0;
int totalNumValuators=0;
for(StringList::const_iterator snIt=senderNames.begin();snIt!=senderNames.end();++snIt)
{
/* Go to the sender's section: */
configFile.setCurrentSection(snIt->c_str());
/* Read the number of trackers, buttons, and valuators for this sender: */
int numTrackers=configFile.retrieveValue<int>("./numTrackers",0);
if(numTrackers>0)
{
requestTrackers(snIt->c_str(),totalNumTrackers,numTrackers);
totalNumTrackers+=numTrackers;
}
int numButtons=configFile.retrieveValue<int>("./numButtons",0);
if(numButtons>0)
{
requestButtons(snIt->c_str(),totalNumButtons,numButtons);
totalNumButtons+=numButtons;
}
int numValuators=configFile.retrieveValue<int>("./numValuators",0);
if(numValuators>0)
{
requestValuators(snIt->c_str(),totalNumValuators,numValuators);
totalNumValuators+=numValuators;
}
/* Go back to device's section: */
configFile.setCurrentSection("..");
}
#ifdef VERBOSE
printf(" done\n");
fflush(stdout);
#endif
/* Set number of trackers, buttons, and valuators: */
setNumTrackers(totalNumTrackers,configFile);
setNumButtons(totalNumButtons,configFile);
setNumValuators(totalNumValuators,configFile);
/* Read the initial position/orientation for all trackers: */
PositionOrientation defaultPosition=configFile.retrieveValue<PositionOrientation>("./defaultPosition",PositionOrientation::identity);
/* Initialize the local state arrays: */
trackerStates=new TrackerState[getNumTrackers()];
trackerFlags=new int[getNumTrackers()];
for(int i=0;i<getNumTrackers();++i)
{
trackerStates[i].positionOrientation=defaultPosition;
trackerStates[i].linearVelocity=LinearVelocity::zero;
trackerStates[i].angularVelocity=AngularVelocity::zero;
trackerFlags[i]=0x0;
}
buttonStates=new ButtonState[getNumButtons()];
for(int i=0;i<getNumButtons();++i)
buttonStates[i]=false;
valuatorStates=new ValuatorState[getNumValuators()];
for(int i=0;i<getNumValuators();++i)
valuatorStates[i]=ValuatorState(0);
/* Start device communication thread: */
startDeviceThread();
}
HIDDevice::HIDDevice(VRDevice::Factory* sFactory,VRDeviceManager* sDeviceManager,Misc::ConfigurationFile& configFile)
:VRDevice(sFactory,sDeviceManager,configFile),
deviceFd(-1),
keyMap(0),
absAxisMap(0),relAxisMap(0),axisConverters(0),
reportEvents(false),
buttonStates(0),valuatorStates(0)
{
/* First option: Open device by explicit event device file name: */
if(deviceFd<0)
{
std::string deviceFileName=configFile.retrieveString("./deviceFileName","");
if(deviceFileName!="")
{
#ifdef VERBOSE
printf("HIDDevice: Opening device %s\n",deviceFileName.c_str());
fflush(stdout);
#endif
deviceFd=open(deviceFileName.c_str(),O_RDONLY);
if(deviceFd<0)
Misc::throwStdErr("HIDDevice: Unable to open device file \"%s\"",deviceFileName.c_str());
}
}
/* Second option: Open device by vendor ID / product ID: */
if(deviceFd<0)
{
std::string deviceVendorProductId=configFile.retrieveString("./deviceVendorProductId","");
if(deviceVendorProductId!="")
{
/* Split ID string into vendor ID / product ID: */
char* colonPtr;
int vendorId=strtol(deviceVendorProductId.c_str(),&colonPtr,16);
char* endPtr;
int productId=strtol(colonPtr+1,&endPtr,16);
if(*colonPtr!=':'||*endPtr!='\0'||vendorId<0||productId<0)
Misc::throwStdErr("HIDDevice: Malformed vendorId:productId string \"%s\"",deviceVendorProductId.c_str());
#ifdef VERBOSE
printf("HIDDevice: Searching device %04x:%04x\n",vendorId,productId);
fflush(stdout);
#endif
deviceFd=findDevice(vendorId,productId);
if(deviceFd<0)
Misc::throwStdErr("HIDDevice: No device with vendorId:productId %04x:%04x found",vendorId,productId);
}
}
/* Third option: Open device by device name: */
if(deviceFd<0)
{
std::string deviceName=configFile.retrieveString("./deviceName","");
if(deviceName!="")
{
#ifdef VERBOSE
printf("HIDDevice: Searching device %s\n",deviceName.c_str());
fflush(stdout);
#endif
deviceFd=findDevice(deviceName.c_str());
if(deviceFd<0)
Misc::throwStdErr("HIDDevice: No device with name \"%s\" found",deviceName.c_str());
}
}
/* Bail out if no device was found: */
if(deviceFd<0)
Misc::throwStdErr("HIDDevice: No device specified");
/* Set number of trackers on device: */
setNumTrackers(0,configFile);
/* Query all feature types of the device: */
unsigned char featureTypeBits[EV_MAX/8+1];
memset(featureTypeBits,0,EV_MAX/8+1);
if(ioctl(deviceFd,EVIOCGBIT(0,sizeof(featureTypeBits)),featureTypeBits)<0)
Misc::throwStdErr("HIDDevice: Unable to query device feature types");
/* Query the number of keys on the device: */
if(featureTypeBits[EV_KEY/8]&(1<<(EV_KEY%8)))
{
#ifdef VERBOSE
printf("HIDDevice: Initializing buttons...\n");
fflush(stdout);
#endif
/* Query key features: */
unsigned char keyBits[KEY_MAX/8+1];
memset(keyBits,0,KEY_MAX/8+1);
if(ioctl(deviceFd,EVIOCGBIT(EV_KEY,sizeof(keyBits)),keyBits)<0)
Misc::throwStdErr("HIDDevice: Unable to query device key features");
/* Initialize the key translation array: */
keyMap=new int[KEY_MAX+1];
int numKeys=0;
for(int i=0;i<=KEY_MAX;++i)
{
if(keyBits[i/8]&(1<<(i%8)))
{
keyMap[i]=numKeys;
++numKeys;
}
else
keyMap[i]=-1;
}
/* Set number of buttons on device: */
#ifdef VERBOSE
printf("HIDDevice: %d buttons found\n",numKeys);
fflush(stdout);
#endif
setNumButtons(numKeys,configFile);
}
else
setNumButtons(0,configFile);
/* Count the number of absolute and relative axes: */
int numAxes=0;
/* Query the number of absolute axes on the device: */
if(featureTypeBits[EV_ABS/8]&(1<<(EV_ABS%8)))
{
#ifdef VERBOSE
printf("HIDDevice: Initializing absolute axes...\n");
fflush(stdout);
#endif
/* Query absolute axis features: */
unsigned char absAxisBits[ABS_MAX/8+1];
memset(absAxisBits,0,ABS_MAX/8+1);
if(ioctl(deviceFd,EVIOCGBIT(EV_ABS,sizeof(absAxisBits)),absAxisBits)<0)
Misc::throwStdErr("HIDDevice: Unable to query device absolute axis features");
/* Initialize the axis translation array: */
absAxisMap=new int[ABS_MAX+1];
int numAbsAxes=0;
for(int i=0;i<=ABS_MAX;++i)
{
if(absAxisBits[i/8]&(1<<(i%8)))
{
absAxisMap[i]=numAxes;
++numAxes;
++numAbsAxes;
}
else
absAxisMap[i]=-1;
}
#ifdef VERBOSE
printf("HIDDevice: %d absolute axes found\n",numAbsAxes);
fflush(stdout);
#endif
}
/* Query the number of relative axes on the device: */
if(featureTypeBits[EV_REL/8]&(1<<(EV_REL%8)))
{
#ifdef VERBOSE
printf("HIDDevice: Initializing relative axes...\n");
fflush(stdout);
#endif
/* Query relative axis features: */
unsigned char relAxisBits[REL_MAX/8+1];
memset(relAxisBits,0,REL_MAX/8+1);
if(ioctl(deviceFd,EVIOCGBIT(EV_REL,sizeof(relAxisBits)),relAxisBits)<0)
Misc::throwStdErr("HIDDevice: Unable to query device relative axis features");
/* Initialize the axis translation array: */
relAxisMap=new int[REL_MAX+1];
int numRelAxes=0;
for(int i=0;i<=REL_MAX;++i)
{
if(relAxisBits[i/8]&(1<<(i%8)))
{
relAxisMap[i]=numAxes;
++numAxes;
++numRelAxes;
}
else
relAxisMap[i]=-1;
}
#ifdef VERBOSE
printf("HIDDevice: %d relative axes found\n",numRelAxes);
fflush(stdout);
#endif
}
/* Set number of valuators on device: */
setNumValuators(numAxes,configFile);
/* Initialize axis converters: */
axisConverters=new AxisConverter[numAxes];
if(absAxisMap!=0)
{
/* Initialize absolute axis converters: */
#ifdef VERBOSE
printf("HIDDevice: Initializing absolute axis converters\n");
fflush(stdout);
#endif
for(int i=0;i<=ABS_MAX;++i)
if(absAxisMap[i]>=0)
{
/* Query configuration of this axis: */
input_absinfo absAxisConf;
if(ioctl(deviceFd,EVIOCGABS(i),&absAxisConf)<0)
Misc::throwStdErr("HIDDevice: Unable to query device absolute axis configuration");
#ifdef VERBOSE
printf("Axis %2d: min %d, max %d, fuzz %d, flat %d\n",absAxisMap[i],absAxisConf.minimum,absAxisConf.maximum,absAxisConf.fuzz,absAxisConf.flat);
fflush(stdout);
#endif
/* Initialize converter with queried values: */
AxisConverter& converter=axisConverters[absAxisMap[i]];
float mid=Math::mid(absAxisConf.minimum,absAxisConf.maximum);
converter=AxisConverter(absAxisConf.minimum,mid-absAxisConf.flat,mid+absAxisConf.flat,absAxisConf.maximum);
/* Override axis settings from configuration file: */
char axisSettingsTag[20];
snprintf(axisSettingsTag,sizeof(axisSettingsTag),"axis%dSettings",absAxisMap[i]);
converter=configFile.retrieveValue<AxisConverter>(axisSettingsTag,converter);
#ifdef VERBOSE
printf("Axis %2d: %s\n",absAxisMap[i],Misc::ValueCoder<AxisConverter>::encode(converter).c_str());
fflush(stdout);
#endif
}
}
if(relAxisMap!=0)
{
/* Initialize relative axis converters: */
#ifdef VERBOSE
printf("HIDDevice: Initializing relative axis converters\n");
fflush(stdout);
#endif
for(int i=0;i<=REL_MAX;++i)
if(relAxisMap[i]>=0)
{
/* Initialize converter with default values: */
AxisConverter& converter=axisConverters[relAxisMap[i]];
converter=AxisConverter(-1.0f,1.0f);
/* Override axis settings from configuration file: */
char axisSettingsTag[20];
snprintf(axisSettingsTag,sizeof(axisSettingsTag),"axis%dSettings",relAxisMap[i]);
converter=configFile.retrieveValue<AxisConverter>(axisSettingsTag,converter);
#ifdef VERBOSE
printf("Axis %2d: %s\n",relAxisMap[i],Misc::ValueCoder<AxisConverter>::encode(converter).c_str());
fflush(stdout);
#endif
}
}
#if 0
/* Initialize gain arrays: */
valuatorGains=new float[getNumValuators()];
for(int i=0;i<getNumValuators();++i)
{
char valuatorGainTag[40];
snprintf(valuatorGainTag,sizeof(valuatorGainTag),"./valuatorGain%d",i);
valuatorGains[i]=configFile.retrieveValue<float>(valuatorGainTag,1.0f);
}
#endif
/* Initialize state arrays: */
buttonStates=new bool[getNumButtons()];
for(int i=0;i<getNumButtons();++i)
buttonStates[i]=false;
valuatorStates=new float[getNumValuators()];
for(int i=0;i<getNumValuators();++i)
valuatorStates[i]=0.0f;
/* Start device thread (HID device cannot be disabled): */
startDeviceThread();
}
