TEST(OsgViewElementRenderTest, StereoView)
{
std::shared_ptr<Runtime> runtime = std::make_shared<Runtime>();
std::shared_ptr<OsgManager> manager = std::make_shared<OsgManager>();
runtime->addManager(manager);
runtime->addManager(std::make_shared<SurgSim::Framework::BehaviorManager>());
std::shared_ptr<Scene> scene = runtime->getScene();
/// Add a graphics component to the scene
std::shared_ptr<OsgViewElement> viewElement = std::make_shared<OsgViewElement>("view");
auto boxElement = std::make_shared<SurgSim::Framework::BasicSceneElement>("box");
RigidTransform3d pose =
makeRigidTransform(Vector3d(1.0, 1.0, 1.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0));
viewElement->setPose(pose);
scene->addSceneElement(viewElement);
auto box = std::make_shared<OsgBoxRepresentation>("box");
box->setSizeXYZ(0.1, 0.1, 0.2);
boxElement->addComponent(box);
RigidTransform3d from =
makeRigidTransform(Vector3d(0.2, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0));
RigidTransform3d to =
makeRigidTransform(Vector3d(-0.2, 0.0, 0.0), Vector3d(0.0, 0.0, 0.0), Vector3d(0.0, 1.0, 0.0));
auto interpolator = std::make_shared<SurgSim::Blocks::PoseInterpolator>("interpolator");
interpolator->setDuration(2.0);
interpolator->setStartingPose(from);
interpolator->setEndingPose(to);
interpolator->setPingPong(true);
interpolator->setTarget(boxElement);
boxElement->addComponent(interpolator);
scene->addSceneElement(boxElement);
auto osgView = std::static_pointer_cast<OsgView>(viewElement->getView());
osgView->setStereoMode(View::STEREO_MODE_HORIZONTAL_SPLIT);
osgView->setDisplayType(View::DISPLAY_TYPE_MONITOR);
osgView->setEyeSeparation(0.06);
osgView->setScreenWidth(0.486918);
osgView->setScreenHeight(0.273812);
osgView->setScreenDistance(1.0);
runtime->start();
boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
runtime->stop();
}
/** Called when asyn clients call pasynInt32->write().
* \param[in] pasynUser pasynUser structure that encodes the reason and address.
* \param[in] value Value to write. */
asynStatus drvQuadEM::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
int status = asynSuccess;
int channel;
const char *paramName;
const char* functionName = "writeInt32";
getAddress(pasynUser, &channel);
/* Set the parameter in the parameter library. */
status |= setIntegerParam(channel, function, value);
/* Fetch the parameter string name for possible use in debugging */
getParamName(function, ¶mName);
if (function == P_Acquire) {
if (value) {
epicsRingBytesFlush(ringBuffer_);
ringCount_ = 0;
}
status |= setAcquire(value);
}
else if (function == P_AcquireMode) {
if (value != QEAcquireModeContinuous) {
status |= setAcquire(0);
setIntegerParam(P_Acquire, 0);
}
status |= setAcquireMode(value);
status |= readStatus();
}
else if (function == P_BiasState) {
status |= setBiasState(value);
status |= readStatus();
}
else if (function == P_BiasInterlock) {
status |= setBiasInterlock(value);
status |= readStatus();
}
else if (function == P_NumChannels) {
status |= setNumChannels(value);
status |= readStatus();
}
else if (function == P_NumAcquire) {
status |= setNumAcquire(value);
status |= readStatus();
}
else if (function == P_PingPong) {
status |= setPingPong(value);
status |= readStatus();
}
else if (function == P_Range) {
status |= setRange(value);
status |= readStatus();
}
else if (function == P_ReadData) {
status |= doDataCallbacks();
}
else if (function == P_Resolution) {
status |= setResolution(value);
status |= readStatus();
}
else if (function == P_TriggerMode) {
status |= setTriggerMode(value);
status |= readStatus();
}
else if (function == P_ValuesPerRead) {
valuesPerRead_ = value;
status |= setValuesPerRead(value);
status |= readStatus();
}
else if (function == P_ReadFormat) {
status |= setReadFormat(value);
status |= readStatus();
}
else if (function == P_ReadStatus) {
// We don't do this if we are acquiring, too disruptive
if (!acquiring_) {
status |= readStatus();
}
}
else if (function == P_Reset) {
status |= reset();
status |= readStatus();
}
else {
/* All other parameters just get set in parameter list, no need to
* act on them here */
}
/* Do callbacks so higher layers see any changes */
status |= (asynStatus) callParamCallbacks();
if (status)
epicsSnprintf(pasynUser->errorMessage, pasynUser->errorMessageSize,
"%s:%s: status=%d, function=%d, name=%s, value=%d",
driverName, functionName, status, function, paramName, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, name=%s, value=%d\n",
driverName, functionName, function, paramName, value);
return (asynStatus)status;
}
/** Constructor for the drvAPS_EM class.
* Calls the constructor for the drvQuadEM base class.
* \param[in] portName The name of the asyn port driver to be created.
* \param[in] baseAddr A24 base address of the VME card
* \param[in] fiberChannel Address [0-3] of the fiber channel connected to the electrometer
* \param[in] unidigName Name of asynPort for the Ip-Unidig driver if it is being used to generate interrupts
* \param[in] unidigChan Channel number [0-23] of the Ip-Unidig connected to the APS_EM pulse output, if Ip-Unidig is being used.
* \param[in] unidigDrvInfo The drvInfo field for the data callback of the ipUnidig driver.
* If not specified then asynUser->reason=0 is used.
* \param[in] ringBufferSize The number of samples to hold in the input ring buffer.
* This should be large enough to hold all the samples between reads of the
* device, e.g. 1 ms SampleTime and 1 second read rate = 1000 samples.
* If 0 then default of 2048 is used.
*/
drvAPS_EM::drvAPS_EM(const char *portName, unsigned short *baseAddr, int fiberChannel,
const char *unidigName, int unidigChan, char *unidigDrvInfo, int ringBufferSize)
: drvQuadEM(portName, 0, ringBufferSize),
unidigChan_(unidigChan),
pUInt32DigitalPvt_(NULL),
pUInt32RegistrarPvt_(NULL)
{
asynInterface *pasynInterface;
asynDrvUser *pdrvUser;
unsigned long probeVal;
epicsUInt32 mask;
asynStatus status;
static const char *functionName = "drvAPS_EM";
readingsAveraged_ = 0;
if ((unidigName != 0) && (strlen(unidigName) != 0) && (strcmp(unidigName, "0") != 0)) {
/* Create asynUser */
pUInt32DAsynUser_ = pasynManager->createAsynUser(0, 0);
/* Connect to device */
status = pasynManager->connectDevice(pUInt32DAsynUser_,
unidigName, unidigChan_);
if (status != asynSuccess) {
errlogPrintf("initQuadEM: connectDevice failed for ipUnidig\n");
goto error;
}
/* Get the asynUInt32DigitalCallback interface */
pasynInterface = pasynManager->findInterface(pUInt32DAsynUser_,
asynUInt32DigitalType, 1);
if (!pasynInterface) {
errlogPrintf("%s:%s:, find asynUInt32Digital interface failed\n", driverName, functionName);
goto error;
}
pUInt32Digital_ = (asynUInt32Digital *)pasynInterface->pinterface;
pUInt32DigitalPvt_ = pasynInterface->drvPvt;
/* If the drvInfo is specified then call drvUserCreate, else assume asynUser->reason=0 */
if (unidigDrvInfo) {
pasynInterface = pasynManager->findInterface(pUInt32DAsynUser_,
asynDrvUserType, 1);
if (!pasynInterface) {
errlogPrintf("%s:%s:, find asynDrvUser interface failed\n", driverName, functionName);
goto error;
}
pdrvUser = (asynDrvUser *)pasynInterface->pinterface;
status = pdrvUser->create(pasynInterface->drvPvt, pUInt32DAsynUser_, unidigDrvInfo, NULL, 0);
if (status != asynSuccess) {
errlogPrintf("%s:%s: drvUser->create failed for ipUnidig\n", driverName, functionName);
goto error;
}
} else {
pUInt32DAsynUser_->reason = 0;
}
}
if ((fiberChannel >= 4) || (fiberChannel < 0)) {
errlogPrintf("%s:%s:: Invalid channel # %d \n", driverName, functionName, fiberChannel);
goto error;
}
if (baseAddr >= (unsigned short *)MAX_A24_ADDRESS) {
errlogPrintf("%s:%s:: Invalid Module Address %p \n", driverName, functionName, baseAddr);
goto error;
}
/* The channel # goes in bits 5 and 6 */
baseAddr = (unsigned short *)((int)baseAddr | ((fiberChannel << 5) & 0x60));
if (devRegisterAddress("APS_EM", atVMEA24, (int)baseAddr, 16,
(volatile void**)&baseAddress_) != 0) {
baseAddress_ = NULL;
errlogPrintf("%s:%s: A24 Address map failed\n", driverName, functionName);
goto error;
}
if (devReadProbe(4, (char *)baseAddress_, (char *)&probeVal) != 0 ) {
errlogPrintf("%s:%s:: devReadProbe failed for address %p\n",
driverName, functionName, baseAddress_);
baseAddress_ = NULL;
goto error;
}
if (pUInt32DigitalPvt_ == NULL) {
if (epicsThreadCreate("APS_EMPoller",
epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC)pollerThreadC,
this) == NULL) {
errlogPrintf("%s:%s: quadEMPoller epicsThreadCreate failure\n", driverName, functionName);
goto error;
}
}
else {
/* Make sure interrupts are enabled on the falling edge of the
* quadEM output pulse */
pUInt32Digital_->getInterrupt(pUInt32DigitalPvt_,
pUInt32DAsynUser_, &mask,
interruptOnOneToZero);
mask |= 1 << unidigChan_;
pUInt32Digital_->setInterrupt(pUInt32DigitalPvt_,
pUInt32DAsynUser_, mask,
interruptOnOneToZero);
}
/* Set the model */
setIntegerParam(P_Model, QE_ModelAPS_EM);
/* Set the range, ping-pong and integration time to reasonable defaults */
setRange(0);
setPingPong(0);
setIntegrationTime(0.001);
/* Send the initial settings to the board to get it talking to the
* electometer. These settings will be overridden by the database values
* when the database initializes */
reset();
/* Calling readStatus() will compute the sampleTime, which must be done before iocInit
* or fast feedback won't work. */
readStatus();
error:
return;
}
