DummyDevPackedVector4::DummyDevPackedVector4(const DeviceConfig & deviceConfig) {
this->deviceDescriptor.setEntityID(deviceConfig.getEntityID());
this->entityID = this->deviceDescriptor.getEntityID();
map<string, Port> portMap;
portMap["pv1"] = Port("pv1", "PackedVector4", Port::Source, "");
DeviceType deviceType;
deviceType.setPortMap(portMap);
deviceType.setDeviceTypeName("DummyDevPackedVector4");
deviceType.setDescription("");
this->deviceDescriptor.setDeviceType(deviceType);
std::map<std::string, int> nameChannelNrMap;
int nr = 1;
map<string, Port>::iterator i = portMap.begin();
map<string, Port>::iterator e = portMap.end();
while (i != e) {
nameChannelNrMap[(*i).second.getName()] = nr;
++nr;
++i;
}
this->deviceDescriptor.setNameChannelNrMap(nameChannelNrMap);
}
HapticDev::HapticDev(const DeviceConfig & deviceConfig)
: udpReceiverSocket(inSerializedDataQueue) {
this->deviceDescriptor.setEntityID(deviceConfig.getEntityID());
this->entityID = this->deviceDescriptor.getEntityID();
map<string, Port> portMap;
portMap["HOUT1"] = Port("HOUT1", "HapticChannel", Port::Source);
DeviceType deviceType;
deviceType.setPortMap(portMap);
deviceType.setDeviceTypeName(getDeviceName());
deviceType.setDescription("HapticDevice");
this->deviceDescriptor.setDeviceType(deviceType);
std::map<std::string, int> nameChannelNrMap;
int nr = 0;
for (std::map<string, Port>::const_iterator i = portMap.begin(),
e = portMap.end(); i != e; ++nr, ++i)
nameChannelNrMap[(*i).second.getName()] = nr;
this->deviceDescriptor.setNameChannelNrMap(nameChannelNrMap);
}
DummyDevDA::DummyDevDA(const DeviceConfig & deviceConfig) {
this->deviceDescriptor.setEntityID(deviceConfig.getEntityID());
this->entityID = this->deviceDescriptor.getEntityID();
//cout << "===> DummyDevDA: " << this->entityID << endl;
map<string, Port> portMap;
portMap["DO1"] = Port("DO1", "DigitalChannel", Port::Source);
portMap["DO2"] = Port("DO2", "DigitalChannel", Port::Source);
portMap["DO3"] = Port("DO3", "DigitalChannel", Port::Source);
portMap["DO4"] = Port("DO4", "DigitalChannel", Port::Source);
portMap["DI1"] = Port("DI1", "DigitalChannel", Port::Sink);
portMap["DI2"] = Port("DI2", "DigitalChannel", Port::Sink);
portMap["DI3"] = Port("DI3", "DigitalChannel", Port::Sink);
portMap["DI4"] = Port("DI4", "DigitalChannel", Port::Sink);
portMap["DIO1"] = Port("DIO1", "DigitalChannel", Port::SourceAndSink);
portMap["DIO2"] = Port("DIO2", "DigitalChannel", Port::SourceAndSink);
portMap["DIO3"] = Port("DIO3", "DigitalChannel", Port::SourceAndSink);
portMap["DIO4"] = Port("DIO4", "DigitalChannel", Port::SourceAndSink);
portMap["AO1"] = Port("AO1", "AnalogChannel", Port::Source);
portMap["AO2"] = Port("AO2", "AnalogChannel", Port::Source);
portMap["AO3"] = Port("AO3", "AnalogChannel", Port::Source);
portMap["AO4"] = Port("AO4", "AnalogChannel", Port::Source);
portMap["AI1"] = Port("AI1", "AnalogChannel", Port::Sink);
portMap["AI2"] = Port("AI2", "AnalogChannel", Port::Sink);
portMap["AI3"] = Port("AI3", "AnalogChannel", Port::Sink);
portMap["AI4"] = Port("AI4", "AnalogChannel", Port::Sink);
portMap["AIO1"] = Port("AIO1", "AnalogChannel", Port::SourceAndSink);
portMap["AIO2"] = Port("AIO2", "AnalogChannel", Port::SourceAndSink);
portMap["AIO3"] = Port("AIO3", "AnalogChannel", Port::SourceAndSink);
portMap["AIO4"] = Port("AIO4", "AnalogChannel", Port::SourceAndSink);
DeviceType deviceType;
deviceType.setPortMap(portMap);
deviceType.setDeviceTypeName(getDeviceName());
deviceType.setDescription("Digital and Analog IO");
this->deviceDescriptor.setDeviceType(deviceType);
std::map<std::string, int> nameChannelNrMap;
int nr = 1;
map<string, Port>::iterator i = portMap.begin();
map<string, Port>::iterator e = portMap.end();
while (i != e) {
nameChannelNrMap[(*i).second.getName()] = nr;
++nr;
++i;
}
this->deviceDescriptor.setNameChannelNrMap(nameChannelNrMap);
}
Matrix4CalibrationDev::Matrix4CalibrationDev(const DeviceConfig & deviceConfig) :
senderThreadActive(false),
receiverThreadActive(false),
vec1Size(0),
vec2Size(0),
trackVectors(false),
premultiply(false),
useAverage(false) {
this->deviceDescriptor.setEntityID(deviceConfig.getEntityID());
this->entityID = this->deviceDescriptor.getEntityID();
map<string, Port> portMap;
map<string, int> namePortNrMap;
addPort(Port("Vector1", "Vector4", Port::Sink, ""), PortNR_Vector1, portMap, namePortNrMap);
addPort(Port("Vector2", "Vector4", Port::Sink, ""), PortNR_Vector2, portMap, namePortNrMap);
addPort(Port("CalibratedMatrix", "Matrix4", Port::Source, ""), PortNR_CalibratedMatrix, portMap, namePortNrMap);
addPort(Port("ApplyVectors", "DigitalChannel", Port::Sink, ""), PortNR_ApplyVectors, portMap, namePortNrMap);
addPort(Port("ClearVectors", "DigitalChannel", Port::Sink, ""), PortNR_ClearVectors, portMap, namePortNrMap);
addPort(Port("LoadCalibratedMatrix", "DigitalChannel", Port::Sink, ""), PortNR_LoadCalibratedMatrix, portMap, namePortNrMap);
addPort(Port("SaveCalibratedMatrix", "DigitalChannel", Port::Sink, ""), PortNR_SaveCalibratedMatrix, portMap, namePortNrMap);
addPort(Port("SendCalibratedMatrix", "DigitalChannel", Port::Sink, ""), PortNR_SendCalibratedMatrix, portMap, namePortNrMap);
addPort(Port("CalcCalibratedMatrix", "DigitalChannel", Port::Sink, ""), PortNR_CalcCalibratedMatrix, portMap, namePortNrMap);
DeviceType deviceType;
deviceType.setPortMap(portMap);
deviceType.setDeviceTypeName("Matrix4CalibrationDev");
deviceType.setDescription("");
this->deviceDescriptor.setDeviceType(deviceType);
this->deviceDescriptor.setNameChannelNrMap(namePortNrMap);
try {
this->initialSend = deviceConfig.getParameterGroup().getInt("CalibratedMatrix|InitialSend") != 0;
TFDEBUG("initialSend = " << this->initialSend);
this->calibratedMatrixPath = deviceConfig.getParameterGroup().getString("CalibratedMatrix|Path");
TFDEBUG("calibratedMatrixPath = " << this->calibratedMatrixPath);
this->premultiply = deviceConfig.getParameterGroup().getInt("CalibratedMatrix|Pre-multiply") != 0;
TFINFO("pre-multiply = " << this->premultiply);
this->useAverage = deviceConfig.getParameterGroup().getInt("ApplyVectors|useAverage") != 0;
TFINFO("useAverage = " << this->useAverage);
}
catch(Exception & e) {
TFERROR(e.getFormattedString());
}
}
