void SofaHAPIHapticsDevice::bwdInit()
{
sofa::core::objectmodel::BaseContext* context = this->getContext();
vector<ForceFeedback*> ffs;
context->get<ForceFeedback>(&ffs, sofa::core::objectmodel::BaseContext::SearchRoot);
sout << ffs.size()<<" ForceFeedback objects found:";
for ( size_t i= 0; i < ffs.size(); ++i ) {
sout << " " << ffs[i]->getContext()->getName()<<"/"<<ffs[i]->getName();
}
sout << sendl;
setDataValue();
setForceFeedbacks(ffs);
if(!device.get() && !initDevice())
{
serr<<"NO DEVICE"<<sendl;
releaseDevice();
}
else
{
if (isToolControlled)
setToolFeedback(toolIndex.getValue());
}
}
void OmniDriverEmu::bwdInit()
{
sout<<"OmniDriverEmu::bwdInit() is called"<<sendl;
simulation::Node *context = dynamic_cast<simulation::Node *>(this->getContext()); // access to current node
// depending on toolCount, search either the first force feedback, or the feedback with indice "0"
simulation::Node *groot = dynamic_cast<simulation::Node *>(context->getRootContext()); // access to current node
vector<ForceFeedback*> ffs;
groot->getTreeObjects<ForceFeedback>(&ffs);
std::cout << "OmniDriver: "<<ffs.size()<<" ForceFeedback objects found"<<std::endl;
setForceFeedbacks(ffs);
setDataValue();
copyDeviceDataCallback(&data);
if (omniSimThreadCreated)
{
sout << "Emulating thread already running" << sendl;
int err = pthread_cancel(hapSimuThread);
// no error: thread cancel
if(err==0)
{
std::cout << "OmniDriverEmu: thread haptic cancel" << endl;
}
// error
else
{
std::cout << "thread not cancel = " << err << endl;
}
}
//sout << "Not initializing phantom, starting emulating thread..." << sendl;
//pthread_t hapSimuThread;
if (thTimer == NULL)
thTimer = new(CTime);
if ( pthread_create( &hapSimuThread, NULL, hapticSimuExecute, (void*)this) == 0 )
{
cout << "OmniDriver : Thread created for Omni simulation" << endl;
omniSimThreadCreated=true;
}
/* } else
sout << "Emulating thread already running" << sendl;
*/
}
