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vrpn_Analog_5dtUSB.C
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vrpn_Analog_5dtUSB.C
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/** @file vrpn_Analog_5dtUSB.C
@brief Implemendation of 5DT USB (HID) dataglove driver
@date 2011
@author
Ryan Pavlik
<rpavlik@iastate.edu> and <abiryan@ryand.net>
http://academic.cleardefinition.com/
Iowa State University Virtual Reality Applications Center
Human-Computer Interaction Graduate Program
*/
#include <string.h> // for memset
#include <iostream> // for operator<<, ostringstream, etc
#include <sstream>
#include <stdexcept> // for logic_error
#include "vrpn_Analog_5dtUSB.h"
#include "vrpn_BaseClass.h" // for ::vrpn_TEXT_NORMAL, etc
VRPN_SUPPRESS_EMPTY_OBJECT_WARNING()
#if defined(VRPN_USE_HID)
// USB vendor and product IDs for the models we support
static const vrpn_uint16 vrpn_5DT_VENDOR = 0x5d70;
static const vrpn_uint16 vrpn_5DT_LEFT_MASK = 0x0001;
static const vrpn_uint16 vrpn_5DT_RIGHT = 0x0000;
static const vrpn_uint16 vrpn_5DT_LEFT = 0x0001;
static const vrpn_uint16 vrpn_5DT_WIRELESS_PORTA_MASK = 0x0002;
static const vrpn_uint16 vrpn_5DT_WIRELESS_PORTB_MASK = 0x0006;
static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_MASK = 0x0010;
static const vrpn_uint16 vrpn_5DT_DATAGLOVE5 = 0x0010;
static const vrpn_uint16 vrpn_5DT_DATAGLOVE14 = 0x0000;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE14_RIGHT_WIRED = 0x0000;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE14_LEFT_WIRED = 0x0001;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE14_RIGHT_WIRELESS_PORTA = 0x0002;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE14_LEFT_WIRELESS_PORTA = 0x0003;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE14_RIGHT_WIRELESS_PORTB = 0x0006;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE14_LEFT_WIRELESS_PORTB = 0x0007;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_RIGHT_WIRED = 0x0010;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_LEFT_WIRED = 0x0011;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_RIGHT_WIRELESS_PORTA = 0x0012;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_LEFT_WIRELESS_PORTA = 0x0013;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_RIGHT_WIRELESS_PORTB = 0x0016;
//static const vrpn_uint16 vrpn_5DT_DATAGLOVE5_LEFT_WIRELESS_PORTB = 0x0017;
vrpn_Analog_5dtUSB::vrpn_Analog_5dtUSB(vrpn_HidAcceptor *filter,
int num_sensors,
bool isLeftHand,
const char *name,
vrpn_Connection *c) :
vrpn_Analog(name, c),
vrpn_HidInterface(filter),
_isLeftHand(isLeftHand),
_wasConnected(false) {
if (num_sensors != 5 && num_sensors != 14) {
throw std::logic_error("The vrpn_Analog_5dtUSB driver only supports 5 or 14 sensors, and a different number was passed!");
}
vrpn_Analog::num_channel = num_sensors;
// Initialize the state of all the analogs
memset(channel, 0, sizeof(channel));
memset(last, 0, sizeof(last));
// Set the timestamp
vrpn_gettimeofday(&_timestamp, NULL);
}
vrpn_Analog_5dtUSB::~vrpn_Analog_5dtUSB() {
try {
delete m_acceptor;
} catch (...) {
fprintf(stderr, "vrpn_Analog_5dtUSB::~vrpn_Analog_5dtUSB(): delete failed\n");
return;
}
}
std::string vrpn_Analog_5dtUSB::get_description() const {
std::ostringstream ss;
if (product() & vrpn_5DT_LEFT_MASK) {
ss << "left";
} else {
ss << "right";
}
ss << " hand, ";
if (product() & vrpn_5DT_DATAGLOVE5_MASK) {
ss << "5";
} else {
ss << "14";
}
ss << " sensors, ";
if (product() & vrpn_5DT_WIRELESS_PORTA_MASK) {
ss << "wireless port A";
} else if (product() & vrpn_5DT_WIRELESS_PORTB_MASK) {
ss << "wireless port B";
} else {
ss << "wired USB";
}
return ss.str();
}
void vrpn_Analog_5dtUSB::on_data_received(size_t bytes, vrpn_uint8 *buffer) {
if (bytes != 64) {
std::ostringstream ss;
ss << "Received a too-short report: " << bytes;
struct timeval ts;
vrpn_gettimeofday(&ts, NULL);
send_text_message(ss.str().c_str(), ts, vrpn_TEXT_WARNING);
return;
}
// Decode all full reports.
const float scale = 1.0f / 4096.0f;
vrpn_uint8 * bufptr = buffer;
for (size_t i = 0; i < 16; i++) {
_rawVals[i] = vrpn_unbuffer<vrpn_int16>(bufptr) * scale;
}
switch (vrpn_Analog::num_channel) {
case 5:
for (size_t i = 0; i < 5; ++i) {
channel[i] = _rawVals[i * 3];
// Report this event before parsing the next.
report_changes();
}
break;
case 14:
for (size_t i = 0; i < 14; ++i) {
channel[i] = _rawVals[i];
// Report this event before parsing the next.
report_changes();
}
break;
default:
std::cerr << "Internal error - should not happen: Unrecognized number of channels!" << std::endl;
}
}
void vrpn_Analog_5dtUSB::mainloop() {
vrpn_gettimeofday(&_timestamp, NULL);
update();
if (connected() && !_wasConnected) {
std::ostringstream ss;
ss << "Successfully connected to 5DT glove, " << get_description();
send_text_message(ss.str().c_str(), _timestamp, vrpn_TEXT_NORMAL);
}
_wasConnected = connected();
server_mainloop();
}
void vrpn_Analog_5dtUSB::report_changes(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Analog::report_changes(class_of_service);
}
void vrpn_Analog_5dtUSB::report(vrpn_uint32 class_of_service) {
vrpn_Analog::timestamp = _timestamp;
vrpn_Analog::report(class_of_service);
}
vrpn_Analog_5dtUSB_Glove5Left::vrpn_Analog_5dtUSB_Glove5Left(const char *name, vrpn_Connection *c) :
vrpn_Analog_5dtUSB(new vrpn_HidProductMaskAcceptor(vrpn_5DT_VENDOR, vrpn_5DT_LEFT_MASK | vrpn_5DT_DATAGLOVE5_MASK, vrpn_5DT_LEFT | vrpn_5DT_DATAGLOVE5),
5,
true,
name,
c) { }
vrpn_Analog_5dtUSB_Glove5Right::vrpn_Analog_5dtUSB_Glove5Right(const char *name, vrpn_Connection *c) :
vrpn_Analog_5dtUSB(new vrpn_HidProductMaskAcceptor(vrpn_5DT_VENDOR, vrpn_5DT_LEFT_MASK | vrpn_5DT_DATAGLOVE5_MASK, vrpn_5DT_RIGHT | vrpn_5DT_DATAGLOVE5),
5,
false,
name,
c) { }
vrpn_Analog_5dtUSB_Glove14Left::vrpn_Analog_5dtUSB_Glove14Left(const char *name, vrpn_Connection *c) :
vrpn_Analog_5dtUSB(new vrpn_HidProductMaskAcceptor(vrpn_5DT_VENDOR, vrpn_5DT_LEFT_MASK | vrpn_5DT_DATAGLOVE5_MASK, vrpn_5DT_LEFT | vrpn_5DT_DATAGLOVE14),
14,
true,
name,
c) { }
vrpn_Analog_5dtUSB_Glove14Right::vrpn_Analog_5dtUSB_Glove14Right(const char *name, vrpn_Connection *c) :
vrpn_Analog_5dtUSB(new vrpn_HidProductMaskAcceptor(vrpn_5DT_VENDOR, vrpn_5DT_LEFT_MASK | vrpn_5DT_DATAGLOVE5_MASK, vrpn_5DT_RIGHT | vrpn_5DT_DATAGLOVE14),
14,
false,
name,
c) { }
#endif