FB::variant hapticAPI::getDeviceType()
{
char type[20];
if (hdPhantomGetType(deviceID, type) == -1)
return NotInitializedString;
else
return type;
}
//===========================================================================
cPhantomDevice::cPhantomDevice(unsigned int a_deviceNumber)
{
// default specification setup
m_specifications.m_manufacturerName = "Sensable Technologies";
m_specifications.m_modelName = "PHANTOM";
m_specifications.m_maxForce = 6.0; // [N]
m_specifications.m_maxForceStiffness = 1000.0; // [N/m]
m_specifications.m_maxTorque = 0.0; // [N*m]
m_specifications.m_maxTorqueStiffness = 0.0; // [N*m/Rad]
m_specifications.m_maxGripperTorque = 0.0; // [N]
m_specifications.m_maxGripperTorqueStiffness = 0.0; // [N*m/m]
m_specifications.m_maxLinearDamping = 8.0; // [N/(m/s)]
m_specifications.m_workspaceRadius = 0.10; // [m];
m_specifications.m_sensedPosition = true;
m_specifications.m_sensedRotation = true;
m_specifications.m_sensedGripper = false;
m_specifications.m_actuatedPosition = true;
m_specifications.m_actuatedRotation = false;
m_specifications.m_actuatedGripper = false;
m_specifications.m_leftHand = true;
m_specifications.m_rightHand = true;
// device is not yet available or ready
m_driverInstalled = false;
m_systemAvailable = false;
m_systemReady = false;
// check if Phantom drivers installed
#if defined(_WIN32)
if (m_dllcount == 0)
{
hdPhantomDriverDLL = LoadLibrary("HD.dll");
if (hdPhantomDriverDLL == NULL) { return; }
}
// the Phantom drivers are installed
m_driverInstalled = true;
// load dll library
if (m_dllcount == 0)
{
hdPhantomDLL = LoadLibrary("hdPhantom.dll");
}
// check if DLL loaded correctly
if (hdPhantomDLL == NULL)
{
return;
}
// load different callbacks
hdPhantomGetNumDevices = (int (__stdcall*)(void))
GetProcAddress(hdPhantomDLL, "hdPhantomGetNumDevices");
hdPhantomOpen = (int (__stdcall*)(int))
GetProcAddress(hdPhantomDLL, "hdPhantomOpen");
hdPhantomClose = (int (__stdcall*)(int))
GetProcAddress(hdPhantomDLL, "hdPhantomClose");
hdPhantomGetPosition = (int (__stdcall*)(int,
double*, double*, double*))
GetProcAddress(hdPhantomDLL, "hdPhantomGetPosition");
hdPhantomGetLinearVelocity = (int (__stdcall*)(int,
double*, double*, double*))
GetProcAddress(hdPhantomDLL, "hdPhantomGetLinearVelocity");
hdPhantomGetRotation = (int (__stdcall*)(int,
double*, double*, double*,
double*, double*, double*,
double*, double*, double*))
GetProcAddress(hdPhantomDLL, "hdPhantomGetRotation");
hdPhantomGetButtons = (int (__stdcall*)(int))
GetProcAddress(hdPhantomDLL, "hdPhantomGetButtons");
hdPhantomSetForce = (int (__stdcall*)(int,
double*,
double*,
double*))
GetProcAddress(hdPhantomDLL, "hdPhantomSetForce");
hdPhantomSetTorque = (int (__stdcall*)(int,
double*,
double*,
double*))
GetProcAddress(hdPhantomDLL, "hdPhantomSetTorque");
hdPhantomGetWorkspaceRadius = (int (__stdcall*)(int,
double*))
GetProcAddress(hdPhantomDLL, "hdPhantomGetWorkspaceRadius");
hdPhantomGetType = (int (__stdcall*)(int,
char*))
GetProcAddress(hdPhantomDLL, "hdPhantomGetType");
hdPhantomStartServo = (void (__stdcall*)(void))
GetProcAddress(hdPhantomDLL, "hdPhantomStartServo");
hdPhantomStopServo = (void (__stdcall*)(void))
GetProcAddress(hdPhantomDLL, "hdPhantomStopServo");
#endif
#if defined(_LINUX)
// initialize open haptics
init();
// the Phantom drivers are installed
m_driverInstalled = true;
#endif
// get the number ID of the device we wish to communicate with
m_deviceID = a_deviceNumber;
// get the number of Force Dimension devices connected to this computer
int numDevices = hdPhantomGetNumDevices();
// check if such device is available
if ((a_deviceNumber + 1) > (unsigned int)numDevices)
{
// no, such ID does not lead to an existing device
m_systemAvailable = false;
}
else
{
// yes, this ID leads to an existing device
m_systemAvailable = true;
}
// read information related to the device
hdPhantomGetWorkspaceRadius(m_deviceID, &m_specifications.m_workspaceRadius);
// read the device model
char name[255];
hdPhantomGetType(m_deviceID, &name[0]);
m_specifications.m_modelName = name;
/////////////////////////////////////////////////////////////////////
// Define specifications given the device model
/////////////////////////////////////////////////////////////////////
if (m_specifications.m_modelName == "PHANTOM Omni")
{
m_specifications.m_maxForce = 4.0; // [N]
m_specifications.m_maxForceStiffness = 700.0; // [N/m]
m_specifications.m_maxLinearDamping = 5.0; // [N/(m/s)]
}
// increment counter
m_dllcount++;
}
