/** Sets the app the draw should interact with. */
void D3dDrawManager::setApp(App* _app)
{
mApp = dynamic_cast<D3dApp*>(_app);
// We have a new app, so the contexts must be re-initialized
// so... dirty them all.
dirtyAllWindows();
if ( NULL == mApp )
{
vprDEBUG(vprDBG_ERROR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR:")
<< " [vrj::D3dDrawManager::setApp()] Failed to downcast "
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ERROR, vprDBG_CRITICAL_LVL)
<< "application object from vrj::App to vrj::GlApp!" << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ERROR, vprDBG_CRITICAL_LVL)
<< "Type of object " << std::hex << _app << std::dec << " is "
<< typeid(_app).name() << std::endl << vprDEBUG_FLUSH;
throw vrj::DrawMgrException("Object not of type vrj::GlApp",
VPR_LOCATION);
}
}
void ConfigManager::debugDumpPending(int debug_level)
{
vprASSERT(1 == mPendingLock.test());
vprDEBUG(vprDBG_ALL,debug_level)
<< clrSetNORM(clrGREEN)
<< "---- Pending list: " << mPendingConfig.size() << " items ----\n"
<< clrRESET << vprDEBUG_FLUSH;
std::list<ConfigManager::PendingElement>::iterator current, end;
current = getPendingBegin();
end = getPendingEnd();
while ( current != end )
{
ConfigElementPtr cur_element = (*current).mElement;
if ( (*current).mType == PendingElement::ADD )
{
vprDEBUG_NEXT(vprDBG_ALL,debug_level) << " ADD -->" << vprDEBUG_FLUSH;
}
else if ( (*current).mType == PendingElement::REMOVE )
{
vprDEBUG_NEXT(vprDBG_ALL,debug_level) << "REMOVE -->" << vprDEBUG_FLUSH;
}
vprDEBUG_CONT(vprDBG_ALL,debug_level)
<< cur_element->getName() << " type: " << cur_element->getID()
<< std::endl << vprDEBUG_FLUSH;
current++;
}
vprDEBUG_NEXT(vprDBG_ALL,debug_level)
<< "----------------------------------\n" << vprDEBUG_FLUSH;
}
void DependencyManager::debugDump()
{
//vprDEBUG_BEGIN(jcclDBG_RECONFIG, jcclDBG_CONFIG_LVL) << "DependencyManager::debugDump\n" << vprDEBUG_FLUSH;
vprDEBUG_BEGIN(jcclDBG_RECONFIG, vprDBG_STATE_LVL)
<< "----- Current dependency checkers -----\n" << vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_STATE_LVL)
<< "num checkers:" << mDepCheckers.size() << "\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_STATE_LVL)
<< "-1: Checker: default type: default checker recog: all (this is a fallback)\n"
<< vprDEBUG_FLUSH;
for(unsigned int cNum=0;cNum<mDepCheckers.size();cNum++)
{
DepChecker* checker = mDepCheckers[cNum];
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_STATE_LVL)
<< cNum << ": Checker:" << (void*)checker
<< " type:" << typeid(*checker).name()
<< " recog:" << checker->getCheckerName().c_str()
<< "\n" << vprDEBUG_FLUSH;
}
vprDEBUG_END(jcclDBG_RECONFIG, vprDBG_STATE_LVL)
<< "---------------------\n" << vprDEBUG_FLUSH;
}
BaseThread::VPRThreadScope ThreadPosix::posixThreadScopeToVPR(const int scope)
const
{
VPRThreadScope vpr_scope;
switch ( scope )
{
case PTHREAD_SCOPE_PROCESS:
vpr_scope = VPR_LOCAL_THREAD;
break;
case PTHREAD_SCOPE_SYSTEM:
vpr_scope = VPR_GLOBAL_THREAD;
break;
default:
vprDEBUG(vprDBG_ALL, vprDBG_WARNING_LVL)
<< clrOutNORM(clrYELLOW, "WARNING:")
<< " Unexpected value " << scope
<< " in vpr::ThreadPosix::posixThreadScopeToVPR()" << std::endl
<< vprDEBUG_FLUSH;
#if VPR_THREAD_SCOPE == PTHREAD_SCOPE_PROCESS
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_WARNING_LVL)
<< "Defaulting to VPR_LOCAL_THREAD for return value." << std::endl
<< vprDEBUG_FLUSH;
vpr_scope = VPR_LOCAL_THREAD;
#else
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_WARNING_LVL)
<< "Defaulting to VPR_GLOBAL_THREAD for return value." << std::endl
<< vprDEBUG_FLUSH;
vpr_scope = VPR_GLOBAL_THREAD;
#endif
break;
};
return vpr_scope;
}
static void printTrackerInfo(const ISD_TRACKER_INFO_TYPE& info)
{
vprDEBUG(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "InterSense tracker information:" << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* InterSense Library version: " << info.LibVersion << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Tracker type: " << getTrackerTypeString(info.TrackerType)
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Tracker model: " << getTrackerModelString(info.TrackerModel)
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Port number: " << info.Port << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Sync frequency: " << info.SyncRate << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Sync phase: " << info.SyncPhase << "%" << std::endl
<< vprDEBUG_FLUSH;
if ( info.TrackerModel == ISD_IS900 )
{
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Ultrasonic timeout: " << info.UltTimeout << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Ultrasonic speaker volume: " << info.UltVolume << std::endl
<< vprDEBUG_FLUSH;
}
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "* Firmware revision: " << info.FirmwareRev << std::endl
<< vprDEBUG_FLUSH;
}
// Calculates the view frustum needed for the view matrix. This uses a
// method that needs to know the distance in the screen plane from the
// origin (determined by the normal to the plane through the origin) to the
// edges of the screen. This method can be used for any rectangular planar
// screen. By adjusting the wall rotation matrix, this method can be used
// for the general case of a rectangular screen in 3-space.
void SurfaceProjection::calcViewFrustum(const gmtl::Point3f& eyePos,
const float scaleFactor)
{
const float near_dist = mNearDist;
const float far_dist = mFarDist;
// Distance measurements from eye to screen/edges
// Distance to edges is from the point on the screen plane
// where a normal line would go through the origin.
float eye_to_screen, eye_to_right, eye_to_left, eye_to_top, eye_to_bottom;
// Compute transformed eye position
// - Converts eye coords into the surface's coord system
// Xformed position of eyes
const gmtl::Point3f eye_surface =
m_surface_M_base * eyePos;
vprDEBUG(vrjDBG_DISP_MGR, vprDBG_HEX_LVL)
<< "[vrj::SurfaceProjection::calcViewFrustum()] Base eye: "
<< eyePos << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vrjDBG_DISP_MGR, vprDBG_HEX_LVL)
<< " Transformed eye: "
<< eye_surface << std::endl << vprDEBUG_FLUSH;
// Compute dist from eye to screen/edges
// Take into account scale since all origin to anythings are in meters
eye_to_screen = (scaleFactor * mOriginToScreen) + eye_surface[gmtl::Zelt];
eye_to_right = (scaleFactor * mOriginToRight) - eye_surface[gmtl::Xelt];
eye_to_left = (scaleFactor * mOriginToLeft) + eye_surface[gmtl::Xelt];
eye_to_top = (scaleFactor * mOriginToTop) - eye_surface[gmtl::Yelt];
eye_to_bottom = (scaleFactor * mOriginToBottom) + eye_surface[gmtl::Yelt];
// Distances in near plane, in near plane from origin. (Similar to above)
// Find dists on near plane using similar triangles
const float near_dist_front = near_dist / eye_to_screen; // constant factor
const float n_eye_to_left = eye_to_left * near_dist_front;
const float n_eye_to_right = eye_to_right * near_dist_front;
const float n_eye_to_top = eye_to_top * near_dist_front;
const float n_eye_to_bottom = eye_to_bottom * near_dist_front;
// Set frustum and calculate the matrix.
mFrustum.set(-n_eye_to_left, n_eye_to_right, -n_eye_to_bottom,
n_eye_to_top, near_dist, far_dist);
mFocusPlaneDist = eye_to_screen; // Needed for drawing
vprDEBUG(vrjDBG_DISP_MGR, vprDBG_HEX_LVL)
<< "[vrj::SurfaceProjection::calcViewFrustum()]" << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vrjDBG_DISP_MGR, vprDBG_HEX_LVL)
<< "\tFrustum: " << mFrustum << std::endl << vprDEBUG_FLUSH;
}
bool Flock::config(jccl::ConfigElementPtr e)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "Flock::Flock(jccl::ConfigElementPtr)\n" << vprDEBUG_FLUSH;
// read in Position's config stuff,
// --> this will be the port and baud fields
if(! (Input::config(e) && Position::config(e)))
{
return false;
}
// Keep this up to date with the version of the element definition we're
// expecting to handle.
const unsigned int cur_version(2);
bool status(true);
// If the element version is less than cur_version, we will not try to
// proceed. Instead, we'll print an error message and return false so
// that the Config Manager knows this element wasn't consumed.
if ( e->getVersion() < cur_version )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR") << " [Flock] Element named '"
<< e->getName() << "'" << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "is version " << e->getVersion()
<< ", but we require at least version " << cur_version << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "Ignoring this element and moving on." << std::endl
<< vprDEBUG_FLUSH;
status = false;
}
else
{
// keep FlockStandalone's port and baud members in sync with Input's port
// and baud members.
mFlockOfBirds.setPort( e->getProperty<std::string>("port") );
mFlockOfBirds.setBaudRate( e->getProperty<int>("baud") );
// Set mFlockOfBirds with the config info.
mFlockOfBirds.setHemisphere( (BIRD_HEMI) e->getProperty<int>("hemisphere") );
mFlockOfBirds.setMasterAddress( e->getProperty<unsigned>("master_address") );
mFlockOfBirds.setAddressingMode( (::Flock::AddressingMode) e->getProperty<int>("addressing_mode") );
mFlockOfBirds.setFilterType( (BIRD_FILT) e->getProperty<int>("filter") ); //
mFlockOfBirds.setOutputFormat(::Flock::Output::PositionQuaternion); // Default to pos quaternion
}
return status;
}
bool DataGlove::startSampling()
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "[dataglove] Begin sampling\n"
<< vprDEBUG_FLUSH;
bool started(false);
if (mThread == NULL)
{
int maxAttempts=0;
bool result = false;
while (result == false && maxAttempts < 5)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "[dataglove] Connecting to "
<< mPortName << " at "
<< mBaudRate << "...\n"
<< vprDEBUG_FLUSH;
result = mGlove->connectToHardware( mPortName , mBaudRate);
if (result == false)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "[dataglove] ERROR: Can't open or it is already opened."
<< vprDEBUG_FLUSH;
vpr::System::usleep(14500);
maxAttempts++;
}
}
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "[dataglove] Successfully connected, Now sampling dataglove data."
<< vprDEBUG_FLUSH;
// Create a new thread to handle the control and set exit flag to false
mExitFlag = false;
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "[dataglove] Spawning control thread\n" << vprDEBUG_FLUSH;
try
{
mThread = new vpr::Thread(boost::bind(&DataGlove::controlLoop, this));
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "[dataglove] DataGlove is active " << std::endl
<< vprDEBUG_FLUSH;
mActive = true;
started = true;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for 5DT DataGlove driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
}
return started;
}
bool SerialEncoder::startSampling()
{
mExitFlag = false;
bool started(false);
try
{
mSampleThread =
new vpr::Thread(boost::bind(&SerialEncoder::threadedSampleFunction,
this));
started = true;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for Serial Encoder driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
return started;
}
bool InputWindowXWin::startSampling()
{
if (mThread != NULL)
{
vprDEBUG(vprDBG_ERROR,vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED,"ERROR")
<< ": gadget::InputWindowXWin: startSampling called, when already sampling.\n"
<< vprDEBUG_FLUSH;
vprASSERT(false);
}
bool started(false);
mExitFlag = false;
// Create a new thread to handle the control
try
{
mThread = new vpr::Thread(boost::bind(&InputWindowXWin::controlLoop,
this));
started = true;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for X11 input window driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
return started;
}
bool Vrpn::startSampling()
{
bool started(false);
if ( NULL == mThread )
{
// Set flags and spawn sample thread
mExitFlag = false;
vprDEBUG(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "[VRPN] Spawning control thread." << std::endl << vprDEBUG_FLUSH;
try
{
mThread = new vpr::Thread(boost::bind(&Vrpn::readLoop, this));
started = true;
vprDEBUG(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "[VRPN] VRPN driver is active." << std::endl
<< vprDEBUG_FLUSH;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for VRPN driver!\n" << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
}
return started;
}
bool ThreeDMouse::startSampling()
{
bool started(false);
if ( mThread == NULL )
{
openMouse(mPortName);
void sampleMouse(void*);
mExitFlag = false;
try
{
mThread =
new vpr::Thread(boost::bind(&ThreeDMouse::controlLoop, this));
started = true;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for Logitech 3D mouse driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
}
return started;
}
BaseThread::VPRThreadState ThreadPosix::posixThreadStateToVPR(const int state)
const
{
VPRThreadState vpr_state;
switch ( state )
{
case PTHREAD_CREATE_JOINABLE:
vpr_state = VPR_JOINABLE_THREAD;
break;
case PTHREAD_CREATE_DETACHED:
vpr_state = VPR_UNJOINABLE_THREAD;
break;
default:
vprDEBUG(vprDBG_ALL, vprDBG_WARNING_LVL)
<< clrOutNORM(clrYELLOW, "WARNING:")
<< " Unexpected value " << state
<< " in vpr::ThreadPosix::posixThreadStateToVPR()" << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_WARNING_LVL)
<< "Defaulting to VPR_JOINABLE_THREAD for return value."
<< std::endl << vprDEBUG_FLUSH;
vpr_state = VPR_JOINABLE_THREAD;
break;
};
return vpr_state;
}
bool CyberGlove::startSampling()
{
bool started(false);
if (mThread == NULL)
{
resetIndexes();
//Reset Exit flag in case of a shutdown and restart of the driver
mExitFlag = false;
// Create a new thread to handle the control
try
{
mThread = new vpr::Thread(boost::bind(&CyberGlove::controlLoop,
this));
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "gadget::CyberGlove is active " << std::endl << vprDEBUG_FLUSH;
mActive = true;
started = true;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for CyberGlove driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
}
return started;
}
bool X_IST::startSampling()
{
bool started(false);
if ( mThread == NULL )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "[X-IST] Begin sampling\n" << vprDEBUG_FLUSH;
bool result = mGlove->connectToHardware(mGloveNumber);
if ( result == false )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "[X-IST] ERROR: Can't open or it is already opened.\n"
<< vprDEBUG_FLUSH;
return false;
}
const unsigned int num_sensors = mGlove->getNumberSensors();
mAnalogData = std::vector<AnalogData>(num_sensors, 1.0f);
/*
for ( unsigned int i = 0; i < num_sensors; ++i )
{
mAnalogData[i] = 1.0f;
}
*/
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "[X-IST] Successfully connected, Now sampling X-IST data.\n"
<< vprDEBUG_FLUSH;
// Create a new thread to handle the control and set exit flag to false
mExitFlag = false;
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "[X-IST] Spawning control thread.\n" << vprDEBUG_FLUSH;
try
{
mThread = new vpr::Thread(boost::bind(&X_IST::controlLoop, this));
mActive = true;
started = true;
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "[X-IST] X_IST is active" << std::endl << vprDEBUG_FLUSH;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for X-IST driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
started = false;
}
}
return started;
}
bool MSFTSpeechRecogDigital::startSampling()
{
mIsInitializing = true;
// make sure inertia cubes aren't already started
if ( this->isActive() )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "gadget::MSFTSpeechRecogDigital was already started." << std::endl
<< vprDEBUG_FLUSH;
mIsInitializing = false;
return false;
}
// Has the thread actually started already
if(mThread != NULL)
{
vprDEBUG(vprDBG_ERROR,vprDBG_CONFIG_LVL)
<< clrOutNORM(clrRED,"ERROR:")
<< "gadget::MSFTSpeechRecogDigital: startSampling called, when already sampling.\n"
<< vprDEBUG_FLUSH;
vprASSERT(false);
}
else
{
// Create a new thread to handle the sampling control
try
{
mThread =
new vpr::Thread(boost::bind(&MSFTSpeechRecogDigital::controlLoop,
this));
mIsActive = true;
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "gadget::MSFTSpeechRecogDigital sampling control thread created."
<< std::endl << vprDEBUG_FLUSH;
mIsInitializing = false;
return true; // Fail
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for MS Digital Speech driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
mIsInitializing = false;
return false; // Fail
}
}
mIsInitializing = false;
return false;
}
// Look for items in the active list that don't have their dependencies filled
// anymore.
//
// POST: Any elements in active with dependencies not filled are added to the
// the pending list. (A remove and an add are added to the pending).
// RETURNS: The number of lost dependencies found.
int ConfigManager::scanForLostDependencies()
{
vprASSERT(0 == mActiveLock.test());
// We can't hold the lock upon entry
vpr::DebugOutputGuard og(vprDBG_ALL, vprDBG_CONFIG_LVL,
"ConfigManager::scanForLostDependencies()\n",
"ConfigManager::scanForLostDependencies() done.\n");
DependencyManager* dep_mgr = DependencyManager::instance();
std::vector<ConfigElementPtr> elements;
int num_lost_deps(0);
// NOTE: can't hold this lock because the isSatisfied routines make
// use of the activeLock as well
// NOTE: Make the copy of the elements so that we can iterate without
// fear of active changing
mActiveLock.acquire();
elements = mActiveConfig.vec(); // Get a copy of the elements
mActiveLock.release();
// Now test them
for ( unsigned int i=0;i<elements.size();i++ )
{
if ( !dep_mgr->isSatisfied(elements[i]) ) // We are not satisfied
{
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_WARNING_LVL)
<< elements[i]->getName()
<< " type: " << elements[i]->getID()
<< " has lost dependencies.\n" << vprDEBUG_FLUSH;
num_lost_deps++; // Keep a count of the number lost deps found
// Add the pending removal
PendingElement pending;
pending.mType = PendingElement::REMOVE;
pending.mElement = elements[i];
vprASSERT(1 == mPendingLock.test());
addPending(pending);
// Add the pending re-addition
// ConfigElementPtr copy_of_element; // Need a copy so that the remove can delete the element
// copy_of_element = new ConfigElement(*elements[i]);
pending.mType = PendingElement::ADD;
pending.mElement = elements[i];//copy_of_element;
vprASSERT(1 == mPendingLock.test());
addPending(pending); // Add the add item
}
}
return num_lost_deps;
}
bool Flock::startSampling()
{
// make sure birds aren't already started
if (this->isActive() == true)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< "gadget::Flock was already started." << std::endl << vprDEBUG_FLUSH;
return false;
}
bool started(false);
if (mThread == NULL)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< " Opening flock....\n" << vprDEBUG_FLUSH;
mFlockOfBirds.open();
mFlockOfBirds.configure();
mFlockOfBirds.startStreaming();
//sanity check.. make sure birds actually started
if (mFlockOfBirds.getStatus() == FlockStandalone::CLOSED)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "gadget::Flock failed to start.." << std::endl << vprDEBUG_FLUSH;
return false;
}
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "gadget::Flock ready to go..\n" << vprDEBUG_FLUSH;
// Create a new thread to handle the control
mExitFlag = false;
try
{
mThread = new vpr::Thread(boost::bind(&Flock::controlLoop, this));
started = true;
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for Flock of Birds driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
started = false;
}
}
return started;
}
bool SdlJoystick::startSampling()
{
//return init();
if (!init())
{
vprDEBUG(vprDBG_ERROR,vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED,"ERROR:")
<< " gadget::SdlJoystick::startSampling() SDL init failed.\n"
<< vprDEBUG_FLUSH;
return false;
}
if(mThread != NULL)
{
vprDEBUG(vprDBG_ERROR,vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED,"ERROR:")
<< " gadget::SdlJoystick::startSampling() called, when already "
<< "sampling.\n" << vprDEBUG_FLUSH;
return false;
}
// Set flag that will later allow us to stop the control loop.
mDone = false;
bool started(true);
// Create a new thread to handle the control
try
{
mThread = new vpr::Thread(boost::bind(&SdlJoystick::controlLoop,
this));
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for SDL Joystick driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
started = false;
}
return started;
}
void ConfigManager::loadRemoteReconfig()
{
vprASSERT(NULL == mReconfigIf &&
"RTRC interface object already instantiated.");
const std::string jccl_base_dir("JCCL_BASE_DIR");
const std::string vj_base_dir("VJ_BASE_DIR");
std::string base_dir;
if ( ! vpr::System::getenv(jccl_base_dir, base_dir) )
{
if ( vpr::System::getenv(vj_base_dir, base_dir) )
{
vprDEBUG(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "JCCL_BASE_DIR environment variable not set.\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "Using VJ_BASE_DIR instead.\n" << vprDEBUG_FLUSH;
}
else
{
base_dir = JCCL_ROOT_DIR;
vprDEBUG(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "Neither JCCL_BASE_DIR nor VJ_BASE_DIR is set."
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "Using default " << base_dir << " instead."
<< std::endl << vprDEBUG_FLUSH;
}
}
const std::string no_rtrc_plugin("NO_RTRC_PLUGIN");
std::string junk;
// If the user has the environment variable NO_RTRC_PLUGIN set (to any
// value), do not attempt to load the plug-in.
if ( vpr::System::getenv(no_rtrc_plugin, junk) )
{
vprDEBUG(jcclDBG_RECONFIG, vprDBG_STATE_LVL)
<< "Remote reconfig plug-in loading disabled via NO_RTRC_PLUGIN."
<< std::endl << vprDEBUG_FLUSH;
return;
}
#if defined(JCCL_PLUGIN_LIBDIR_NAME)
const std::string lib_dir_name(JCCL_PLUGIN_LIBDIR_NAME);
#else
const std::string lib_dir_name("lib");
#endif
const std::string jccl_subdir_base("jccl");
// If versioning is enabled, then the name of the directory containing the
// Sonix plug-ins must contain version information.
#if defined(JCCL_USE_VERSIONING)
std::string jccl_ver_str;
const std::string jccl_version("JCCL_VERSION");
// If $JCCL_VERSION is set, use the value of that environment variable
// as the version component of the plug-in subdirectory name. Otherwise,
// use the compile-time value provided by JCCL_VERSION_DOT.
if ( ! vpr::System::getenv(jccl_version, jccl_ver_str) )
{
jccl_ver_str = JCCL_VERSION_DOT;
}
std::string jccl_subdir(jccl_subdir_base + std::string("-") +
jccl_ver_str );
// If versioning is not enabled, then the directory containing the
// Jackal plug-ins will not incorporate version information.
#else
std::string jccl_subdir(jccl_subdir_base);
#endif
std::vector<fs::path> search_path(1);
search_path[0] =
#if BOOST_VERSION >= 104600 && BOOST_FILESYSTEM_VERSION == 3
fs::path(base_dir)
#else
fs::path(base_dir, fs::native)
#endif
/ lib_dir_name /
std::string(jccl_subdir) / std::string("plugins");
#if defined(JCCL_DEBUG)
// For a debug build, search in plugins/debug first.
search_path.insert(search_path.begin(),
search_path[0] / std::string("debug"));
#endif
// In the long run, we may not want to hard-code the base name of the
// plug-in we load. If we ever reach a point where we have multiple ways
// of implementing remote run-time reconfiguration, we could have options
// for which plug-in to load.
const std::string reconfig_dso("corba_rtrc");
mRemoteRtrcPlugin = vpr::LibraryLoader::findDSO(reconfig_dso, search_path);
bool load_done(true);
if ( mRemoteRtrcPlugin.get() != NULL )
{
vprASSERT(! mRemoteRtrcPlugin->isLoaded() &&
"Plug-in should not already be loaded");
vprDEBUG(jcclDBG_RECONFIG, vprDBG_CONFIG_STATUS_LVL)
<< "Loading library: " << std::setiosflags(std::ios::right)
<< std::setfill(' ') << std::setw(50) << mRemoteRtrcPlugin->getName()
<< std::resetiosflags(std::ios::right) << " " << vprDEBUG_FLUSH;
try
{
mRemoteRtrcPlugin->load();
const std::string init_func_name("initPlugin");
void* entry_point = mRemoteRtrcPlugin->findSymbol(init_func_name);
if ( NULL != entry_point )
{
vprDEBUG_CONT(jcclDBG_RECONFIG, vprDBG_CONFIG_STATUS_LVL)
<< "[ " << clrSetNORM(clrGREEN) << "OK" << clrRESET << " ]\n"
<< vprDEBUG_FLUSH;
jccl::RemoteReconfig* (*init_func)(jccl::ConfigManager*);
// Cast the entry point function to the correct signature so that we
// can call it. All dynamically plug-ins must have an entry point
// function that takes no argument and returns a pointer to an
// implementation of the jccl::RemoteReconfig interface.
init_func =
(jccl::RemoteReconfig* (*)(jccl::ConfigManager*)) entry_point;
// Call the entry point function.
jccl::RemoteReconfig* plugin = (*init_func)(this);
if ( NULL != plugin )
{
setRemoteReconfigPlugin(plugin);
}
else
{
load_done = false;
vprDEBUG_CONT(jcclDBG_RECONFIG, vprDBG_CONFIG_STATUS_LVL)
<< "[ " << clrSetNORM(clrRED) << "entry point call FAILED"
<< clrRESET << " ]\n" << vprDEBUG_FLUSH;
}
}
else
{
load_done = false;
vprDEBUG_CONT(jcclDBG_RECONFIG, vprDBG_CONFIG_STATUS_LVL)
<< "[ " << clrSetNORM(clrRED) << "FAILED lookup" << clrRESET
<< " ]\n" << vprDEBUG_FLUSH;
}
}
catch (vpr::Exception& ex)
{
load_done = false;
vprDEBUG_CONT(jcclDBG_RECONFIG, vprDBG_CONFIG_STATUS_LVL)
<< "[ " << clrSetNORM(clrRED) << "FAILED" << clrRESET << " ]\n"
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
}
else
{
load_done = false;
}
if ( ! load_done )
{
vprDEBUG(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "Failed to load the remote run-time reconfiguration"
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "plug-in. Remote run-time reconfiguration is disabled."
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_WARNING_LVL)
<< "(This is not a fatal error.)" << std::endl << vprDEBUG_FLUSH;
// The plug-in is not usable, so we can unload it.
if ( mRemoteRtrcPlugin.get() != NULL )
{
if ( mRemoteRtrcPlugin->isLoaded() )
{
mRemoteRtrcPlugin->unload();
}
mRemoteRtrcPlugin.reset();
}
}
}
// Read exactly the specified number of bytes from the file handle into the
// given buffer. This is based on the readn() function given on pages 51-2 of
// _Effective TCP/IP Programming_ by Jon D. Snader.
vpr::Uint32 FileHandleImplUNIX::readn_i(void* buffer,
const vpr::Uint32 buffer_size,
const vpr::Interval& timeout)
{
if ( vpr::Interval::NoTimeout != timeout )
{
vprDEBUG(vprDBG_ALL,vprDBG_WARNING_LVL) << "Timeout not supported\n"
<< vprDEBUG_FLUSH;
//TODO: InvalidArgumentException instead, but this will require
// adding it as an acceptable exception to throw.
throw IOException("Timeout not supported by readn.", VPR_LOCATION);
}
vpr::Uint32 bytes_read(0);
size_t bytes_left = buffer_size;
while ( bytes_left > 0 )
{
vprDEBUG(vprDBG_ALL, vprDBG_HVERB_LVL)
<< "[vpr::FileHandleImplUNIX::readn_i()] Reading " << bytes_left
<< " bytes from file handle " << mFdesc << std::endl
<< vprDEBUG_FLUSH;
const ssize_t bytes = ::read(mFdesc, buffer, bytes_left);
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_HVERB_LVL)
<< "Read " << bytes << " bytes from file handle " << mFdesc
<< std::endl << vprDEBUG_FLUSH;
// Read error.
if ( bytes < 0 )
{
// Restart the read process if we were interrupted by the OS.
if ( EINTR == errno )
{
continue;
}
// Restart the read process if socket is non-blocking and no
// data was immediately available.
else if ( EAGAIN == errno )
{
continue;
}
// Otherwise, we have an error situation, so return failure status.
else
{
std::ostringstream msg_stream;
msg_stream << "Error reading from " << mName << ": "
<< strerror(errno);
throw IOException(msg_stream.str(), VPR_LOCATION);
}
}
// We have read EOF, so there is nothing more to read. At this point,
// bytes_read contains an accurate count of the bytes read so far
// (posisbly less than buffer_size).
else if ( bytes == 0 )
{
vprDEBUG(vprDBG_ALL, vprDBG_HVERB_LVL)
<< "[vpr::FileHandleImplUNIX::readn_i()] Read EOF with "
<< bytes_left << " bytes left to read from file handle "
<< mFdesc << " and " << bytes_read << " bytes read in total."
<< std::endl << vprDEBUG_FLUSH;
std::ostringstream ss;
ss << "Read EOF with " << bytes_left
<< " bytes left to read from file handle " << mFdesc << " and "
<< bytes_read << " bytes read in total.";
throw EOFException(ss.str(), VPR_LOCATION);
}
else
{
buffer = (void*) ((char*) buffer + bytes);
bytes_left -= bytes;
bytes_read += bytes;
}
}
return bytes_read;
}
bool SurfaceViewport::config(jccl::ConfigElementPtr element)
{
vprASSERT(element.get() != NULL);
vprASSERT(element->getID() == "surface_viewport");
// Call base class config
if ( ! Viewport::config(element) )
{
return false;
}
bool result(true);
mType = SURFACE;
// Read in the corners
mLLCorner.set(element->getProperty<float>("lower_left_corner", 0),
element->getProperty<float>("lower_left_corner", 1),
element->getProperty<float>("lower_left_corner", 2));
mLRCorner.set(element->getProperty<float>("lower_right_corner", 0),
element->getProperty<float>("lower_right_corner", 1),
element->getProperty<float>("lower_right_corner", 2));
mURCorner.set(element->getProperty<float>("upper_right_corner", 0),
element->getProperty<float>("upper_right_corner", 1),
element->getProperty<float>("upper_right_corner", 2));
mULCorner.set(element->getProperty<float>("upper_left_corner", 0),
element->getProperty<float>("upper_left_corner", 1),
element->getProperty<float>("upper_left_corner", 2));
mCornerUpdateMode = static_cast<CornerUpdateMode>(element->getProperty<int>("auto_corner_update", 0));
// Calculate the rotation and the pts
// calculateSurfaceRotation();
// calculateCornersInBaseFrame();
// Get info about being tracked
mTracked = element->getProperty<bool>("tracked");
if(mTracked)
{
mTrackerProxyName = element->getProperty<std::string>("tracker_proxy");
}
// Create Projection objects
// NOTE: The -'s are because we are measuring distance to
// the left(bottom) which is opposite the normal axis direction
//vjMatrix rot_inv;
//rot_inv.invert(mSurfaceRotation);
SurfaceProjectionPtr left_proj;
SurfaceProjectionPtr right_proj;
if(!mTracked)
{
left_proj = SurfaceProjection::create(mLLCorner, mLRCorner, mURCorner,
mULCorner);
right_proj = SurfaceProjection::create(mLLCorner, mLRCorner, mURCorner,
mULCorner);
}
else
{
left_proj = TrackedSurfaceProjection::create(mLLCorner, mLRCorner,
mURCorner, mULCorner,
mTrackerProxyName);
right_proj = TrackedSurfaceProjection::create(mLLCorner, mLRCorner,
mURCorner, mULCorner,
mTrackerProxyName);
}
try
{
left_proj->validateCorners();
right_proj->validateCorners();
// NOTE: Even if the corner validation above failed, we still proceed with
// setting up mLeftProj and mRightProj. This is because other code is not
// written to handle the case of a viewport having no projections. This
// could definitely be improved.
mLeftProj = left_proj;
mRightProj = right_proj;
// Configure the projections
mLeftProj->config(element);
mLeftProj->setEye(Projection::LEFT);
mLeftProj->setViewport(shared_from_this());
mRightProj->config(element);
mRightProj->setEye(Projection::RIGHT);
mRightProj->setViewport(shared_from_this());
}
catch (InvalidSurfaceException& ex)
{
vprDEBUG(vrjDBG_DISP_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": The surface defined by the viewport named\n" << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vrjDBG_DISP_MGR, vprDBG_CRITICAL_LVL)
<< " '" << element->getName() << "' is invalid!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vrjDBG_DISP_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
result = false;
}
return result;
}
void ClusterDepChecker::debugOutDependencies(jccl::ConfigElementPtr element,
const int dbg_lvl)
{
vprDEBUG_NEXT_BEGIN( vprDBG_ALL, dbg_lvl )
<< "---- Dependencies for " << element->getName()
<< " (type: " << element->getID() << ") ----\n" << vprDEBUG_FLUSH;
if (element->getID() == ClusterNetwork::getClusterNodeElementType())
{
// Machine Specific element should have no dependencies since we are
// simply inserting the child elements into the pending list.
vprDEBUG_NEXT( vprDBG_ALL, dbg_lvl ) << "0: "
<< "Host node's ConfigElement"
<< " ==> " << vprDEBUG_FLUSH;
vprDEBUG_CONT( vprDBG_ALL, dbg_lvl ) << "none.\n"
<< vprDEBUG_FLUSH;
}
/*
else if (cluster::ClusterManager::instance()->recognizeRemoteDeviceConfig( element ))
{
std::string device_host = element->getProperty<std::string>( "device_host");
gadget::NodePtr node = cluster::ClusterManager::instance()->getNetwork()->getNodeByName( device_host );
vprDEBUG_NEXT( vprDBG_ALL, dbg_lvl ) << "1: "
<< "Device node's ConfigElement"
<< " ==> " << vprDEBUG_FLUSH;
jccl::ConfigManager* cfg_mgr = jccl::ConfigManager::instance();
if (!cfg_mgr->isElementInActiveList( device_host ) || NULL == node)
{
vprDEBUG_CONT( vprDBG_ALL, dbg_lvl ) << "not in active list.\n"
<< vprDEBUG_FLUSH;
}
else
{
vprDEBUG_CONT( vprDBG_ALL, dbg_lvl ) << "in active list.\n"
<< vprDEBUG_FLUSH;
}
vprDEBUG_NEXT( vprDBG_ALL, dbg_lvl ) << "2: "
<< "Device host connection status"
<< " ==> " << vprDEBUG_FLUSH;
if (gadget::Node::DISCONNECTED == node->getStatus())
{
vprDEBUG_CONT( vprDBG_ALL, dbg_lvl ) << "disconnected.\n"
<< vprDEBUG_FLUSH;
}
else if (gadget::Node::PENDING == node->getStatus())
{
vprDEBUG_CONT( vprDBG_ALL, dbg_lvl ) << "pending.\n"
<< vprDEBUG_FLUSH;
}
else if (gadget::Node::NEWCONNECTION == node->getStatus())
{
vprDEBUG_CONT( vprDBG_ALL, dbg_lvl ) << "new connection.\n"
<< vprDEBUG_FLUSH;
}
}
*/
vprDEBUG_CONT_END( vprDBG_ALL, dbg_lvl ) << std::endl << vprDEBUG_FLUSH;
}
DTrackStandalone::DTrackStandalone(
int udpport, const char* remote_host, int remote_port,
int udpbufsize, int udptimeout_us
)
{
vpr::InetAddr addr;
d_udpsock = NULL;
d_udpbuf = NULL;
set_noerror();
// creat UDP socket:
if(udpport <= 0 || udpport > 65535){
return;
}
addr = vpr::InetAddr::AnyAddr;
addr.setPort((unsigned short )udpport);
d_udpsock = new vpr::SocketDatagram(addr, vpr::InetAddr::AnyAddr);
try
{
d_udpsock->open();
d_udpsock->bind();
d_udptimeout.set(udptimeout_us, vpr::Interval::Usec);
// create UDP buffer:
d_udpbufsize = udpbufsize;
d_udpbuf = (char *)malloc(udpbufsize);
if(!d_udpbuf){
d_udpsock->close();
delete d_udpsock;
d_udpsock = NULL;
return;
}
// DTrack remote control parameters:
d_use_remote = false;
if(remote_host != NULL && remote_port > 0 && remote_port <= 65535){
try
{
d_remote.setAddress(remote_host, remote_port);
d_use_remote = true;
}
catch (vpr::UnknownHostException& ex)
{
vprDEBUG(vprDBG_ALL, vprDBG_CRITICAL_LVL)
<< "[DTrackStandalone] invalid remote address "
<< remote_host << ":" << remote_port
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl;
free(d_udpbuf);
d_udpsock->close();
delete d_udpsock;
d_udpsock = NULL;
return;
}
}
d_remote_cameras = false;
d_remote_tracking = true;
d_remote_sending = true;
// reset actual DTrack data:
act_framecounter = 0;
act_timestamp = -1;
act_num_body = act_num_flystick = act_num_meatool = act_num_hand = 0;
act_num_marker = 0;
}
catch (vpr::Exception& ex)
{
vprDEBUG(vprDBG_ALL, vprDBG_CRITICAL_LVL)
<< "[DTrackStandalone] cannot open UDP socket, port "
<< udpport << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ALL, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl;
delete d_udpsock;
d_udpsock = NULL;
}
}
bool IntersenseAPI::startSampling()
{
// Ensure that we have not already started sampling.
if (this->isActive() == true)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< "IntersenseAPI driver was already started." << std::endl
<< vprDEBUG_FLUSH;
return false;
}
// Ensure that the thread has not already started.
if(mThread != NULL)
{
vprDEBUG(vprDBG_ERROR,vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED,"ERROR:")
<< " gadget::IntersenseAPI::startSampling() called, when already "
<< "sampling.\n" << vprDEBUG_FLUSH;
return false;
}
// Open the connection to the tracker
mTracker.open(mISenseDriverLocation);
if (this->isActive() == false)
{
vprDEBUG(vprDBG_ERROR,vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED,"ERROR:")
<< " [gadget::IntersenseAPI::startSampling()] mTracker.open() "
<< "failed to connect to tracker.\n" << vprDEBUG_FLUSH;
return false;
}
// Configure the stations used by the configuration
for( unsigned int i = 0; i < mStations.size(); ++i )
{
int station_index = mStations[i].stationIndex;
// Reset any boresight being used by trackd or ICIDO
// This makes a call to the tracker and is not simply setting
// state on a var to configure the tracker with as done below.
mTracker.resetStationBoresight(station_index);
// Load the config state from the physical tracker
mTracker.loadConfigState(station_index);
mTracker.setState(station_index, mStations[i].enabled);
mTracker.setInputs(station_index,
mStations[i].useDigital || mStations[i].useAnalog);
mTracker.setTimeStamped( station_index, false );
mTracker.setDefaultCoordFrame( station_index );
// Save the config state to the physical tracker.
if ( ! mTracker.saveConfigState(station_index) )
{
vprDEBUG(vprDBG_ERROR,vprDBG_CRITICAL_LVL)
<< clrOutNORM(clrRED,"ERROR:")
<< " [gadget::IntersenseAPI::startSampling()] mTracker.saveConfigState() "
<< "failed to save config state to station " << i << ".\n"
<< vprDEBUG_FLUSH;
mTracker.close();
return false;
}
//Try to get output in quat form otherwise fallback on euler angles
mTracker.setAngleFormat(station_index, ISD_QUATERNION);
if ( ! mTracker.saveConfigState(station_index) )
{
// Failed to set quaternion format which means it is set for euler
mTracker.setAngleFormat(station_index, ISD_EULER);
}
}
// Set flag that will later allow us to stop the control loop.
mDone = false;
bool started(true);
// Create a new thread to handle the control
try
{
mThread = new vpr::Thread(boost::bind(&IntersenseAPI::controlLoop,
this));
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for InterSense API driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
started = false;
}
return started;
}
// Configure the MotionStar with the given config element.
bool MotionStar::config(jccl::ConfigElementPtr e)
{
bool retval(false);
if ( Input::config(e) && Position::config(e) )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "MotionStar::config(jccl::ConfigElementPtr)\n"
<< vprDEBUG_FLUSH;
const unsigned int cur_version(2);
if ( e->getVersion() < cur_version )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< " [gadget::MotionStar::config()] Element named '"
<< e->getName() << "'" << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "is version " << e->getVersion()
<< ", but we require at least version " << cur_version
<< std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "Ignoring this element and moving on." << std::endl
<< vprDEBUG_FLUSH;
retval = false;
}
else
{
// Configure mMotionStar with the config info.
const unsigned num_filters = e->getNum("position_filters");
// Sanity check. There has to be at least one position filter
// configured.
if ( num_filters == 0 )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": [MotionStar::config(jccl::ConfigElementPtr)] No position "
<< "filters configured in " << e->getName() << std::endl
<< vprDEBUG_FLUSH;
retval = false;
}
else
{
BIRDNET::units expected_units;
// Find the first position_transform_filter instance and get its
// device_units property value. This will tell us what units we're
// expecting from the hardware.
const std::string filter_type("position_transform_filter");
for ( unsigned i = 0; i < num_filters; ++i )
{
jccl::ConfigElementPtr pos_elt =
e->getProperty<jccl::ConfigElementPtr>("position_filters", i);
if ( pos_elt->getID() == filter_type )
{
const float unit_conv =
pos_elt->getProperty<float>("device_units");
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_VERB_LVL)
<< "[gadget::MotionStar::config()] Read " << unit_conv
<< " as the conversion from device units to meters.\n"
<< vprDEBUG_FLUSH;
// Inches. This is the most likely configuration as of this
// writing.
if ( unit_conv == 0.0254f )
{
expected_units = BIRDNET::INCHES;
}
// Feet.
else if ( unit_conv == 0.3048f )
{
expected_units = BIRDNET::FEET;
}
// Meters.
else if ( unit_conv == 1.0f )
{
expected_units = BIRDNET::METERS;
}
// Unexpected value.
else
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "[MotionStar::config(jccl::ConfigElementPtr)] "
<< clrOutBOLD(clrRED, "ERROR")
<< ": Unsupported device unit value " << unit_conv
<< " in " << pos_elt->getFullName() << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "Check your configuration for errors.\n"
<< vprDEBUG_FLUSH;
// Break out of this method early because the
// configuration element we were given is bad.
return false;
}
// We're done checking for unit conversion values.
break;
}
}
mMotionStar.setExpectedUnits(expected_units);
setAddressName(e->getProperty<std::string>("address").c_str());
setServerPort((unsigned short) e->getProperty<int>("server_port"));
setMasterStatus(e->getProperty<bool>("is_master"));
setHemisphere((unsigned char) e->getProperty<int>("hemisphere"));
setBirdFormat((unsigned int) e->getProperty<int>("data_format"));
setRunMode((unsigned int) e->getProperty<int>("mode"));
setReportRate((unsigned char) e->getProperty<int>("report_rate"));
setMeasurementRate(e->getProperty<float>("measurement_rate"));
retval = true;
}
}
}
return retval;
}
bool InputWindowXWin::config(jccl::ConfigElementPtr e)
{
unsigned required_definition_ver(1);
if (e->getVersion() < required_definition_ver)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": [gadget::InputWindowXWin::config()] Element named '"
<< e->getName() << "'" << std::endl << vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "is version " << e->getVersion()
<< ", but we require at least version " << required_definition_ver
<< ". Ignoring.\n" << vprDEBUG_FLUSH;
return false;
}
if ( ! ( InputArea::config(e) && Input::config(e) ) )
{
return false;
}
const char neg_one_STRING[] = "-1";
// Get size and position
mWidth = e->getProperty<int>("size", 0);
mHeight = e->getProperty<int>("size", 1);
// Sanity checks.
if (mWidth == 0)
{
mWidth = 400;
}
if (mHeight == 0)
{
mHeight = 400;
}
mX = e->getProperty<int>("origin", 0);
mY = e->getProperty<int>("origin", 1);
// Get the X display string
int x_disp_num = e->getProperty<int>("display_number");
jccl::ConfigElementPtr disp_sys_elt =
gadget::InputManager::instance()->getDisplaySystemElement();
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "gadget::InputWindowXWin: display_number: " << x_disp_num
<< std::endl << vprDEBUG_FLUSH;
if (NULL == disp_sys_elt.get())
{
vprDEBUG(vprDBG_ERROR, vprDBG_CONFIG_LVL)
<< clrOutNORM(clrRED, "ERROR")
<< ": [gadget::InputWindowXWin::config()] display_system element "
<< "is NULL.\n" << vprDEBUG_FLUSH;
return false;
}
if ( x_disp_num >= 0 && disp_sys_elt.get() != NULL )
{
if ( disp_sys_elt->getVersion() < 3 )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< clrOutBOLD(clrYELLOW, "WARNING") << ": Display system element '"
<< disp_sys_elt->getName() << "'" << std::endl;
vprDEBUG_NEXTnl(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< " is out of date.\n";
vprDEBUG_NEXTnl(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< " Expected version 3 but found version "
<< disp_sys_elt->getVersion() << ". Pipe\n";
vprDEBUG_NEXTnl(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< " configurations will not work.\n" << vprDEBUG_FLUSH;
}
mXDisplayString = disp_sys_elt->getProperty<std::string>("pipes",
x_disp_num);
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "[gadget::InputWindowXWin::config()] Display: " << mXDisplayString
<< std::endl << vprDEBUG_FLUSH;
}
else
{
mXDisplayString = std::string("-1");
}
if ((mXDisplayString.empty()) || (strcmp(mXDisplayString.c_str(), neg_one_STRING) == 0)) // Use display env
{
const std::string DISPLAY_str("DISPLAY");
vpr::System::getenv(DISPLAY_str, mXDisplayString);
}
return true;
}
// Begin sampling.
bool MotionStar::startSampling()
{
bool retval(false); // Initialize to error status
// Make sure the device isn't already started.
if ( isActive() )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< "gadget::MotionStar was already started.\n" << vprDEBUG_FLUSH;
retval = true;
}
else
{
if ( NULL == mMyThread )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< " Getting MotionStar ready ...\n" << vprDEBUG_FLUSH;
try
{
mMotionStar.start();
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< "gadget::MotionStar ready to go.\n" << vprDEBUG_FLUSH;
// Set exit flag to not exit and start sample thread
mExitFlag = false;
try
{
mMyThread =
new vpr::Thread(boost::bind(&MotionStar::controlLoop, this));
retval = true; // success
}
catch (vpr::Exception& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR")
<< ": Failed to spawn thread for MotionStar driver!\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
retval = false;
}
}
// Connection to server failed. MotionStarStandalone prints out
// the system error message about why.
catch(mstar::ConnectException& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "gadget::MotionStar failed to connect to server: "
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
// Some network error occurred when trying to start the device.
catch(mstar::NetworkException&)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "gadget::MotionStar could not create a socket\n"
<< vprDEBUG_FLUSH;
}
// Unkonwn exception from MotionStarStandalone::start().
catch(mstar::MotionStarException& ex)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< "Abnormal return from MotionStarStandalone::start(): "
<< ex.what() << std::endl << vprDEBUG_FLUSH;
}
}
// The thread has been started, so we are already sampling.
else
{
retval = true;
}
}
return retval;
}
bool DirectXJoystick::startSampling()
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "Initializing Direct Input joystick device" << std::endl
<< vprDEBUG_FLUSH;
try
{
mInputDrv.init();
mActive = true;
}
catch(DirectXJoystickException& ex)
{
vprDEBUG(vprDBG_ERROR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "ERROR:")
<< " [gadget::DirectXJoystick::startSampling()] "
<< "Failed to initialize Direct Input joystick:" << std::endl
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(vprDBG_ERROR, vprDBG_CRITICAL_LVL)
<< ex.what() << std::endl << vprDEBUG_FLUSH;
return false;
}
// Output joystick description
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< std::endl
<< " joystick label: " << mJsLabel << std::endl
<< " joystick name: " << mInputDrv.getProductName() << std::endl
<< " axes: " << mInputDrv.getNumAxes() << std::endl
<< " buttons: " << mInputDrv.getNumButtons() << std::endl
<< " firmware rev: " << mInputDrv.getFirmwareRev() << std::endl
<< " hardware rev: " << mInputDrv.getHardwareRev() << std::endl
<< " axis buttons: ";
for ( unsigned int i = 0; i < mAxisButtonIndices.size(); ++i )
{
vprDEBUG_CONTnl(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< mAxisButtonIndices[i] << " ";
}
vprDEBUG_CONTnl(gadgetDBG_INPUT_MGR, vprDBG_CONFIG_LVL)
<< std::endl << vprDEBUG_FLUSH;
// Allocate initial device data. By default this will clear them out.
const DWORD num_axes(mInputDrv.getNumAxes()),
num_buttons(mInputDrv.getNumButtons());
mCurAxes.resize(num_axes);
mCurAxesRanges.resize(num_axes,
axis_range_t((float) DirectXJoystickStandalone::getAxisMin(),
(float) DirectXJoystickStandalone::getAxisMax()));
// We use double the number of axis button indices because each axis has
// to map to two buttons (high and low).
mCurButtons.resize(num_buttons + mAxisButtonIndices.size() * 2);
// Set up axis-as-button stuff.
// Default to -1, meaning no axis button.
mAxisToButtonIndexLookup.clear();
mAxisToButtonIndexLookup.resize(num_axes, -1);
for ( unsigned int i = 0; i < mAxisButtonIndices.size(); ++i )
{
// Define the index of the virtual button from the axis. Each axis
// provides two virtual buttons: one for its low value and one for its
// high value. These virtual buttons are paired up in the digital
// sample buffers as [low0, high0, low1, high1, ..., lowN, highN] for
// axes 0 through N.
const unsigned int virtual_btn_index = num_buttons + i * 2;
vprASSERT(virtual_btn_index < mCurButtons.size() &&
"Virtual button index out of range");
// Index of the axis we are mapping.
unsigned int axis_index = mAxisButtonIndices[i];
// Set up the mapping.
mAxisToButtonIndexLookup[axis_index] = int(virtual_btn_index);
}
return true;
}
/**
* This routine counts the number of pending elements each time it is called.
* if it goes pending_repeat_limit calls without changing size, then it returns
* false until mLastPendingSize changes.
*
* CONCURRENCY: concurrent
*/
bool ConfigManager::shouldCheckPending()
{
// - Lock PendingCountMutex
// - If the size of the pending list has changed
// - Reset the pending check count to allow reconfig
// - Record the new size to check against next time
// - Set return value to true
// - Else if the pending check count is less the limit
// - Increment the pendling check count (decrease the
// number of remaining iterations)
// - Set the return value to true
// - Else if the pending check count equals the limit
// - Increment the pendling check count (needed to
// push count over limit)
// - Print the list of stale configuration elements
// - Set the return value to false
// - Else
// - Set the return value to false
// - Unlock PendingCountMutex
std::list<PendingElement>::size_type cur_pending_size(0);
bool ret_val = false;
mPendingCountMutex.acquire();
cur_pending_size = mPendingConfig.size();
if ( cur_pending_size != mLastPendingSize )
{
ret_val = true; // Flag it for a check
mPendingCheckCount = 0; // Reset the counter
mLastPendingSize = cur_pending_size; // Keep track of size
}
else if ( mPendingCheckCount < pending_repeat_limit )
{
mPendingCheckCount++;
ret_val = true;
}
else if( mPendingCheckCount == pending_repeat_limit )
{
mPendingCheckCount++;
vprDEBUG(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< "Pending list is now "
<< clrOutNORM(clrGREEN, "STALE") << ":\n" << vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< cur_pending_size << " items are still in the pending list\n"
<< vprDEBUG_FLUSH;
if ( cur_pending_size > 0 )
{
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< "NOTE: These items have been specified in the\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< " configuration but have not been loaded.\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< " This may be a problem in the configuration OR\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< " it may be waiting for more configuration\n"
<< vprDEBUG_FLUSH;
vprDEBUG_NEXT(jcclDBG_RECONFIG, vprDBG_CRITICAL_LVL)
<< " information.\n" << vprDEBUG_FLUSH;
}
lockPending();
debugDumpPending(vprDBG_CRITICAL_LVL); // Output the stale pending list
unlockPending();
ret_val = false;
}
else
{
ret_val = false;
}
mPendingCountMutex.release();
return ret_val;
}
