AnalogsTable AnalogsTableGenerator::generateTable(const int &groupNum,
const int &analogsNum,
const int &maxProdNumFromSHG)
{
if(groupNum <= 0 || analogsNum<= 0 || maxProdNumFromSHG<= 0)
{
return AnalogsTable();
}
int maxProdNum = maxProdNumFromSHG;
if(groupNum * (analogsNum + 1) > maxProdNumFromSHG)
{
qWarning() << "Warning in AnalogsTableGenerator::generateTable "
<< "maxProdNumFromSHG is small for this groupNum and analogsNum";
maxProdNum = groupNum * (analogsNum + 1);
qWarning() << "set maxProdNum = " << maxProdNum;
}
const QString prodPrefix = "prod_";
AnalogsTable table;
QList<int> past;
for(int group = 0; group < groupNum; group++)
{
int randProdNum = 0;
while(true)
{
randProdNum = rand() % maxProdNum;
if(!past.contains(randProdNum))
{
past.append(randProdNum);
break;
}
}
Analogs analogs(ID(prodPrefix + QString::number(randProdNum)));
for(int an = 0; an < analogsNum; an++)
{
int randAnNum = 0;
while(true)
{
randAnNum = rand() % maxProdNum;
if(!past.contains(randAnNum))
{
past.append(randAnNum);
break;
}
}
analogs.addAnalog(ID(prodPrefix + QString::number(randAnNum)));
}
table.addAnalogs(analogs);
}
return table;
}
bool Vrpn::sample()
{
if ( mTrackerNumber > 0 )
{
std::vector<PositionData> positions(mTrackerNumber);
vpr::Guard<vpr::Mutex> g(mTrackerMutex);
for ( int i = 0; i < mTrackerNumber; ++i )
{
gmtl::Matrix44f pos;
gmtl::setRot(pos, mQuats[i]);
gmtl::setTrans(pos, mPositions[i]);
positions[i].setValue(pos);
positions[i].setTime();
}
addPositionSample(positions);
}
if ( mButtonNumber > 0 )
{
std::vector<DigitalData> buttons(mButtonNumber);
vpr::Guard<vpr::Mutex> g(mButtonMutex);
for ( int i = 0; i < mButtonNumber; ++i )
{
buttons[i] = mButtons[i];
buttons[i].setTime();
}
addDigitalSample(buttons);
}
if ( mAnalogNumber > 0 )
{
std::vector<AnalogData> analogs(mAnalogNumber);
vpr::Guard<vpr::Mutex> g(mAnalogMutex);
for ( int i = 0; i < mAnalogNumber; ++i )
{
analogs[i] = mAnalogs[i];
analogs[i].setTime();
}
addAnalogSample(analogs);
}
return true;
}
int jvs_device::handle_message(const UINT8 *send_buffer, UINT32 send_size, UINT8 *&recv_buffer)
{
UINT32 old_reset_counter = jvs_reset_counter;
jvs_reset_counter = 0;
switch(send_buffer[0]) {
case 0xf0:
if(send_size < 2 || send_buffer[1] != 0xd9)
return 0;
// Reset, must be sent twice
jvs_reset_counter = old_reset_counter+1;
if(jvs_reset_counter == 2)
device_reset();
return 2;
case 0x10: {
const char *id = device_id();
int len = strlen(id)+1;
*recv_buffer++ = 0x01;
memcpy(recv_buffer, id, len);
recv_buffer += len;
return 1;
}
case 0x11:
*recv_buffer++ = 0x01;
*recv_buffer++ = command_format_version();
return 1;
case 0x12:
*recv_buffer++ = 0x01;
*recv_buffer++ = jvs_standard_version();
return 1;
case 0x13:
*recv_buffer++ = 0x01;
*recv_buffer++ = comm_method_version();
return 1;
case 0x14:
*recv_buffer++ = 0x01;
function_list(recv_buffer);
*recv_buffer++ = 0x00;
return 1;
case 0x20:
if(send_size < 3)
return 0;
*recv_buffer++ = 0x01;
return switches(recv_buffer, send_buffer[1], send_buffer[2]) ? 3 : 0;
case 0x21:
if(send_size < 2)
return 0;
*recv_buffer++ = 0x01;
return coin_counters(recv_buffer, send_buffer[1]) ? 2 : 0;
case 0x22:
if(send_size < 2)
return 0;
*recv_buffer++ = 0x01;
return analogs(recv_buffer, send_buffer[1]) ? 2 : 0;
case 0x30:
if(send_size < 4)
return 0;
*recv_buffer++ = 0x01;
return coin_add(send_buffer[1], -((send_buffer[2] << 8) | send_buffer[3])) ? 4 : 0;
case 0x31:
if(send_size < 4)
return 0;
*recv_buffer++ = 0x01;
return coin_add(send_buffer[1], ((send_buffer[2] << 8) | send_buffer[3])) ? 4 : 0;
case 0x32:
if(send_size < 2 || send_size < 2+send_buffer[1])
return 0;
*recv_buffer++ = 0x01;
return swoutputs(send_buffer[1], send_buffer+2) ? 2+send_buffer[1] : 0;
case 0x38:
if(send_size < 3)
return 0;
*recv_buffer++ = 0x01;
return swoutputs(send_buffer[1], send_buffer[2]) ? 3 : 0;
default:
logerror("JVSDEV: unhandled command %02x\n", send_buffer[0]);
return 0;
}
return -1;
}
