void close(void)
{
// stop the simulation
simulationRunning = false;
// wait for graphics and haptics loops to terminate
while (!simulationFinished) { cSleepMs(100); }
// close haptic device
hapticDevice->close();
}
void close(void)
{
// stop the simulation
simulationRunning = false;
// wait for graphics and haptics loops to terminate
while (!simulationFinished) { cSleepMs(100); }
// close haptic device
tool->stop();
deltaCtrl.ReleaseDev();
}
void close(void)
{
// stop the simulation
simulationRunning = false;
// wait for graphics and haptics loops to terminate
while (!simulationFinished) { cSleepMs(100); }
// close all haptic devices
int i=0;
while (i < numHapticDevices)
{
hapticDevices[i]->close();
i++;
}
}
void close(void)
{
// stop the simulation
simulationRunning = false;
// wait for graphics and haptics loops to terminate
while (!simulationFinished) { cSleepMs(100); }
// close haptic device
tool->stop();
// my device close**************************MINE
memset(dF,0,sizeof(dF));
memset(dT,0,sizeof(dT));
//deltaCtrl.SetFGetPosStatues(dF,dPos,statu,dT,blOutRange); // clear force
deltaCtrl.SetTorqueGetPosStatus(dT,nErrCode); // clear the force
deltaCtrl.ReleaseDev();
}
//===========================================================================
void cHapticDeviceHandler::update()
{
// temp variables
int index, count;
cGenericHapticDevice* device;
// clear current list of devices
m_numDevices = 0;
for (unsigned int i=0; i<C_MAX_HAPTIC_DEVICES; i++)
{
if (m_devices[i] != NULL)
{
delete m_devices[i];
}
m_devices[i] = NULL;
}
//-----------------------------------------------------------------------
// search for Force Dimension devices
//-----------------------------------------------------------------------
#if defined(C_ENABLE_DELTA_DEVICE_SUPPORT)
// reset index number
index = 0;
// check for how many devices of this type that are available
// and store the first one if available
device = new cDeltaDevice(index);
count = device->getNumDevices();
if (count > 0)
{
m_devices[m_numDevices] = device;
m_numDevices++;
}
else
{
delete device;
}
// open all remaining devices
for (int i=1; i<count; i++)
{
index++;
device = new cDeltaDevice(index);
m_devices[m_numDevices] = device;
m_numDevices++;
}
#endif
//-----------------------------------------------------------------------
// search for Novint Falcon device
//-----------------------------------------------------------------------
#if defined(C_ENABLE_FALCON_DEVICE_SUPPORT)
// reset index number
index = 0;
// create a first device of this class
device = new cFalconDevice();
// check for how many devices of this type that are available
count = device->getNumDevices();
// if there are one or more devices available, then store them in the device table
if (count > 0)
{
// store first device
m_devices[m_numDevices] = device;
device->open();
m_numDevices++;
// search for other devices
if (count > 1)
{
for (int i=1; i<count; i++)
{
index++;
device = new cFalconDevice(index);
device->open();
m_devices[m_numDevices] = device;
m_numDevices++;
}
}
}
else
{
delete device;
}
#endif
//-----------------------------------------------------------------------
// search for Sensable Technologies devices
//-----------------------------------------------------------------------
#if defined(C_ENABLE_PHANTOM_DEVICE_SUPPORT)
// reset index number
index = 0;
// create a first device of this class
device = new cPhantomDevice(index);
// check for how many devices of this type that are available
count = device->getNumDevices();
// if there are one or more devices available, then store them in the device table
if (count > 0)
{
// store first device
m_devices[m_numDevices] = device;
m_numDevices++;
// search for other devices
if (count > 1)
{
for (int i=1; i<count; i++)
{
index++;
device = new cPhantomDevice(index);
m_devices[m_numDevices] = device;
m_numDevices++;
}
}
}
else
{
delete device;
}
#endif
//-----------------------------------------------------------------------
// search for MyCustom device
//-----------------------------------------------------------------------
#if defined(C_ENABLE_CUSTOM_DEVICE_SUPPORT)
// reset index number
index = 0;
// create a first device of this class
device = new cMyCustomDevice(index);
// check for how many devices of this type that are available
count = device->getNumDevices();
// if there are one or more devices available, then store them in the device table
if (count > 0)
{
// store first device
m_devices[m_numDevices] = device;
m_numDevices++;
// search for other devices
if (count > 1)
{
for (int i=1; i<count; i++)
{
index++;
device = new cMyCustomDevice(index);
m_devices[m_numDevices] = device;
m_numDevices++;
}
}
}
else
{
delete device;
}
#endif
//-----------------------------------------------------------------------
// search for CHAI3D Virtual Device
// Note:
// Virtual devices should always be listed last. The desired behavior
// is that an application first searches for physical devices. If none
// are found, it may launch a virtual device
//-----------------------------------------------------------------------
#if defined(C_ENABLE_VIRTUAL_DEVICE_SUPPORT)
// reset index number
index = 0;
// create a first device of this class
device = new cVirtualDevice();
// check for how many devices of this type that are available
count = device->getNumDevices();
// if there are one or more devices available, then store it in the device table
if (count > 0)
{
// store first device
m_devices[m_numDevices] = device;
m_numDevices++;
}
// if no devices have been found then we try to launch a virtual haptic device
else if (m_numDevices == 0)
{
// delete previous device
delete device;
// we try to launch the virtual device.
spawnlp(_P_NOWAIT, "VirtualDevice.exe", "VirtualDevice.exe", NULL);
cSleepMs(750);
// create again a first device of this class
device = new cVirtualDevice();
// check for how many devices of this type that are available
count = device->getNumDevices();
// if there are one or more devices available, then store it in the device table
if (count > 0)
{
// store first device
m_devices[m_numDevices] = device;
m_numDevices++;
}
}
#endif
}
