/**
* Updates to the sampled data.
*
* @pre None.
* @post Most recent value is copied over to temp area.
*/
void TrackdController::updateData()
{
vprASSERT(mTrackdController != NULL && "Make sure that trackd controller has been initialized");
vprASSERT((unsigned)mTrackdController->numButtons() <= mCurButtons.size());
vprASSERT((unsigned)mTrackdController->numValuators() <= mCurValuators.size() );
for (int i=0;i<mTrackdController->numButtons();i++)
{
mCurButtons[i] = mTrackdController->getButton(i);
mCurButtons[i].setTime();
}
for (int j=0;j<mTrackdController->numValuators();j++)
{
// TrackdController doesn't have a sample, so we do
// normalization here...
float f;
this->normalizeMinToMax (mTrackdController->getValuator(j), f);
mCurValuators[j] = f;
mCurValuators[j].setTime();
}
addDigitalSample(mCurButtons);
swapDigitalBuffers();
addAnalogSample(mCurValuators);
swapAnalogBuffers();
}
/**
* Updates the state of the digital data vector.
*
* @note Digital is on when key is held down.
* When key is release, digital goes to off state.
*/
void SimDigital::updateData()
{
//vprDEBUG(vprDBG_ALL, vprDBG_VERB_LVL)<<"*** SimDigital::updateData()\n"<< vprDEBUG_FLUSH;
std::vector<DigitalData> digital_data_sample(mSimKeys.size()); // The digital data that makes up the sample
// -- Update digital data --- //
for (unsigned int i = 0; i < mSimKeys.size(); i++)
{
// Set the time for the digital data to the KeyboardMouse timestamp
digital_data_sample[i].setTime(mKeyboardMouse->getTimeStamp());
if(checkKeyPair(mSimKeys[i])) // If keys pressed
{
digital_data_sample[i] = 1;
}
else
{
digital_data_sample[i] = 0;
}
}
// Add a sample
addDigitalSample(digital_data_sample);
swapDigitalBuffers();
}
bool SdlJoystick::sample()
{
SDL_JoystickUpdate();
for (unsigned int i = 0 ; i < mButtons.size() ; ++i)
{
mButtons[i] = gadget::DigitalState::OFF;
if (SDL_JoystickGetButton(mJoystick, i))
{
mButtons[i] = gadget::DigitalState::ON;
}
mButtons[i].setTime();
}
for (unsigned int i = 0 ; i < mAxes.size() ; ++i)
{
mAxes[i].setValue(SDL_JoystickGetAxis(mJoystick, i));
mAxes[i].setTime();
}
addDigitalSample(mButtons);
addAnalogSample(mAxes);
return true;
}
/**
* Updates to the sampled data.
*
* @pre None.
* @post Most recent value is copied over to temp area.
*/
void TrackdController::updateData()
{
vprASSERT(mTrackdController != NULL && "Make sure that trackd controller has been initialized");
vprASSERT((unsigned)mTrackdController->numButtons() <= mCurButtons.size());
vprASSERT((unsigned)mTrackdController->numValuators() <= mCurValuators.size() );
for (int i=0;i<mTrackdController->numButtons();i++)
{
mCurButtons[i] =
static_cast<DigitalState::State>(mTrackdController->getButton(i));
mCurButtons[i].setTime();
}
for (int j=0;j<mTrackdController->numValuators();j++)
{
mCurValuators[j] = mTrackdController->getValuator(j);
mCurValuators[j].setTime();
}
addDigitalSample(mCurButtons);
swapDigitalBuffers();
addAnalogSample(mCurValuators);
swapAnalogBuffers();
}
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;
}
// Records (or samples) the current data. This is called repeatedly by the
// sample thread created by startSampling().
bool ButtonDevice::sample()
{
bool status(false);
if ( mRunning )
{
// Here you would add your code to sample the hardware for a button
// press:
std::vector<DigitalData> samples(1);
samples[0] = 1;
addDigitalSample(samples);
// Successful sample.
status = true;
}
return status;
}
bool P5GloveWrapper::sample()
{
P5GloveStandalone::Record rec;
bool sample_read = mGlove->readRecordsFromHardware(rec);
if ( sample_read )
{
// Furst, we set the flexion of the gloves
mAnalogP5[0] = rec.thumb; // Thumb (0.0 - 1.0)
mAnalogP5[1] = rec.index; // Index
mAnalogP5[2] = rec.middle; // Middle
mAnalogP5[3] = rec.ring; // Ring
mAnalogP5[4] = rec.pinky; // Pinky
addAnalogSample(mAnalogP5);
swapAnalogBuffers();
// Then, we define the buttons of the glove
mDigitalP5[0] = static_cast<DigitalState::State>(rec.buttonA);
mDigitalP5[1] = static_cast<DigitalState::State>(rec.buttonB);
mDigitalP5[2] = static_cast<DigitalState::State>(rec.buttonC);
addDigitalSample(mDigitalP5);
swapDigitalBuffers();
// Finally, we set the position of the glove ...
const gmtl::AxisAnglef rotation(rec.rotationAngle, rec.rotationAxis[0],
rec.rotationAxis[1],
rec.rotationAxis[2]);
const gmtl::Vec3f translation(static_cast<float>(rec.position[0]),
static_cast<float>(rec.position[1]),
static_cast<float>(rec.position[2]));
gmtl::Matrix44f position = gmtl::makeTrans<gmtl::Matrix44f>(translation);
position = position * gmtl::make<gmtl::Matrix44f>(rotation);
mPositionP5[0].setValue(position);
addPositionSample(mPositionP5);
swapPositionBuffers();
}
return true;
}
bool DTrack::sample()
{
bool stat;
int i, j, id;
int nbt, nvt;
int num_body, num_flystick, num_meatool;
if(!thrRunning){
return false;
}
stat = standalone->receive(); // receive data from DTrack (blocking with timeout)
if(!stat){
return false;
}
static int known_num_body = 0;
num_body = standalone->get_num_body();
num_flystick = standalone->get_num_flystick();
num_meatool = standalone->get_num_meatool();
if (known_num_body != num_body) {
vprDEBUG(vprDBG_ALL, vprDBG_CONFIG_LVL)
<< "[DTrack] Change in the number of known bodies - "
<< "was " << known_num_body << ", now is " << num_body
<< std::endl << vprDEBUG_FLUSH;
known_num_body = num_body;
}
resize_curPosition(num_flystick + num_meatool + num_body);
resize_curDigital(num_flystick * BUTTONS_PER_FLYSTICK + num_meatool * BUTTONS_PER_MEATOOL);
resize_curAnalog(num_flystick * VALUATORS_PER_FLYSTICK);
// get 'Flystick' data:
for(i=0; i<num_flystick; i++){
dtrack_flystick_type dat = standalone->get_flystick(i);
if(dat.quality >= 0){ // check if Flystick position is tracked
curPosition[i].setValue(getpos(dat));
curPosition[i].setTime();
} // otherwise keep last valid position
// Flystick buttons:
nbt = dat.num_button;
if(nbt > BUTTONS_PER_FLYSTICK){
nbt = BUTTONS_PER_FLYSTICK;
}
for(j=0; j<nbt; j++){
id = j + i * BUTTONS_PER_FLYSTICK; // VRJuggler id number
curDigital[id] =
static_cast<DigitalState::State>(dat.button[j]);
curDigital[id].setTime();
}
// Flystick valuators ('HAT switch' or 'joystick'):
nvt = dat.num_joystick;
if(nvt > VALUATORS_PER_FLYSTICK){
nvt = VALUATORS_PER_FLYSTICK;
}
for(j=0; j<nvt; j++){
id = j + i * VALUATORS_PER_FLYSTICK; // VRJuggler id number
curAnalog[id] = dat.joystick[j];
curAnalog[id].setTime();
}
}
// get 'measurement tool' data:
for(i=0; i<num_meatool; i++){
dtrack_meatool_type dat = standalone->get_meatool(i);
if(dat.quality >= 0){ // check if position is tracked
id = i + num_flystick; // VRJuggler id number
curPosition[id].setValue(getpos(dat));
curPosition[id].setTime();
} // otherwise keep last valid position
// measurement tool buttons:
nbt = dat.num_button;
if(nbt > BUTTONS_PER_MEATOOL){
nbt = BUTTONS_PER_MEATOOL;
}
for(j=0; j<nbt; j++){
id = j + i * BUTTONS_PER_MEATOOL + num_flystick * BUTTONS_PER_FLYSTICK; // VRJuggler id number
curDigital[id] =
static_cast<DigitalState::State>(dat.button[j]);
curDigital[id].setTime();
}
}
// get 'standard body' data:
for(i=0; i<num_body; i++){
dtrack_body_type dat = standalone->get_body(i);
if(dat.quality >= 0){ // check if position is tracked
id = i + num_flystick + num_meatool; // VRJuggler id number
curPosition[id].setValue(getpos(dat));
curPosition[id].setTime();
} // otherwise keep last valid position
}
// update buffers:
addPositionSample(curPosition);
addDigitalSample(curDigital);
addAnalogSample(curAnalog);
return true;
}
bool DTrack::sample()
{
bool stat;
int i, j, id;
int nbt, nvt;
int num_body, num_flystick, num_meatool;
if(!thrRunning){
return false;
}
stat = standalone->receive(); // receive data from DTrack (blocking with timeout)
if(!stat){
return false;
}
num_body = standalone->get_num_body();
num_flystick = standalone->get_num_flystick();
num_meatool = standalone->get_num_meatool();
resize_curPosition(num_flystick + num_meatool + num_body);
resize_curDigital(num_flystick * BUTTONS_PER_FLYSTICK + num_meatool * BUTTONS_PER_MEATOOL);
resize_curAnalog(num_flystick * VALUATORS_PER_FLYSTICK);
// get 'Flystick' data:
for(i=0; i<num_flystick; i++){
dtrack_flystick_type dat = standalone->get_flystick(i);
if(dat.quality >= 0){ // check if Flystick position is tracked
curPosition[i].mPosData = getpos(dat);
curPosition[i].setTime();
} // otherwise keep last valid position
// Flystick buttons:
nbt = dat.num_button;
if(nbt > BUTTONS_PER_FLYSTICK){
nbt = BUTTONS_PER_FLYSTICK;
}
for(j=0; j<nbt; j++){
id = j + i * BUTTONS_PER_FLYSTICK; // VRJuggler id number
curDigital[id] = dat.button[j];
curDigital[id].setTime();
}
// Flystick valuators ('HAT switch' or 'joystick'):
nvt = dat.num_joystick;
if(nvt > VALUATORS_PER_FLYSTICK){
nvt = VALUATORS_PER_FLYSTICK;
}
for(j=0; j<nvt; j++){
id = j + i * VALUATORS_PER_FLYSTICK; // VRJuggler id number
curAnalog[id] = dat.joystick[j] / 2.0 + 0.5; // normalizing
curAnalog[id].setTime();
}
}
// get 'measurement tool' data:
for(i=0; i<num_meatool; i++){
dtrack_meatool_type dat = standalone->get_meatool(i);
if(dat.quality >= 0){ // check if position is tracked
id = i + num_flystick; // VRJuggler id number
curPosition[id].mPosData = getpos(dat);
curPosition[id].setTime();
} // otherwise keep last valid position
// measurement tool buttons:
nbt = dat.num_button;
if(nbt > BUTTONS_PER_MEATOOL){
nbt = BUTTONS_PER_MEATOOL;
}
for(j=0; j<nbt; j++){
id = j + i * BUTTONS_PER_MEATOOL + num_flystick * BUTTONS_PER_FLYSTICK; // VRJuggler id number
curDigital[id] = dat.button[j];
curDigital[id].setTime();
}
}
// get 'standard body' data:
for(i=0; i<num_body; i++){
dtrack_body_type dat = standalone->get_body(i);
if(dat.quality >= 0){ // check if position is tracked
id = i + num_flystick + num_meatool; // VRJuggler id number
curPosition[id].mPosData = getpos(dat);
curPosition[id].setTime();
} // otherwise keep last valid position
}
// update buffers:
addPositionSample(curPosition);
addDigitalSample(curDigital);
addAnalogSample(curAnalog);
return true;
}
bool IntersenseAPI::sample()
{
// If we are not active, then don't try to sample.
if (!isActive())
{
return false;
}
// Check to see if we have new data to pull
if ( ! mTracker.updateData() )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_CRITICAL_LVL)
<< clrOutBOLD(clrRED, "[gadget::IntersenseAPI::sample()]")
<< ": Could not read data from InterSense API driver!\n"
<< vprDEBUG_FLUSH;
return false;
}
// This is the some code for the beginnings of trying to eliminate
// the sleep in the control loop. Needs more testing.
/*
bool has_new_data(false);
for ( unsigned int i = 0 ; i < mStations.size() ; ++i )
{
// Make sure station is enabled and tracker has updated data.
if( mStations[i].enabled && mTracker.hasData(mStations[i].stationIndex) )
{
has_new_data = true;
break;
}
}
// If there wasn't any new data then reliquish control to the cpu and return
if( ! has_new_data )
{
vpr::Thread::yield();
vpr::System::msleep(10);
}
*/
// Create the data buffers to put the new data into.
std::vector<gadget::PositionData> cur_pos_samples(mStations.size());
std::vector<gadget::DigitalData> cur_digital_samples;
std::vector<gadget::AnalogData> cur_analog_samples;
// get an initial timestamp for this entire sample. we'll copy it into
// each PositionData for this sample.
if ( ! cur_pos_samples.empty() )
{
cur_pos_samples[0].setTime();
}
for ( unsigned int i = 0 ; i < mStations.size() ; ++i )
{
// Get the station index for the given station.
int stationIndex = mStations[i].stationIndex;
// Set the time of each PositionData to match the first.
cur_pos_samples[i].setTime( cur_pos_samples[0].getTime() );
// Don't process data from disabled stations
if( ! mStations[i].enabled )
{
continue;
}
gmtl::Matrix44f& pos_data(cur_pos_samples[i].editValue());
gmtl::identity(pos_data);
// If the Intersense is returning data in Euler format. Otherwise we
// assume that it is returning data in quaternion format.
if ( mTracker.getAngleFormat(stationIndex) == ISD_EULER )
{
gmtl::EulerAngleZYXf euler(
gmtl::Math::deg2Rad(mTracker.zRot(stationIndex)),
gmtl::Math::deg2Rad(mTracker.yRot(stationIndex)),
gmtl::Math::deg2Rad(mTracker.xRot(stationIndex))
);
gmtl::setRot(pos_data, euler);
}
else
{
gmtl::Quatf quatValue(mTracker.xQuat(stationIndex),
mTracker.yQuat(stationIndex),
mTracker.zQuat(stationIndex),
mTracker.wQuat(stationIndex));
gmtl::setRot(pos_data, quatValue);
}
gmtl::setTrans(pos_data,
gmtl::Vec3f(mTracker.xPos(stationIndex),
mTracker.yPos(stationIndex),
mTracker.zPos(stationIndex)));
// We start at the index of the first digital item (set in the config
// files) and we copy the digital data from this station to the
// InterSense device for range (min -> min+count-1).
if (mStations[i].useDigital)
{
for ( int j = 0; j < mStations[i].dig_num; ++j )
{
DigitalData new_digital(mTracker.buttonState(stationIndex, j));
new_digital.setTime();
cur_digital_samples.push_back(new_digital);
}
}
// Analog works the same as the digital
if (mStations[i].useAnalog)
{
for ( int j = 0; j < mStations[i].ana_num; ++j )
{
AnalogData new_analog(mTracker.analogData(stationIndex, j));
new_analog.setTime();
cur_analog_samples.push_back(new_analog);
}
}
}
// Lock and then swap the buffers.
addAnalogSample(cur_analog_samples);
addDigitalSample(cur_digital_samples);
addPositionSample(cur_pos_samples);
return true;
}
// Updates to the sampled data.
void DirectXJoystick::updateData()
{
if ( mInputDrv.poll() )
{
// Get button values. We cannot use mCurButtons.size() here because that
// value includes any axis buttons that were configured.
for ( unsigned int i = 0; i < mInputDrv.getNumButtons(); ++i )
{
mCurButtons[i].setValue(
mInputDrv.getButtonValue(i) ? gadget::DigitalState::ON
: gadget::DigitalState::OFF
);
mCurButtons[i].setTime();
}
for ( unsigned int i = 0; i < mCurAxes.size(); ++i )
{
mCurAxes[i].setTime();
const LONG cur_value(mInputDrv.getAxisValue(i));
mCurAxes[i].setValue(cur_value);
// Check for axis buttons. If we have a mapping for axis #i, then we
// map the value of the analog axis to two buttons (high and low). If
// the analog value is greater than 0.5, then we map the high button
// to 1 and the low button to 0. If the analog value is less than
// 0.5, then we map the high button to 0 and the low button to 0.
// Otherwise, both buttons are 0.
if ( mAxisToButtonIndexLookup[i] != -1 )
{
const unsigned int low_btn_index = mAxisToButtonIndexLookup[i];
const unsigned int high_btn_index = low_btn_index + 1;
vprASSERT(high_btn_index < mCurButtons.size() &&
"Virtual high button index out of range");
vprASSERT(low_btn_index < mCurButtons.size() &&
"Virtual low button index out of range");
// Get a normalized form of cur_value for axis button handling.
const float norm_value(normalize(cur_value));
// Record the high button as pressed and the low button as not
// pressed.
if ( norm_value > 0.5f )
{
mCurButtons[low_btn_index] = gadget::DigitalState::OFF;
mCurButtons[high_btn_index] = gadget::DigitalState::ON;
}
// Record the high button as not pressed and the low button as
// pressed.
else if ( norm_value < 0.5f )
{
mCurButtons[low_btn_index] = gadget::DigitalState::ON;
mCurButtons[high_btn_index] = gadget::DigitalState::OFF;
}
// Record both buttons as not pressed.
else
{
mCurButtons[low_btn_index] = gadget::DigitalState::OFF;
mCurButtons[high_btn_index] = gadget::DigitalState::OFF;
}
mCurButtons[low_btn_index].setTime();
mCurButtons[high_btn_index].setTime();
}
}
addDigitalSample(mCurButtons);
swapDigitalBuffers();
addAnalogSample(mCurAxes);
swapAnalogBuffers();
}
}
