int FreeSpaceTracker::connect()
{
OutputDebugString("Free Tracker Connect\n");
// Initialize the freespace library
int err = freespace_init();
if (err)
return err;
// Look for a single tracker
int num_devices;
err = freespace_getDeviceList(&DeviceID, 1, &num_devices);
if (err)
return err;
if (num_devices == 0)
return FREESPACE_ERROR_NO_DEVICE;
// Attach to the tracker
err = freespace_openDevice(DeviceID);
if (err)
{
DeviceID = -1;
return err;
}
err = freespace_getDeviceInfo(DeviceID, &Device);
// Flush the message stream
err = freespace_flush(DeviceID);
if (err)
return err;
// Turn on the orientation message stream
freespace_message msg;
memset(&msg, 0, sizeof(msg));
if (Device.hVer >= 2)
{
// version 2 protocol
msg.messageType = FREESPACE_MESSAGE_DATAMODECONTROLV2REQUEST;
msg.dataModeControlV2Request.packetSelect = 3; // User Frame (orientation)
msg.dataModeControlV2Request.modeAndStatus = 0; // operating mode == full motion
}
else
{
// version 1 protocol
msg.messageType = FREESPACE_MESSAGE_DATAMODEREQUEST;
msg.dataModeRequest.enableUserPosition = 1;
msg.dataModeRequest.inhibitPowerManager = 1;
}
err = freespace_sendMessage(DeviceID, &msg);
if (err)
return err;
// Now the tracker is ready to read
return 0;
}
/**
* main
* This example uses the asynchronous API to
* - detect removal or additon of devices
* - get the product ID information from added devices
* Devices may or may not be connected when this example is launched
* Devices may be add/removed (pugged/unplugged) while this example is running.
*/
int main(int argc, char* argv[]) {
int numIds;
int deviceIds[FREESPACE_MAXIMUM_DEVICE_COUNT];
int rc;
// Flag to indicate that the application should quit
// Set by the control signal handler
int quit = 0;
printVersionInfo(argv[0]);
addControlHandler(&quit);
// Initialize the freespace library
rc = freespace_init();
if (rc != FREESPACE_SUCCESS) {
printf("Initialization error. rc=%d\n", rc);
return 1;
}
// Set the callback to catch the initial devices.
printf("Detecting the Freespace devices already connected...\n");
freespace_setDeviceHotplugCallback(hotplugCallback, NULL);
freespace_perform();
printf("Waiting for Freespace devices to be inserted...\n");
printf("Type Ctrl-C to exit\n");
while (!quit) {
// Easy event loop - just poll freespace_perform periodically
// rather than waiting on select or WaitForMultipleObjects
Sleep(100);
// Callbacks are called from within the perform call.
freespace_perform();
}
printf("Exiting\n");
printf("Cleaning up all devices...\n");
rc = freespace_getDeviceList(deviceIds, FREESPACE_MAXIMUM_DEVICE_COUNT, &numIds);
if (rc == FREESPACE_SUCCESS) {
int i;
for (i = 0; i < numIds; i++) {
freespace_closeDevice(deviceIds[i]);
}
} else {
printf("Error getting device list.\n");
}
freespace_exit();
return 0;
}
vrpn_Freespace* vrpn_Freespace::create(const char *name, vrpn_Connection *conn,
int device_index,
bool send_body_frames, bool send_user_frames)
{
// initialize libfreespace
vrpn_Freespace::freespaceInit();
const unsigned MAX_DEVICES = 100;
FreespaceDeviceId devices[MAX_DEVICES];
int numIds = 0;
int rc;
rc = freespace_getDeviceList(devices, MAX_DEVICES, &numIds);
if ( (rc != FREESPACE_SUCCESS) || (numIds < (device_index+1)) ) {
fprintf(stderr, "vrpn_Freespace::create: Didn't find enough devices: %d.\n", numIds);
return NULL;
}
FreespaceDeviceId freespaceId = devices[device_index];
rc = freespace_openDevice(freespaceId);
if (rc != FREESPACE_SUCCESS) {
fprintf(stderr, "vrpn_Freespace::create: Could not open device %d.\n", device_index);
return NULL;
}
struct FreespaceDeviceInfo deviceInfo;
rc = freespace_getDeviceInfo(freespaceId, &deviceInfo);
if (rc != FREESPACE_SUCCESS) {
return NULL;
}
rc = freespace_flush(freespaceId);
if (rc != FREESPACE_SUCCESS) {
fprintf(stderr, "vrpn_Freespace::create: Error flushing device: %d\n", rc);
return NULL;
}
vrpn_Freespace* dev = new vrpn_Freespace(freespaceId, &deviceInfo, name, conn);
dev->deviceSetConfiguration(send_body_frames, send_user_frames);
printf("Added freespace device: %s : \n", name);
return dev;
}
/**
* main
* This example uses the synchronous API to
* - find a device
* - open the device found
* - configure the device to output motion
* - read motion messages sent by the device
* This example assume the device is already connected.
*/
int main(int argc, char* argv[]) {
struct freespace_message message;
FreespaceDeviceId device;
int numIds; // The number of device ID found
int rc; // Return code
//struct MultiAxisSensor pointer;
//struct MultiAxisSensor angVel;
// Flag to indicate that the application should quit
// Set by the control signal handler
int quit = 0;
printVersionInfo(argv[0]);
addControlHandler(&quit);
// Initialize the freespace library
rc = freespace_init();
if (rc != FREESPACE_SUCCESS) {
printf("Initialization error. rc=%d\n", rc);
return 1;
}
printf("Scanning for Freespace devices...\n");
// Get the ID of the first device in the list of availble devices
rc = freespace_getDeviceList(&device, 1, &numIds);
if (numIds == 0) {
printf("Didn't find any devices.\n");
return 1;
}
printf("Found a device. Trying to open it...\n");
// Prepare to communicate with the device found above
rc = freespace_openDevice(device);
if (rc != FREESPACE_SUCCESS) {
printf("Error opening device: %d\n", rc);
return 1;
}
// Display the device information.
printDeviceInfo(device);
// Make sure any old messages are cleared out of the system
rc = freespace_flush(device);
if (rc != FREESPACE_SUCCESS) {
printf("Error flushing device: %d\n", rc);
return 1;
}
// Cleanup when done and configure the device to output mouse packets
printf("Sending message to enable mouse data.\n");
memset(&message, 0, sizeof(message)); // Init message fields to 0
message.messageType = FREESPACE_MESSAGE_DATAMODECONTROLV2REQUEST;
message.dataModeControlV2Request.packetSelect = 1; // Mouse packet
message.dataModeControlV2Request.mode = 0; // Set full motion
rc = freespace_sendMessage(device, &message);
if (rc != FREESPACE_SUCCESS) {
printf("Could not send message: %d.\n", rc);
}
// Close communications with the device
printf("Cleaning up...\n");
freespace_closeDevice(device);
// Cleanup the library
freespace_exit();
return 0;
}
/**
* main
* This example uses the synchronous API to
* - find a device
* - open the device found
* - send a message
* - look for a response
* This example assumes that the device is already connected.
*/
int main(int argc, char* argv[]) {
FreespaceDeviceId device; // Keep track of the device you are talking to
struct freespace_message send; // A place to create messages to send to the device
struct freespace_message receive; // A place to put a message received from the device
int numIds; // Keep track of how many devices are available
int rc; // Return Code
int retryCount = 0; // How many times tried so far to get a response
// Flag to indicate that the application should quit
// Set by the control signal handler
int quit = 0;
printVersionInfo(argv[0]);
addControlHandler(&quit);
// Initialize the freespace library
rc = freespace_init();
if (rc != FREESPACE_SUCCESS) {
printf("Initialization error. rc=%d\n", rc);
return 1;
}
printf("Scanning for Freespace devices...\n");
// Get the ID of the first device in the list of availble devices
rc = freespace_getDeviceList(&device, 1, &numIds);
if (numIds == 0) {
printf("Didn't find any devices.\n");
return 1;
}
printf("Found a device. Trying to open it...\n");
// Prepare to communicate with the device found above
rc = freespace_openDevice(device);
if (rc != FREESPACE_SUCCESS) {
printf("Error opening device: %d\n", rc);
return 1;
}
// Display the device information.
printDeviceInfo(device);
// Make sure any old messages are cleared out of the system
rc = freespace_flush(device);
if (rc != FREESPACE_SUCCESS) {
printf("Error flushing device: %d\n", rc);
return 1;
}
printf("Requesting battery level messages.\n");
memset(&send, 0, sizeof(send)); // Start with a clean message struct
// Populate the message fields. Two options are shown below. Uncomment one desired
// and comment out the one not desired.
//send.messageType = FREESPACE_MESSAGE_BATTERYLEVELREQUEST; // To send a battery level request
send.messageType = FREESPACE_MESSAGE_PRODUCTIDREQUEST; // To send a product ID request
while (!quit) {
if (retryCount < RETRY_COUNT_LIMIT) {
retryCount++;
// Send the message constructed above.
rc = freespace_sendMessage(device, &send);
if (rc != FREESPACE_SUCCESS) {
printf("Could not send message: %d.\n", rc);
}
// Read the response message.
rc = freespace_readMessage(device, &receive, 100);
if (rc == FREESPACE_SUCCESS) {
// Print the received message
freespace_printMessage(stdout, &receive);
retryCount = 0;
} else if (rc == FREESPACE_ERROR_TIMEOUT) {
printf("<timeout> Try moving the Freespace device to wake it up.\n");
} else if (rc == FREESPACE_ERROR_INTERRUPTED) {
printf("<interrupted>\n");
} else {
printf("Error reading: %d. Quitting...\n", rc);
break;
}
} else {
printf("Did not receive response after %d trials\n", RETRY_COUNT_LIMIT);
quit = 1;
}
SLEEP;
}
printf("Cleaning up...\n");
freespace_closeDevice(device);
freespace_exit();
return 0;
}
