void CybPhantom::HLIdleFunc()
{
HLerror error;
while (HL_ERROR(error = hlGetError()))
{
fprintf(stderr, "Error: %s\n", error.errorCode);
if (error.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &error.errorInfo,
"Error during haptic rendering\n");
}
}
if(cybCore->phantomOn && !flagWorkspaceUpdate){
hapticWorkspaceCalibration();
flagWorkspaceUpdate = true;
}
else if(!cybCore->phantomOn)
{
flagWorkspaceUpdate = false;
}
}
bool SQLiteUserDatabase::initialize()
{
QString filePath = d->_dbFilePath;
if (filePath.isEmpty()) {
filePath = QDir::temp().filePath("users.db");
}
bool createTables = false;
const QFileInfo sqliteDbInfo(filePath);
if (!sqliteDbInfo.exists())
createTables = true;
d->_db = QSqlDatabase::addDatabase("QSQLITE", "users_connection");
d->_db.setHostName("127.0.0.1");
d->_db.setDatabaseName(filePath);
d->_db.setUserName(QString());
d->_db.setPassword(QString());
bool errorOccured = false;
if (!d->_db.open()) {
HL_ERROR(HL, "Can not open database connection. Check your file permissions.");
errorOccured = true;
} else if (createTables) {
QFile f(":/users.sqlite.sql");
if (!f.open(QIODevice::ReadOnly)) {
errorOccured = true;
} else {
QString sql = f.readAll();
QStringList statements = sql.split(";", QString::SkipEmptyParts);
foreach (const QString &stmt, statements) {
QSqlQuery query(d->_db);
if (!query.exec(stmt)) {
HL_ERROR(HL, QString("SQL error (error=%1)").arg(query.lastError().text()).toStdString());
d->_db.close();
QFile::remove(sqliteDbInfo.filePath());
return false;
}
}
}
}
void ControlToMasterConnectionHandler::Private::onSocketStateChanged(QAbstractSocket::SocketState state)
{
QTcpSocket *socket = _conn->socket();
switch (state) {
case QAbstractSocket::ConnectedState:
HL_INFO(HL, QString("Connected to master server (address=%1; port=%2)").arg(socket->peerAddress().toString()).arg(socket->peerPort()).toStdString());
break;
case QAbstractSocket::UnconnectedState:
if (!_shutdown) {
HL_ERROR(HL, QString("Lost connection to master server (error=%1)").arg(socket->errorString()).toStdString());
_owner->startup(_opts);
}
emit _owner->disconnected();
break;
}
}
/*******************************************************************************
GLUT callback for idle state. Use this as an opportunity to request a redraw.
Checks for HLAPI errors that have occurred since the last idle check.
*******************************************************************************/
void glutIdle()
{
HLerror error;
while (HL_ERROR(error = hlGetError()))
{
fprintf(stderr, "HL Error: %s\n", error.errorCode);
if (error.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &error.errorInfo,
"Error during haptic rendering\n");
}
}
glutPostRedisplay();
}
/*******************************************************************************
GLUT callback for idle state. Use this as an opportunity to request a redraw.
Checks for HLAPI errors that have occurred since the last idle check.
*******************************************************************************/
void glutIdle()
{
HLerror error;
while (HL_ERROR(error = hlGetError()))
{
fprintf(stderr, "HL Error: %s\n", error.errorCode);
if (error.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &error.errorInfo,
"Error during haptic rendering\n");
}
}
char title[40];
sprintf(title, "Haptic Displacement Mapping %4.1f fps", DetermineFPS());
glutSetWindowTitle(title);
glutPostRedisplay();
}
bool MediaStreamingSocketHandler::Private::processDatagram(QByteArray *data, const QHostAddress &sender, quint16 sender_port)
{
QDataStream in(*data);
in.setVersion(UdpProtocol::QDS_VERSION);
UdpProtocol::UdpDatagramHeader header;
in >> header;
switch (header.type) {
case UdpProtocol::DG_TYPE_TOKEN:
return processTokenDatagram(in, data, sender, sender_port);
case UdpProtocol::DG_TYPE_VIDEO_FRAME_V1:
return processVideoFrameDatagramV1(in, data, sender, sender_port);
case UdpProtocol::DG_TYPE_VIDEO_FRAME_RECOVERY_V1:
return processVideoFrameRecoveryDatagramV1(in, data, sender, sender_port);
case UdpProtocol::DG_TYPE_AUDIO_FRAME_V1:
return processAudioFrameDatagramV1(in, data, sender, sender_port);
default:
HL_ERROR(HL, QString("Invalid datagram (sender=%1; port=%2)").arg(sender.toString()).arg(sender_port).toStdString());
break;
}
return false;
}
bool VirtualServer::init()
{
// Init QCorServer listening for new client connections.
const quint16 port = _opts.port;
if (!_corServer.listen(_opts.address, port)) {
HL_ERROR(HL, QString("Can not bind to TCP port (port=%1)").arg(port).toStdString());
return false;
}
HL_INFO(HL, QString("Listening for client connections (protocol=TCP; address=%1; port=%2)").arg(_opts.address.toString()).arg(port).toStdString());
// Accepting new connections.
connect(&_corServer, &QCorServer::newConnection, [this](QCorConnection *connection) {
auto conn = new ClientConnectionHandler(this, connection, this);
});
// Init media socket.
_mediaSocketHandler = new MediaSocketHandler(port, this);
if (!_mediaSocketHandler->init()) {
return false;
}
HL_INFO(HL, QString("Listening for media data (protocol=UDP; address=%1; port=%2)").arg(_opts.address.toString()).arg(port).toStdString());
// Handle media authentications.
// Note: This lambda slot is not thread-safe. If MediaSocketHandler should run in a separate thread, we need to reimplement this function.
connect(_mediaSocketHandler, &MediaSocketHandler::tokenAuthentication, [this](const QString &token, const QHostAddress &address, quint16 port) {
if (!_tokens.contains(token)) {
HL_WARN(HL, QString("Received invalid media auth token (token=%1; address=%2; port=%3)").arg(token).arg(address.toString()).arg(port).toStdString());
return;
}
// Update client-info with address and port.
auto clientId = _tokens.take(token);
auto clientEntity = _clients.value(clientId);
if (!clientEntity) {
HL_WARN(HL, QString("No matching client-entity for auth token (token=%1; client-id=%2)").arg(token).arg(clientId).toStdString());
return;
}
clientEntity->mediaAddress = address.toString();
clientEntity->mediaPort = port;
// Notify client about the successful media authentication.
auto conn = _connections.value(clientId);
if (conn) {
conn->sendMediaAuthSuccessNotify();
}
this->updateMediaRecipients();
});
QObject::connect(_mediaSocketHandler, &MediaSocketHandler::networkUsageUpdated, [this](const NetworkUsageEntity &networkUsage) {
_networkUsageMediaSocket = networkUsage;
});
// Init status web-socket.
WebSocketStatusServer::Options wsopts;
wsopts.address = _opts.wsStatusAddress;
wsopts.port = _opts.wsStatusPort;
_wsStatusServer = new WebSocketStatusServer(wsopts, this);
if (!_wsStatusServer->init()) {
HL_ERROR(HL, QString("Can not bind to TCP port (port=%1)").arg(wsopts.port).toStdString());
return false;
}
HL_INFO(HL, QString("Listening for web-socket status connections (protocol=TCP; address=%1; port=%2)").arg(wsopts.address.toString()).arg(wsopts.port).toStdString());
return true;
}
/*******************************************************************************
Main function.
*******************************************************************************/
int main(int argc, char *argv[])
{
HHD hHD;
HHLRC hHLRC;
HDErrorInfo error;
HLuint friction, spring;
HLerror frameError;
hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "\nPress any key to quit.\n");
getch();
return -1;
}
hdMakeCurrentDevice(hHD);
hHLRC = hlCreateContext(hHD);
hlMakeCurrent(hHLRC);
hlDisable(HL_USE_GL_MODELVIEW);
spring = hlGenEffects(1);
/* Add a callback to handle button down in the collision thread. */
hlAddEventCallback(HL_EVENT_1BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
buttonCB, &spring);
hlAddEventCallback(HL_EVENT_1BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
buttonCB, &spring);
hlAddEventCallback(HL_EVENT_2BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
buttonCB, 0);
/* Start an ambient friction effect. */
friction = hlGenEffects(1);
hlBeginFrame();
hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.2);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.5);
hlStartEffect(HL_EFFECT_FRICTION, friction);
hlEndFrame();
printf("Move around to feel the ambient stick-slip friction.\n\n");
printf("Press and hold the primary stylus button to feel the spring effect.\n\n");
printf("Press the second stylus button to trigger an impulse.\n\n");
/* Run the main loop. */
while (!_kbhit())
{
hlBeginFrame();
/* Poll for events. Note that client thread event callbacks get
dispatched from within a frame here, so we can safely start/stop
effects from the event callback directly */
hlCheckEvents();
hlEndFrame();
/* Check for any errors. */
while (HL_ERROR(frameError = hlGetError()))
{
fprintf(stderr, "HL Error: %s\n", frameError.errorCode);
if (frameError.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &frameError.errorInfo,
"Error during haptic rendering\n");
}
}
}
/* Stop the friction effect. */
hlBeginFrame();
hlStopEffect(friction);
hlEndFrame();
hlDeleteEffects(friction, 1);
hlDeleteEffects(spring, 1);
hlDeleteContext(hHLRC);
hdDisableDevice(hHD);
return 0;
}
