void SofaHAPIHapticsDevice::setForceFeedbacks(vector<ForceFeedback*> ffs)
{
bool xfer = false;
for (int i=feedbackEffects.size()-1; i>=0; --i)
{
SofaHAPIForceFeedbackEffect::SPtr ffe = feedbackEffects[i];
removeSlave(ffe.get());
if (device.get() && ffe->getEffect())
{
device->removeEffect(ffe->getEffect());
xfer = true;
}
feedbackEffects.remove(ffe);
}
//feedbackEffects.clear();
if (xfer)
device->transferObjects();
for (unsigned int i=0; i<ffs.size(); ++i)
{
SofaHAPIForceFeedbackEffect::SPtr ffe = sofa::core::objectmodel::New<SofaHAPIForceFeedbackEffect>();
ffe->setForceFeedback(ffs[i]);
std::ostringstream name;
name << "Tool"<<ffs[i]->indice.getValue() <<"-" << ffs[i]->getName();
ffe->setName(name.str());
ForceFeedbackEffect* e = ffe->getEffect();
e->setTransform(data);
e->permanent_feedback = permanent.getValue();
addSlave(ffe.get());
feedbackEffects.add(ffe);
}
}
void VlcWidget::setAudioTrack (QAction *action)
{
if (action->data ().isNull ())
addSlave ();
else
{
int track = action->data ().toInt ();
VlcPlayer_->setAudioTrack (track);
}
}
ViewerQT::ViewerQT(QWidget * parent, const char * name, const QGLWidget * shareWidget, WindowFlags f):
AdapterWidget( parent, name, shareWidget, f)
{
setCamera(this->getCamera());
// Camera
getCamera()->setViewport(new osg::Viewport(0,0,width(),height()));
getCamera()->setProjectionMatrixAsPerspective(30.0f, static_cast<double>(width())/static_cast<double>(height()), 1.0f, 10000.0f);
getCamera()->setGraphicsContext(getGraphicsWindow());
getCamera()->setClearColor(osg::Vec4d(51/255.0, 51/255.0, 102/255.0, 0));
getCamera()->setViewMatrix(osg::Matrix::identity());
// // getCamera()->setProjectionMatrixAsOrtho2D(0,1280,0,1024);
// // getCamera()->setClearColor(osg::Vec4d(1, 1, 1, 0));
// getCamera()->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
// getCamera()->setClearMask(GL_DEPTH_BUFFER_BIT);
// getCamera()->setRenderOrder(osg::Camera::POST_RENDER);
// getCamera()->setUpdateCallback(new AxisCameraUpdateCallback());
// QString axespath = QCoreApplication::applicationDirPath() + "/axes.osg";
// osg::Node* axes = osgDB::readNodeFile(axespath.toLatin1().data());
// qDebug()<<axes->asGroup()->getNumChildren();
// qDebug()<<axespath;
// getCamera()->addChild(axes);
// Trackball
m_rpTrackball = new osgGA::TrackballManipulator;
// setCameraManipulator(m_rpTrackball.get());
addEventHandler(new osgGA::StateSetManipulator(getCamera()->getOrCreateStateSet()));
// addEventHandler(new osgViewer::WindowSizeHandler);
addEventHandler(new osgViewer::StatsHandler);
// Scene root
m_rpSceneGroupRoot = new osg::Group;
setSceneData(m_rpSceneGroupRoot.get());
osg::Camera* camera = createHUD();
addSlave(camera, false);
m_rpSceneGroupRoot->addChild(camera);
osgText::Text* text = new osgText::Text;
m_rpSceneGroupRoot->addChild( createHUD_viewPoint( text));//加入HUD文字
// pickHandler = new PickHandler;
// addEventHandler(pickHandler);
addEventHandler(new PickDragHandler(text));
osg::ref_ptr<osgGA::KeySwitchMatrixManipulator> keyswitchManipulator =
new osgGA::KeySwitchMatrixManipulator;
keyswitchManipulator->addMatrixManipulator(1,"Trackball",new osgGA::TrackballManipulator());
keyswitchManipulator->addMatrixManipulator(2,"Flight",new osgGA::FlightManipulator());
keyswitchManipulator->addMatrixManipulator(3,"Drive",new osgGA::DriveManipulator());
keyswitchManipulator->addMatrixManipulator(4,"Terrain",new osgGA::TerrainManipulator());
setCameraManipulator(keyswitchManipulator.get());
setThreadingModel(osgViewer::Viewer::SingleThreaded);
connect(&_timer, SIGNAL(timeout()), this, SLOT(updateGL()));
_timer.start(10);
}
void ossimPlanetViewer::addEphemeris(ossim_uint32 memberBitMask)
{
if(!theEphemerisLayer.valid())
{
if(getLight())
{
theSavedLight = (osg::Light*)getLight()->clone(osg::CopyOp::DEEP_COPY_ALL);
}
ossimPlanet* tempPlanet = new ossimPlanet;
tempPlanet->setComputeIntersectionFlag(false);
theEphemerisRoot = tempPlanet;
theEphemerisLayer = new ossimPlanetEphemeris();
theEphemerisLayer->setRoot(theRootNode.get());
theEphemerisLayer->setMembers(memberBitMask);
// planet()->addChild(theEphemerisLayer.get());
tempPlanet->addChild(theEphemerisLayer.get());
theRootNode->addChild(tempPlanet);
theEphemerisCamera = new osg::Camera;
theEphemerisCamera->setProjectionResizePolicy(getCamera()->getProjectionResizePolicy());
theEphemerisCamera->setClearColor(getCamera()->getClearColor());
theEphemerisCamera->setRenderOrder(osg::Camera::PRE_RENDER);
theEphemerisCamera->setRenderTargetImplementation( getCamera()->getRenderTargetImplementation() );
// theEphemerisCamera->setClearMask(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
// getCamera()->setClearMask(getCamera()->getClearMask() & ~GL_COLOR_BUFFER_BIT & ~GL_DEPTH_BUFFER_BIT);
theEphemerisCamera->setClearMask(GL_COLOR_BUFFER_BIT);
getCamera()->setClearMask(getCamera()->getClearMask() & ~GL_COLOR_BUFFER_BIT);
if(getCamera()->getViewport())
{
theEphemerisCamera->setViewport(new osg::Viewport(*getCamera()->getViewport()));
}
else
{
theEphemerisCamera->setViewport(new osg::Viewport());
}
addSlave(theEphemerisCamera.get(), false);
theEphemerisLayer->setCamera(theEphemerisCamera.get());
theEphemerisCamera->setEventCallback(new ossimPlanetTraverseCallback());
theEphemerisCamera->setUpdateCallback(new ossimPlanetTraverseCallback());
theEphemerisCamera->setCullCallback(new ossimPlanetTraverseCallback());
//theEphemerisCamera->addChild(theRootNode.get());
//getCamera()->setComputeNearFarMode(osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR);
//theEphemerisCamera->setComputeNearFarMode(osg::CullSettings::DO_NOT_COMPUTE_NEAR_FAR);
//double fov, aspectRatio, near, far;
//osg::Matrixd& m = getCamera()->getProjectionMatrix();
//m.getPerspective(fov, aspectRatio, near, far);
//theEphemerisCamera->setProjectionMatrixAsPerspective(fov, aspectRatio, .2, 5.0);
//getCamera()->setProjectionMatrixAsPerspective(fov, aspectRatio, .0000001, .2);
}
}
// Actual allocation is done by an instance of real allocator,
// which is specified by the template parameter.
TestAllocator() : real(createAllocator<T>())
{
// We use 'ON_CALL' and 'WillByDefault' here to specify the
// default actions (call in to the real allocator). This allows
// the tests to leverage the 'DoDefault' action.
// However, 'ON_CALL' results in a "Uninteresting mock function
// call" warning unless each test puts expectations in place.
// As a result, we also use 'EXPECT_CALL' and 'WillRepeatedly'
// to get the best of both worlds: the ability to use 'DoDefault'
// and no warnings when expectations are not explicit.
ON_CALL(*this, initialize(_, _, _))
.WillByDefault(InvokeInitialize(this));
EXPECT_CALL(*this, initialize(_, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, recover(_, _))
.WillByDefault(InvokeRecover(this));
EXPECT_CALL(*this, recover(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, addFramework(_, _, _, _, _))
.WillByDefault(InvokeAddFramework(this));
EXPECT_CALL(*this, addFramework(_, _, _, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, removeFramework(_))
.WillByDefault(InvokeRemoveFramework(this));
EXPECT_CALL(*this, removeFramework(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, activateFramework(_))
.WillByDefault(InvokeActivateFramework(this));
EXPECT_CALL(*this, activateFramework(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, deactivateFramework(_))
.WillByDefault(InvokeDeactivateFramework(this));
EXPECT_CALL(*this, deactivateFramework(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateFramework(_, _, _))
.WillByDefault(InvokeUpdateFramework(this));
EXPECT_CALL(*this, updateFramework(_, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, addSlave(_, _, _, _, _, _))
.WillByDefault(InvokeAddSlave(this));
EXPECT_CALL(*this, addSlave(_, _, _, _, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, removeSlave(_))
.WillByDefault(InvokeRemoveSlave(this));
EXPECT_CALL(*this, removeSlave(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateSlave(_, _, _, _))
.WillByDefault(InvokeUpdateSlave(this));
EXPECT_CALL(*this, updateSlave(_, _, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, addResourceProvider(_, _, _))
.WillByDefault(InvokeAddResourceProvider(this));
EXPECT_CALL(*this, addResourceProvider(_, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, activateSlave(_))
.WillByDefault(InvokeActivateSlave(this));
EXPECT_CALL(*this, activateSlave(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, deactivateSlave(_))
.WillByDefault(InvokeDeactivateSlave(this));
EXPECT_CALL(*this, deactivateSlave(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateWhitelist(_))
.WillByDefault(InvokeUpdateWhitelist(this));
EXPECT_CALL(*this, updateWhitelist(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, requestResources(_, _))
.WillByDefault(InvokeRequestResources(this));
EXPECT_CALL(*this, requestResources(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateAllocation(_, _, _, _))
.WillByDefault(InvokeUpdateAllocation(this));
EXPECT_CALL(*this, updateAllocation(_, _, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateAvailable(_, _))
.WillByDefault(InvokeUpdateAvailable(this));
EXPECT_CALL(*this, updateAvailable(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateUnavailability(_, _))
.WillByDefault(InvokeUpdateUnavailability(this));
EXPECT_CALL(*this, updateUnavailability(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateInverseOffer(_, _, _, _, _))
.WillByDefault(InvokeUpdateInverseOffer(this));
EXPECT_CALL(*this, updateInverseOffer(_, _, _, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, getInverseOfferStatuses())
.WillByDefault(InvokeGetInverseOfferStatuses(this));
EXPECT_CALL(*this, getInverseOfferStatuses())
.WillRepeatedly(DoDefault());
ON_CALL(*this, recoverResources(_, _, _, _))
.WillByDefault(InvokeRecoverResources(this));
EXPECT_CALL(*this, recoverResources(_, _, _, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, suppressOffers(_, _))
.WillByDefault(InvokeSuppressOffers(this));
EXPECT_CALL(*this, suppressOffers(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, reviveOffers(_, _))
.WillByDefault(InvokeReviveOffers(this));
EXPECT_CALL(*this, reviveOffers(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, setQuota(_, _))
.WillByDefault(InvokeSetQuota(this));
EXPECT_CALL(*this, setQuota(_, _))
.WillRepeatedly(DoDefault());
ON_CALL(*this, removeQuota(_))
.WillByDefault(InvokeRemoveQuota(this));
EXPECT_CALL(*this, removeQuota(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, updateWeights(_))
.WillByDefault(InvokeUpdateWeights(this));
EXPECT_CALL(*this, updateWeights(_))
.WillRepeatedly(DoDefault());
ON_CALL(*this, pause())
.WillByDefault(InvokePause(this));
EXPECT_CALL(*this, pause())
.WillRepeatedly(DoDefault());
ON_CALL(*this, resume())
.WillByDefault(InvokeResume(this));
EXPECT_CALL(*this, resume())
.WillRepeatedly(DoDefault());
}
osaOSGStereo::osaOSGStereo( osaOSGWorld* world,
int x, int y, int width, int height,
const vctFixedSizeMatrix<double,3,3>& Kl,
const vctFixedSizeMatrix<double,3,3>& Kr,
const vctFrame4x4<double>& vctRt,
double zNear, double zFar,
bool trackball,
const vctFrame4x4<double>& Rtoffset ) :
osaOSGCamera( world, trackball, Rtoffset ),
x( x ), // x position
y( y ), // y position
width( width ), // width of images
height( height ),
baseline( baseline ){
double x0 = 0;
double y0 = 0;
// Set the intrinsic paramters
getCamera()->setProjectionMatrix( osg::Matrixd() );
// Setup the left camera
{
osg::Matrixd K;
double K00 = Kl[0][0]; // 526.0554;
double K11 = Kl[1][1]; // 525.0756;
double K02 = Kl[0][2]; // 313.2596;
double K12 = Kl[1][2]; // 233.6962;
K( 0, 0 ) = 2*K00/width;
K( 1, 0 ) = 0.0;
K( 2, 0 ) = (width - 2*K02 + 2*x0)/width;
K( 3, 0 ) = 0;
K( 0, 1 ) = 0.0;
K( 1, 1 ) = 2*K11/height;
K( 2, 1 ) = (-height + 2*K12 + 2*y0)/height;
K( 3, 1 ) = 0;
K( 0, 2 ) = 0.0;
K( 1, 2 ) = 0.0;
K( 2, 2 ) = (-zFar - zNear)/(zFar - zNear);
K( 3, 2 ) = -2*zFar*zNear/(zFar - zNear);
K( 0, 3 ) = 0.0;
K( 1, 3 ) = 0.0;
K( 2, 3 ) = -1;
K( 3, 3 ) = 0.0;
// Create a new (slave) camera
osg::ref_ptr<osg::Camera> camera = new osg::Camera;
// Create the view port. Again, the reason why the viewport is created
// here is because the SVL stuff in the final draw callback needs to be
// created during the constructor
camera->setViewport( new osg::Viewport( 0, 0, width, height) );
// add this slave camera to the viewer, with a shift left of the
// projection matrix
addSlave( camera.get(), K, osg::Matrixd() );
}
// setup the right camera
{
osg::Matrixd K;
double K00 = Kr[0][0]; // 534.6877;
double K11 = Kr[1][1]; // 533.5979;
double K02 = Kr[0][2]; // 327.7359;
double K12 = Kr[1][2]; // 249.4243;
K( 0, 0 ) = 2*K00/width;
K( 1, 0 ) = 0.0;
K( 2, 0 ) = (width - 2*K02 + 2*x0)/width;
K( 3, 0 ) = 0;
K( 0, 1 ) = 0.0;
K( 1, 1 ) = 2*K11/height;
K( 2, 1 ) = (-height + 2*K12 + 2*y0)/height;
K( 3, 1 ) = 0;
K( 0, 2 ) = 0.0;
K( 1, 2 ) = 0.0;
K( 2, 2 ) = -(zFar + zNear)/(zFar - zNear);
K( 3, 2 ) = -2*zFar*zNear/(zFar - zNear);
K( 0, 3 ) = 0.0;
K( 1, 3 ) = 0.0;
K( 2, 3 ) = -1;
K( 3, 3 ) = 0.0;
osg::Matrixd osgRt( vctRt[0][0], vctRt[1][0], vctRt[2][0], 0.0,
vctRt[0][1], vctRt[1][1], vctRt[2][1], 0.0,
vctRt[0][2], vctRt[1][2], vctRt[2][2], 0.0,
vctRt[0][3], vctRt[1][3], vctRt[2][3], 1.0 );
// Create a new (slave) camera
osg::ref_ptr<osg::Camera> camera = new osg::Camera;
// Create the view port. Again, the reason why the viewport is created
// here is because the SVL stuff in the final draw callback needs to be
// created during the constructor
camera->setViewport( new osg::Viewport( 0, 0, width, height) );
// add this slave camera to the viewer, with a shift right of the
// projection matrix
addSlave( camera.get(), K, osgRt );
}
}
osaOSGStereo::osaOSGStereo( osaOSGWorld* world,
int x, int y, int width, int height,
double fovy, double aspectRatio,
double zNear, double zFar,
double baseline,
bool trackball,
const vctFrame4x4<double>& Rtoffset ) :
osaOSGCamera( world, trackball, Rtoffset ),
x( x ), // x position
y( y ), // y position
width( width ), // width of images
height( height ),
baseline( baseline ){
double K00 = 533.401729541061854;
double K11 = 532.351481757753163;
double K02 = 327.972320586762351/1000.0;
double K12 = 247.901576976705911/1000.0;
double x0 = 0;
double y0 = 0;
osg::Matrixd K;
K( 0, 0 ) = 2*K00/width;
K( 1, 0 ) = 0.0;
K( 2, 0 ) = (2*K02 + 2*x0)/width - 1.0;
K( 3, 0 ) = 0;
K( 0, 1 ) = 0.0;
K( 1, 1 ) = 2*K11/height;
K( 2, 1 ) = (2*K12 + 2*y0)/height -1.0;
K( 3, 1 ) = 0;
K( 0, 2 ) = 0.0;
K( 1, 2 ) = 0.0;
K( 2, 2 ) = -(zFar + zNear)/(zFar - zNear);
K( 3, 2 ) = -2*zFar*zNear/(zFar - zNear);
K( 0, 3 ) = 0.0;
K( 1, 3 ) = 0.0;
K( 2, 3 ) = -1;
K( 3, 3 ) = 0;
// Set the intrinsic paramters
getCamera()->setProjectionMatrixAsPerspective(fovy,aspectRatio,zNear,zFar);
K = getCamera()->getProjectionMatrix( );
// Setup the left camera
{
// Create a new (slave) camera
osg::ref_ptr<osg::Camera> camera = new osg::Camera;
// Create the view port. Again, the reason why the viewport is created
// here is because the SVL stuff in the final draw callback needs to be
// created during the constructor
camera->setViewport( new osg::Viewport( 0, 0, width, height) );
// add this slave camera to the viewer, with a shift left of the
// projection matrix
addSlave( camera.get(), osg::Matrixd(), osg::Matrixd() );
// Only do drawing callback if OpenCV is enabled
#ifdef SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV
// Create a drawing callback. This callback is set to capture
// depth+color buffer (true, true)
osg::ref_ptr<osaOSGCamera::FinalDrawCallback> finaldrawcallback;
try{ finaldrawcallback = new FinalDrawCallback( camera ); }
catch( std::bad_alloc& ){
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< "Failed to allocate FinalDrawCallback."
<< std::endl;
}
CMN_ASSERT( finaldrawcallback );
camera->setFinalDrawCallback( finaldrawcallback );
#endif //SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV
}
// setup the right camera
{
// Create a new (slave) camera
osg::ref_ptr<osg::Camera> camera = new osg::Camera;
// Create the view port. Again, the reason why the viewport is created
// here is because the SVL stuff in the final draw callback needs to be
// created during the constructor
camera->setViewport( new osg::Viewport( 0, 0, width, height) );
// add this slave camera to the viewer, with a shift right of the
// projection matrix
addSlave( camera.get(), osg::Matrixd(), osg::Matrixd() );
// Only do drawing callback if OpenCV is enabled
#ifdef SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV
// Create a drawing callback. This callback is set to capture
// depth+color buffer (true, true)
osg::ref_ptr<osaOSGCamera::FinalDrawCallback> finaldrawcallback;
try{ finaldrawcallback = new FinalDrawCallback( camera ); }
catch( std::bad_alloc& ){
CMN_LOG_RUN_ERROR << CMN_LOG_DETAILS
<< "Failed to allocate FinalDrawCallback."
<< std::endl;
}
CMN_ASSERT( finaldrawcallback );
camera->setFinalDrawCallback( finaldrawcallback );
#endif // SAW_OPENSCENEGRAPH_SUPPORTS_OPENCV
}
}
int main(int argc, char** argv) {
printf("i2c c test.\n");
int fd[2];
unsigned char buf[10];
char *fileName = "/dev/i2c-1";
int addr[2] = {0x29, 0x39}; // Adressen der Chips
openPort(&fd[0]);
openPort(&fd[1]);
addSlave(addr[0], &fd[0]);
addSlave(addr[1], &fd[1]);
int i;
int readcount[2] = {0, 1};
double maxlux = 0.0;
int maxCh0 = 0;
//Variablen zur Berechnung des Lichteinfalls
int cLow[2] = {65536, 65536};
int cHigh[2] = {0, 0};
double cc[2] = {0.0, 0.0};
double maxcc[2] = {0.0, 0.0};
double lastcc[2] = {0.0, 0.0};
double epsilon = 0.01;
//Variablen zur Aktivierung der Dosen:
int active[2] = {0, 0};
double actThr = 0.1; //Schwellenwert um Verdunklung zu erkennen
//initialisiere OSC:
lo_address oscaddr = initOSC("192.168.1.8", "7777");
while(1) {
for(i = 0; i < 2; i++) {
cc[i] = readLight(&fd[i], &cLow[i], &cHigh[i]);
readcount[i]++;
if(cc[i] > maxcc[i]) {
maxcc[i] = cc[i];
}
if(readcount[i] >= 3) {
if(active[i]) {
if((lastcc[i] > maxcc[i] + epsilon) || (lastcc[i] < maxcc[i] - epsilon)) {
//Lichtintensitaet hat sich signifikant geaendert -> Ausgabe!
printf("%d Licht: %f\n", i, maxcc[i]);
if(i == 0) sendOSC(&oscaddr, "/licht0", maxcc[i]);
else if(i == 1) sendOSC(&oscaddr, "/licht1", maxcc[i]);
lastcc[i] = maxcc[i];
}
}
else {
if(maxcc[i] > (1.0 - actThr)) {
printf("Dose %d ist jetzt aktiv.\n", i);
active[i] = 1;
}
}
readcount[i] = 0;
maxcc[i] = 0.0;
}
}
/* lo_address t = lo_address_new("192.168.1.8", "7777");
if(lo_send(t, "/light", "f", cc) == -1) {
printf("OSC Fehler: %s\n", lo_address_errstr(t));
}*/
usleep(13 * 1000);
}
return 0;
}
