int main (int argc, char * argv [])
{
unsigned controller = 0, sendBody = 0, sendUser = 1;
sprintf(trackerName, "%s", TRACKER_NAME);
// The only command line argument is a string for the configuration
if (argc > 1) {
// Get the arguments (device_name, controller_index, bodyFrame, userFrame)
if (sscanf(argv[1], "%511s%u%u%u", trackerName, &controller, &sendBody, &sendUser) != 4) {
fprintf(stderr, "Bad vrpn_Freespace line: %s\n", argv[1]);
fprintf(stderr, "Expect: deviceName controllerIndex bodyFrame userFrame\n");
return -1;
}
}
// Correctly handle command line input
addControlHandler();
//---------------------------------------------------------------------
// explicitly open the connection
connection = vrpn_create_server_connection(CONNECTION_PORT);
//---------------------------------------------------------------------
// create a freespace tracker for the first device.
printf("Tracker's name is %s.\n", trackerName);
freespace = vrpn_Freespace::create(trackerName, connection, 0, (sendBody != 0), (sendUser != 0));
if (!freespace) {
fprintf(stderr, "Error opening freespace device: %s\n", trackerName);
return 1;
}
// the freespace device exposes 3 vrpn interfaces. Tracker, buttons,
// and a Dial (scrollwheel)
// libfreespace also reports values like a mouse (dx/dy), though the
// vrpn messages are not currently sent. Considering the client side doesn't
// have a notion of a mouse, but treats it as an analog device, I didn't feel
// compelled to generate the messages, though the additional code is fairly
// straight forward
create_and_link_tracker_remote(trackerName);
create_and_link_button_remote(trackerName);
create_and_link_dial_remote(trackerName);
while ( !quit ) {
// Let the servers, clients and connection do their things
freespace->mainloop();
rtkr->mainloop();
connection->mainloop();
// Sleep for 1ms each iteration so we don't eat the CPU
vrpn_SleepMsecs(1);
}
delete freespace;
delete rtkr;
delete connection;
return 0;
} /* main */
int main (int argc, char * argv [])
{
bool sendBody = 0, sendUser = 1;
// painfully simple CL options to turn on/off body/user frame reports
if (argc > 1) {
sendBody = atoi(argv[1]);
if (argc > 2) {
sendUser = atoi(argv[2]);
}
}
//---------------------------------------------------------------------
// explicitly open the connection
connection = vrpn_create_server_connection(CONNECTION_PORT);
//---------------------------------------------------------------------
// Open the tracker server, using this connection, 2 sensors, update 1 times/sec
printf("Tracker's name is %s.\n", TRACKER_NAME);
// create a freespace tracker for the first device.
freespace = vrpn_Freespace::create(TRACKER_NAME, connection, 0, sendBody, sendUser);
if (!freespace) {
fprintf(stderr, "Error opening freespace device\n");
return 1;
}
// the freespace device exposes 3 vrpn interfaces. Tracker, buttons,
// and a Dial (scrollwheel)
// libfreespace also reports values like a mouse (dx/dy), though the
// vrpn messages are not currently sent. Considering the client side doesn't
// have a notion of a mouse, but treats it as an analog device, I didn't feel
// compelled to generate the messages, though the additional code is fairly
// straight forward
create_and_link_tracker_remote();
create_and_link_button_remote();
create_and_link_dial_remote();
/*
* main interactive loop
*/
while ( 1 ) {
// Let the servers, clients and connection do their things
freespace->mainloop();
rtkr->mainloop();
connection->mainloop();
// Sleep for 1ms each iteration so we don't eat the CPU
vrpn_SleepMsecs(1);
}
return 0;
} /* main */
int main (int argc, char * argv [])
{
if (argc != 1) {
fprintf(stderr, "Usage: %s\n", argv[0]);
return -1;
}
//---------------------------------------------------------------------
// test the packing and unpacking routines
if (!vrpn_test_pack_unpack()) {
fprintf(stderr, "vrpn_test_pack_unpack() failed!\n");
return -1;
}
//---------------------------------------------------------------------
// test the thread library
if (!vrpn_test_threads_and_semaphores()) {
fprintf(stderr, "vrpn_test_threads_and_semaphores() failed!\n");
fprintf(stderr, " (This is not often used within VRPN, so it should not be fatal\n");
} else {
printf("Thread code passes tests (not using for the following though)\n");
}
//---------------------------------------------------------------------
// explicitly open the connection
connection = vrpn_create_server_connection("loopback:");
if (!connection->doing_okay()) {
fprintf(stderr, "Connection not doing okay (should be impossible)!\n");
return -1;
}
//---------------------------------------------------------------------
// Open the tracker server, using this connection, 2 sensors, update 1 times/sec
stkr = new vrpn_Tracker_NULL(TRACKER_NAME, connection, 2, 1.0);
printf("Tracker's name is %s.\n", TRACKER_NAME);
create_and_link_tracker_remote();
//---------------------------------------------------------------------
// Open the dial server, using this connection, 2 dials, spin 0.5 rev/sec,
// update 1 times/sec
sdial = new vrpn_Dial_Example_Server(DIAL_NAME, connection, 2, 0.5, 1.0);
printf("Dial's name is %s.\n", DIAL_NAME);
create_and_link_dial_remote();
//---------------------------------------------------------------------
// Open the button server, using this connection, defaults
sbtn = new vrpn_Button_Example_Server(BUTTON_NAME, connection);
printf("Button's name is %s.\n", BUTTON_NAME);
create_and_link_button_remote();
//---------------------------------------------------------------------
// Open the text sender and receiver.
stext = new vrpn_Text_Sender(TEXT_NAME, connection);
printf("Text's name is %s.\n", TEXT_NAME);
create_and_link_text_remote();
//---------------------------------------------------------------------
// Open the analog server, using this connection.
sana = new vrpn_Analog_Server(ANALOG_NAME, connection);
sana->setNumChannels(8);
printf("Analog's name is %s.\n", ANALOG_NAME);
create_and_link_analog_remote();
//---------------------------------------------------------------------
// Open the analog output remote , using this connection.
ranaout = new vrpn_Analog_Output_Remote(ANALOG_OUTPUT_NAME, connection);
printf("Analog's name is %s.\n", ANALOG_OUTPUT_NAME);
create_and_link_analog_output_server();
//---------------------------------------------------------------------
// open the poser remote
rposer = new vrpn_Poser_Remote( POSER_NAME, connection );
printf( "Poser's name is %s.\n", POSER_NAME );
create_and_link_poser_server();
/*
* main interactive loop
*/
int repeat_tests = 4;
while ( repeat_tests > 0 ) {
static long secs = 0;
struct timeval now;
// Let the servers, clients and connection do their things
send_analog_output_once_in_a_while();
ranaout->mainloop(); // The remote is on the server for AnalogOutput
sanaout->mainloop(); // The server is on the client for AnalogOutput
send_analog_once_in_a_while();
sana->mainloop();
rana->mainloop();
send_text_once_in_a_while();
rtext->mainloop();
sdial->mainloop();
rdial->mainloop();
sbtn->mainloop();
rbtn->mainloop();
stkr->mainloop();
rtkr->mainloop();
send_poser_once_in_a_while();
rposer->mainloop();
sposer->mainloop();
connection->mainloop();
// Every 2 seconds, delete the old remotes and create new ones
vrpn_gettimeofday(&now, NULL);
if (secs == 0) { // First time through
secs = now.tv_sec;
}
if ( now.tv_sec - secs >= 2 ) {
secs = now.tv_sec;
printf("\nDeleting and restarting _Remote objects\n");
delete rtkr;
delete rdial;
delete rbtn;
delete rtext;
delete rana;
delete sanaout;
delete sposer;
create_and_link_tracker_remote();
create_and_link_dial_remote();
create_and_link_button_remote();
create_and_link_text_remote();
create_and_link_analog_remote();
create_and_link_analog_output_server();
create_and_link_poser_server();
--repeat_tests;
}
// Sleep for 1ms each iteration so we don't eat the CPU
vrpn_SleepMsecs(1);
}
if ( (pcount == 0) || (vcount == 0) || (acount == 0) ||
(dcount == 0) || (tcount == 0) || (ancount == 0) ||
(aocount == 0) ||
(bcount == 0) || (pocount == 0) || (prcount == 0) ) {
fprintf(stderr,"Did not get callbacks from one or more device\n");
return -1;
}
printf("\nDeleting _Remote objects\n");
delete rtkr;
delete rdial;
delete rbtn;
delete rtext;
delete rana;
delete ranaout;
delete rposer;
printf("Testing whether two connections to a tracker and to a button each get their own messages.\n");
vrpn_Tracker_Remote *t1 = new vrpn_Tracker_Remote(TRACKER_NAME, connection);
t1->register_change_handler(NULL, handle_pos1);
vrpn_Tracker_Remote *t2 = new vrpn_Tracker_Remote(TRACKER_NAME, connection);
t2->register_change_handler(NULL, handle_pos2);
vrpn_Button_Remote *b1 = new vrpn_Button_Remote(BUTTON_NAME, connection);
b1->register_change_handler(NULL, handle_button1);
vrpn_Button_Remote *b2 = new vrpn_Button_Remote(BUTTON_NAME, connection);
b2->register_change_handler(NULL, handle_button2);
unsigned long secs;
struct timeval start, now;
vrpn_gettimeofday(&start, NULL);
do {
stkr->mainloop();
sbtn->mainloop();
t1->mainloop();
t2->mainloop();
b1->mainloop();
b2->mainloop();
connection->mainloop();
vrpn_gettimeofday(&now, NULL);
secs = now.tv_sec - start.tv_sec;
} while (secs <= 2);
if ( (p1count == 0) || (p2count == 0) ) {
fprintf(stderr,"Did not get callbacks from trackers\n");
return -1;
}
if ( (b1count == 0) || (b2count == 0) ) {
fprintf(stderr,"Did not get callbacks from buttons\n");
return -1;
}
printf("Deleting extra remote objects\n");
delete t1;
delete t2;
delete b1;
delete b2;
printf("Deleting servers and connection\n");
delete stkr;
delete sbtn;
delete sdial;
delete stext;
delete sana;
delete sanaout;
delete sposer;
connection->removeReference();
printf("Success!\n");
return 0;
} /* main */
