FB::variant hapticAPI::startDevice(void){
if (!initialized){
if ( hdPhantomOpen(deviceID)!=-1) {
hdPhantomStartServo();
initialized = true;
return (FB::variant)initialized;
}
}
return initialized;
}
//===========================================================================
int cPhantomDevice::open()
{
// check if drivers are installed
if (!m_driverInstalled) return (-1);
// check if the system is available
if (!m_systemAvailable) return (-1);
// if system is already opened then return
if (m_systemReady) return (0);
// try to open the device
hdPhantomOpen(m_deviceID);
// update device status
m_systemReady = true;
// success
return (0);
}