// Connect to the P5Glove hardware
bool P5GloveStandalone::connectToHardware(const int gloveNumber)
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_STATE_LVL)
<< "[P5Glove] Connecting To P5Glove Hardware number " << gloveNumber
<< std::endl << vprDEBUG_FLUSH;
for ( unsigned int i = 0 ; i < 4 ; ++i )
{
mGlove = p5glove_open(gloveNumber);
if ( mGlove == NULL )
{
break;
}
if ( p5glove_sample(mGlove, -1) >= 0 )
{
break;
}
p5glove_close(mGlove);
mGlove = NULL;
}
if ( mGlove == NULL )
{
vprDEBUG(gadgetDBG_INPUT_MGR, vprDBG_WARNING_LVL)
<< "[P5Glove] Cannot connect to Hardware glove!\n" << vprDEBUG_FLUSH;
return false;
}
// p5g_reset_prev(mGlove);
return true;
}
/* Brain-Dead P5 data dump.
*/
int main(int argc, char **argv)
{
P5Glove glove;
int sample;
glove=p5glove_open(0);
if (glove == NULL) {
fprintf(stderr, "%s: Can't open glove interface\n", argv[0]);
return 1;
}
for (sample=0; sample < 100 ; ) {
int i,err;
err=p5glove_sample(glove, -1);
if (err < 0 && errno == EAGAIN)
continue;
if (err < 0) {
perror("Glove Failure");
exit(1);
}
printf("%2d: ",sample);
sample++;
dump_cooked(glove,err);
printf("\n");
}
p5glove_close(glove);
return 0;
}
void render_next(void)
{
int err;
/* Get samples here */
err=p5glove_sample(glove, 100);
glutPostRedisplay();
}
bool P5GloveStandalone::readRecordsFromHardware(Record& rec)
{
const int mask = p5glove_sample(mGlove, -1);
if ( mask < 0 )
{
return false;
}
if ( mask & P5GLOVE_DELTA_BUTTONS )
{
uint32_t buttons;
p5glove_get_buttons(mGlove, &buttons);
/* Buttons */
rec.buttonA = buttons & P5GLOVE_BUTTON_A;
rec.buttonB = buttons & P5GLOVE_BUTTON_B;
rec.buttonC = buttons & P5GLOVE_BUTTON_C;
}
if ( mask & P5GLOVE_DELTA_FINGERS )
{
p5glove_get_finger(mGlove, P5GLOVE_FINGER_THUMB, &rec.thumb);
p5glove_get_finger(mGlove, P5GLOVE_FINGER_INDEX, &rec.index);
p5glove_get_finger(mGlove, P5GLOVE_FINGER_MIDDLE, &rec.middle);
p5glove_get_finger(mGlove, P5GLOVE_FINGER_RING, &rec.ring);
p5glove_get_finger(mGlove, P5GLOVE_FINGER_PINKY, &rec.pinky);
}
if ( mask & P5GLOVE_DELTA_POSITION )
{
p5glove_get_position(mGlove, &rec.position[0]);
}
if ( mask & P5GLOVE_DELTA_ROTATION )
{
p5glove_get_rotation(mGlove, &rec.rotationAngle, &rec.rotationAxis[0]);
}
return true;
}
void p5_read(t_p5 *p5){
if(p5 == NULL) return;
int err = p5glove_sample(p5->glove, -1);
if (err < 0 && errno == EAGAIN){
return;
}
if (err < 0) {
error("*** p5 glove failure");
return;
}
/* Output button data */
uint32_t buttons;
p5glove_get_buttons(p5->glove, &buttons);
if(err & P5GLOVE_DELTA_BUTTONS){
if(buttons & P5GLOVE_BUTTON_A)
outlet_float(p5->btn_a_out, 1);
else
outlet_float(p5->btn_a_out, 0);
if(buttons & P5GLOVE_BUTTON_B)
outlet_float(p5->btn_b_out, 1);
else
outlet_float(p5->btn_b_out, 0);
if(buttons & P5GLOVE_BUTTON_C)
outlet_float(p5->btn_c_out, 1);
else
outlet_float(p5->btn_c_out, 0);
}
/* Output finger data */
if(err & P5GLOVE_DELTA_FINGERS){
double clench;
p5glove_get_finger(p5->glove, P5GLOVE_FINGER_THUMB, &clench);
outlet_float(p5->thumb_out, clench);
p5glove_get_finger(p5->glove, P5GLOVE_FINGER_INDEX ,&clench);
outlet_float(p5->index_out, clench);
p5glove_get_finger(p5->glove, P5GLOVE_FINGER_MIDDLE ,&clench);
outlet_float(p5->middle_out, clench);
p5glove_get_finger(p5->glove, P5GLOVE_FINGER_RING ,&clench);
outlet_float(p5->ring_out, clench);
p5glove_get_finger(p5->glove, P5GLOVE_FINGER_PINKY ,&clench);
outlet_float(p5->pinky_out, clench);
}
if(err & P5GLOVE_DELTA_POSITION){
double pos[3];
p5glove_get_position(p5->glove, pos);
outlet_float(p5->xpos_out, pos[0]);
outlet_float(p5->ypos_out, pos[1]);
outlet_float(p5->zpos_out, pos[2]);
}
if(err & P5GLOVE_DELTA_ROTATION){
//TODO: Get/send rotation
}
clock_delay(p5->clock, p5->delaytime);
}//p5_read
