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src/vrpn/client_src/pc_linux64/test_mutex deleted 100755 → 0
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src/vrpn/client_src/pc_linux64/text deleted 100755 → 0
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src/vrpn/client_src/pc_linux64/vrpn_ping deleted 100755 → 0
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src/vrpn/client_src/pc_linux64/vrpn_print_devices deleted 100755 → 0
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src/vrpn/client_src/pc_linux64/vrpn_print_messages deleted 100755 → 0
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src/vrpn/client_src/pc_linux64/vrpn_print_performance deleted 100755 → 0
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src/vrpn/client_src/phan_client.C deleted 100644 → 0
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// phan_client.C - simplest example: generates a flat horizontal plane
#include <stdio.h> // for printf, NULL
#include <vrpn_Button.h> // for vrpn_BUTTONCB, etc
#include <vrpn_Tracker.h> // for vrpn_TRACKERCB, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Connection.h" // for vrpn_Connection
#include "vrpn_ForceDevice.h" // for vrpn_ForceDevice_Remote, etc
#include "vrpn_Types.h" // for vrpn_float64
#define PHANTOM_SERVER "Tracker0@localhost"
/*****************************************************************************
*
Callback handler
*
*****************************************************************************/
void VRPN_CALLBACK handle_force_change(void *userdata, const vrpn_FORCECB f)
{
static vrpn_FORCECB lr; // last report
static int first_report_done = 0;
if ((!first_report_done) ||
((f.force[0] != lr.force[0]) || (f.force[1] != lr.force[1])
|| (f.force[2] != lr.force[2])))
printf("force is (%f,%f,%f)\n", f.force[0], f.force[1], f.force[2]);
first_report_done = 1;
lr = f;
}
void VRPN_CALLBACK handle_tracker_change(void *userdata, const vrpn_TRACKERCB t)
{
static vrpn_TRACKERCB lr; // last report
static float dist_interval_sq = 0.004f;
if ((lr.pos[0] - t.pos[0])*(lr.pos[0] - t.pos[0]) +
(lr.pos[1] - t.pos[1])*(lr.pos[1] - t.pos[1]) +
(lr.pos[2] - t.pos[2])*(lr.pos[2] - t.pos[2]) > dist_interval_sq){
printf("Sensor %d is now at (%g,%g,%g)\n", t.sensor,
t.pos[0], t.pos[1], t.pos[2]);
lr = t;
}
}
void VRPN_CALLBACK handle_button_change(void *userdata, const vrpn_BUTTONCB b)
{
static int count=0;
static int buttonstate = 1;
int done = 0;
if (b.state != buttonstate) {
printf("button #%d is in state %d\n", b.button, b.state);
buttonstate = b.state;
count++;
}
if (count > 4)
done = 1;
*(int *)userdata = done;
}
int main(int argc, char *argv[])
{
printf("generates a flat horizontal plane on ForceDevice %s\n", PHANTOM_SERVER);
int done = 0;
vrpn_ForceDevice_Remote *forceDevice;
vrpn_Tracker_Remote *tracker;
vrpn_Button_Remote *button;
// initialize the force device
forceDevice = new vrpn_ForceDevice_Remote(PHANTOM_SERVER);
forceDevice->register_force_change_handler(NULL, handle_force_change);
// initialize the tracker
tracker = new vrpn_Tracker_Remote(PHANTOM_SERVER);
tracker->register_change_handler(NULL, handle_tracker_change);
// initialize the button
button = new vrpn_Button_Remote(PHANTOM_SERVER);
button->register_change_handler(&done, handle_button_change);
while (!forceDevice->connectionPtr()->connected()) {
forceDevice->mainloop();
}
// Set plane and surface parameters
forceDevice->set_plane(0.0, 1.0, 0.0, 0.0);
forceDevice->setSurfaceKspring(0.8f); // spring constant - units of
// dynes/cm
forceDevice->setSurfaceKdamping(0.0); // damping constant -
// units of dynes*sec/cm
forceDevice->setSurfaceFstatic(0.0); // set static friction
forceDevice->setSurfaceFdynamic(0.0); // set dynamic friction
forceDevice->setRecoveryTime(10); // recovery occurs over 10
// force update cycles
forceDevice->setSurfaceBuzzAmplitude(0.0);
forceDevice->setSurfaceBuzzFrequency(60.0);
forceDevice->setSurfaceTextureAmplitude(0.0);
forceDevice->setSurfaceTextureWavelength(0.01f);
// enable force device and send first surface
forceDevice->startSurface();
/*
// test spring constraint instead
vrpn_float32 p [3];
p[0] = 0.0f;
p[1] = 0.0f;
p[2] = 0.0f;
vrpn_float32 d [3];
d[0] = 0.0f;
d[1] = 1.0f;
d[2] = 0.0f;
//forceDevice->setConstraintMode(vrpn_ForceDevice::POINT_CONSTRAINT);
//forceDevice->setConstraintPoint(p);
// works
//forceDevice->setConstraintMode(vrpn_ForceDevice::LINE_CONSTRAINT);
//forceDevice->setConstraintLinePoint(p);
//forceDevice->setConstraintLineDirection(d);
// works
forceDevice->setConstraintMode(vrpn_ForceDevice::PLANE_CONSTRAINT);
forceDevice->setConstraintPlanePoint(p);
forceDevice->setConstraintPlaneNormal(d);
forceDevice->setConstraintKSpring(10.0);
forceDevice->enableConstraint(1);
*/
// main loop
while (! done ){
// Let the forceDevice send its planes to remote force device
forceDevice->mainloop();
// Let tracker receive position information from remote tracker
tracker->mainloop();
// Let button receive button status from remote button
button->mainloop();
// we may call forceDevice->set_plane(...) followed by
// forceDevice->sendSurface() here to change the plane
// for example: using position information from a tracker we can
// compute a plane to approximate a complex surface at that
// position and send that approximation 15-30 times per
// second to simulate the complex surface
}
// shut off force device
forceDevice->stopSurface();
} /* main */
src/vrpn/client_src/printcereal.C deleted 100644 → 0
View file @ 4375e2bb
#include <signal.h> // for signal, SIGINT
#include <stdio.h> // for printf, fprintf, stderr, etc
#include <stdlib.h> // for exit
#include "vrpn_Analog.h" // for vrpn_Analog_Remote, etc
#include "vrpn_Button.h" // for vrpn_Button_Remote, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Dial.h" // for vrpn_DIALCB, etc
#include "vrpn_Shared.h" // for vrpn_SleepMsecs
#include "vrpn_Types.h" // for vrpn_float64
vrpn_Button_Remote *btn;
vrpn_Analog_Remote *ana;
vrpn_Dial_Remote *dial;
int done = 0;
const int MAX_DIALS = 128;
vrpn_float64 cur_dial_values[MAX_DIALS];
/*****************************************************************************
*
Callback handlers
*
*****************************************************************************/
void VRPN_CALLBACK handle_button (void *, const vrpn_BUTTONCB b)
{
printf("B%d->%d\n", b.button, b.state);
}
void VRPN_CALLBACK handle_analog (void *, const vrpn_ANALOGCB a)
{
int i;
printf("Analogs: ");
for (i = 0; i < a.num_channel; i++) {
printf("%4.2f ",a.channel[i]);
}
printf("\n");
}
void VRPN_CALLBACK handle_dial (void *, const vrpn_DIALCB d)
{
cur_dial_values[d.dial] += d.change;
printf("Dial %d spun by %lf (currently at %lf)\n", d.dial, d.change,
cur_dial_values[d.dial]);
}
/*****************************************************************************
*
init - initialize everything
*
*****************************************************************************/
void init (const char * devicename)
{
int i;
fprintf(stderr, "Button's name is %s.\n", devicename);
btn = new vrpn_Button_Remote (devicename);
fprintf(stderr, "Analog's name is %s.\n", devicename);
ana = new vrpn_Analog_Remote (devicename);
fprintf(stderr, "Dial's name is %s.\n", devicename);
dial = new vrpn_Dial_Remote (devicename);
// Zero all of the dial records
for (i = 0; i < MAX_DIALS; i++) {
cur_dial_values[i] = 0.0;
}
// Set up the callback handlers
printf("Button update: B<number> is <newstate>\n");
btn->register_change_handler(NULL, handle_button);
printf("Analog update: Analogs: [new values listed]\n");
ana->register_change_handler(NULL, handle_analog);
printf("Dial update: Dial# spun by [amount]\n");
dial->register_change_handler(NULL, handle_dial);
} /* init */
void handle_cntl_c (int) {
done = 1;
}
void shutdown (void) {
fprintf(stderr, "\nIn control-c handler.\n");
if (btn) delete btn;
if (ana) delete ana;
if (dial) delete dial;
exit(0);
}
int main (int argc, char * argv [])
{
#ifdef hpux
char default_station_name [100];
strcpy(default_station_name, "CerealBox@ioglab");
#else
char default_station_name [] = { "CerealBox@ioglab" };
#endif
const char * station_name = default_station_name;
if (argc < 2) {
fprintf(stderr, "Usage: %s Device_name\n"
" Device_name: VRPN name of data source to contact\n"
" example: CerealBox@ioglab\n",
argv[0]);
exit(0);
}
// parse args
station_name = argv[1];
// initialize the PC/station
init(station_name);
// signal handler so logfiles get closed right
signal(SIGINT, handle_cntl_c);
/*
* main interactive loop
*/
while ( ! done )
{
// Let the tracker and button do their things
btn->mainloop();
ana->mainloop();
dial->mainloop();
// Sleep for 1ms so we don't eat the CPU
vrpn_SleepMsecs(1);
}
shutdown();
return 0;
} /* main */
src/vrpn/client_src/printcereal.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/printcereal.vcproj deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/printvals.C deleted 100644 → 0
View file @ 4375e2bb
#include <signal.h> // for signal, SIGINT
#include <stdio.h> // for fprintf, stderr, NULL, etc
#include <stdlib.h> // for atof, exit, atoi
#include <string.h> // for strcmp, strncmp
#include <vrpn_Configure.h> // for VRPN_CALLBACK
#include <vrpn_Button.h> // for vrpn_BUTTONCB
#include <vrpn_Shared.h> // for vrpn_SleepMsecs
#include <vrpn_Tracker.h> // for vrpn_TRACKERCB, etc
#include <vrpn_Connection.h> // for vrpn_HANDLERPARAM
#include <vrpn_Types.h> // for vrpn_float64, vrpn_int32
#include <vrpn_BaseClass.h> // for vrpn_System_TextPrinter, etc
#include <vrpn_FileConnection.h>
#include <vrpn_FileController.h>
#include <vrpn_RedundantTransmission.h>
//#include <vrpn_DelayedConnection.h>
vrpn_Button_Remote *btn,*btn2;
vrpn_Tracker_Remote *tkr;
vrpn_Connection * c;
vrpn_File_Controller * fc;
vrpn_RedundantRemote * rc;
int print_for_tracker = 1; // Print tracker reports?
int beQuiet = 0;
int beRedundant = 0;
int redNum = 0;
double redTime = 0.0;
double delayTime = 0.0;
int done = 0; // Signals that the program should exit
/*****************************************************************************
*
Callback handlers
*
*****************************************************************************/
void VRPN_CALLBACK handle_pos (void *, const vrpn_TRACKERCB t)
{
static int count = 0;
if (!print_for_tracker) { return; };
fprintf(stderr, "%d.", t.sensor);
if ((++count % 20) == 0) {
fprintf(stderr, "\n");
if (count > 300) {
printf("Pos, sensor %d = %5.3f, %5.3f, %5.3f", t.sensor,
t.pos[0], t.pos[1], t.pos[2]);
printf(" Quat = %5.2f, %5.2f, %5.2f, %5.2f\n",
t.quat[0], t.quat[1], t.quat[2], t.quat[3]);
count = 0;
}
}
}
void VRPN_CALLBACK handle_vel (void *, const vrpn_TRACKERVELCB t)
{
//static int count = 0;
if (!print_for_tracker) { return; };
fprintf(stderr, "%d/", t.sensor);
}
void VRPN_CALLBACK handle_acc (void *, const vrpn_TRACKERACCCB t)
{
//static int count = 0;
if (!print_for_tracker) { return; };
fprintf(stderr, "%d~", t.sensor);
}
void VRPN_CALLBACK handle_button (void *, const vrpn_BUTTONCB b)
{
printf("B%d is %d\n", b.button, b.state);
}
int VRPN_CALLBACK handle_gotConnection (void *, vrpn_HANDLERPARAM) {
if (beRedundant) {
fprintf(stderr, "printvals got connection; "
"initializing redundant xmission.\n");
rc->set(redNum, vrpn_MsecsTimeval(redTime * 1000.0));
}
return 0;
}
int VRPN_CALLBACK filter_pos (void * userdata, vrpn_HANDLERPARAM p) {
vrpn_Connection * c = (vrpn_Connection *) userdata;
int postype = c->register_message_type("Tracker Pos/Quat");
if (p.type == postype)
return 0; // keep position messages
return 1; // discard all others
}
/*****************************************************************************
*
init - initialize everything
*
*****************************************************************************/
void init (const char * station_name,
const char * local_in_logfile, const char * local_out_logfile,
const char * remote_in_logfile, const char * remote_out_logfile,
const char * NIC)
{
char devicename [1000];
//char * hn;
vrpn_int32 gotConn_type;
// explicitly open up connections with the proper logging parameters
// these will be entered in the table and found by the
// vrpn_get_connection_by_name() inside vrpn_Tracker and vrpn_Button
sprintf(devicename, "Tracker0@%s", station_name);
if (!strncmp(station_name, "file:", 5)) {
fprintf(stderr, "Opening file %s.\n", station_name);
c = new vrpn_File_Connection (station_name); // now unnecessary!
if (local_in_logfile || local_out_logfile ||
remote_in_logfile || remote_out_logfile) {
fprintf(stderr, "Warning: Reading from file, so not logging.\n");
}
} else {
fprintf(stderr, "Connecting to host %s.\n", station_name);
c = vrpn_get_connection_by_name
(station_name,
local_in_logfile, local_out_logfile,
remote_in_logfile, remote_out_logfile,
NIC);
if (delayTime > 0.0) {
//((vrpn_DelayedConnection *) c)->setDelay
//(vrpn_MsecsTimeval(delayTime * 1000.0));
//((vrpn_DelayedConnection *) c)->delayAllTypes(vrpn_TRUE);
}
}
fc = new vrpn_File_Controller (c);
if (beRedundant) {
rc = new vrpn_RedundantRemote (c);
}
fprintf(stderr, "Tracker's name is %s.\n", devicename);
tkr = new vrpn_Tracker_Remote (devicename);
sprintf(devicename, "Button0@%s", station_name);
fprintf(stderr, "Button's name is %s.\n", devicename);
btn = new vrpn_Button_Remote (devicename);
sprintf(devicename, "Button1@%s", station_name);
fprintf(stderr, "Button 2's name is %s.\n", devicename);
btn2 = new vrpn_Button_Remote (devicename);
// Set up the tracker callback handler
printf("Tracker update: '.' = pos, '/' = vel, '~' = acc\n");
tkr->register_change_handler(NULL, handle_pos);
tkr->register_change_handler(NULL, handle_vel);
tkr->register_change_handler(NULL, handle_acc);
// Set up the button callback handler
printf("Button update: B<number> is <newstate>\n");
btn->register_change_handler(NULL, handle_button);
btn2->register_change_handler(NULL, handle_button);
gotConn_type = c->register_message_type(vrpn_got_connection);
c->register_handler(gotConn_type, handle_gotConnection, NULL);
} /* init */
void shutdown () {
const char * n;
long i;
fprintf(stderr, "\nIn control-c handler.\n");
/* Commented out this test code for the common case
static int invocations = 0;
if (!invocations) {
printf("(First press -- setting replay rate to 2.0 -- 3 more to exit)\n");
fc->set_replay_rate(2.0f);
invocations++;
signal(SIGINT, handle_cntl_c);
return;
}
if (invocations == 1) {
printf("(Second press -- Starting replay over -- 2 more to exit)\n");
fc->reset();
invocations++;
signal(SIGINT, handle_cntl_c);
return;
}
if (invocations == 2) {
struct timeval t;
printf("(Third press -- Jumping replay to t+30 seconds -- "
"1 more to exit)\n");
t.tv_sec = 30L;
t.tv_usec = 0L;
fc->play_to_time(t);
invocations++;
signal(SIGINT, handle_cntl_c);
return;
}
*/
// print out sender names
if (c)
for (i = 0L; (n = c->sender_name(i)); i++)
printf("Knew local sender \"%s\".\n", n);
// print out type names
if (c)
for (i = 0L; (n = c->message_type_name(i)); i++)
printf("Knew local type \"%s\".\n", n);
if (btn)
delete btn;
if (btn2)
delete btn2;
if (tkr)
delete tkr;
if (c)
delete c;
exit(0);
}
// WARNING: On Windows systems, this handler is called in a separate
// thread from the main program (this differs from Unix). To avoid all
// sorts of chaos as the main program continues to handle packets, we
// set a done flag here and let the main program shut down in its own
// thread by calling shutdown() to do all of the stuff we used to do in
// this handler.
void handle_cntl_c(int) {
done = 1;
}
void Usage (const char * arg0) {
fprintf(stderr,
"Usage: %s [-lli logfile] [-llo logfile] [-rli logfile ] [-rlo logfile]\n"
" [-NIC ip] [-filterpos] [-quiet]\n"
" [-red num time] [-delay time] station_name\n"
" -notracker: Don't print tracker reports\n"
" -lli: log incoming messages locally in <logfile>\n"
" -llo: log outgoing messages locally in <logfile>\n"
" -rli: log incoming messages remotely in <logfile>\n"
" -rlo: log outgoing messages remotely in <logfile>\n"
" -NIC: use network interface with address <ip>\n"
" -filterpos: log only Tracker Position messages\n"
" -quiet: ignore VRPN warnings\n"
" -red <num> <time>: send every message <num>\n"
" times <time> seconds apart\n"
" -delay <time: delay all messages received by <time>\n"
" station_name: VRPN name of data source to contact\n"
" one of: <hostname>[:<portnum>]\n"
" file:<filename>\n",
arg0);
exit(0);
}
int main (int argc, char * argv [])
{
#ifdef hpux
char default_station_name [20];
strcpy(default_station_name, "ioph100");
#else
char default_station_name [] = { "ioph100" };
#endif
const char * station_name = default_station_name;
const char * local_in_logfile = NULL;
const char * local_out_logfile = NULL;
const char * remote_in_logfile = NULL;
const char * remote_out_logfile = NULL;
const char * NIC = NULL;
//long local_logmode = vrpn_LOG_NONE;
//long remote_logmode = vrpn_LOG_NONE;
int filter = 0;
int i;
#ifdef _WIN32
WSADATA wsaData;
int status;
if ((status = WSAStartup(MAKEWORD(1,1), &wsaData)) != 0) {
fprintf(stderr, "WSAStartup failed with %d\n", status);
exit(1);
}
#endif
if (argc < 2) {
Usage(argv[0]);
}
// parse args
for (i = 1; i < argc; i++) {
if (!strcmp(argv[i], "-lli")) {
i++;
local_in_logfile = argv[i];
} else if (!strcmp(argv[i], "-llo")) {
i++;
local_out_logfile = argv[i];
} else if (!strcmp(argv[i], "-rli")) {
i++;
remote_in_logfile = argv[i];
} else if (!strcmp(argv[i], "-rlo")) {
i++;
remote_out_logfile = argv[i];
} else if (!strcmp(argv[i], "-notracker")) {
print_for_tracker = 0;
} else if (!strcmp(argv[i], "-filterpos")) {
filter = 1;
} else if (!strcmp(argv[i], "-NIC")) {
i++;
NIC = argv[i];
} else if (!strcmp(argv[i], "-quiet")) {
beQuiet = 1;
} else if (!strcmp(argv[i], "-red")) {
beRedundant = 1;
i++;
redNum = atoi(argv[i]);
i++;
redTime = atof(argv[i]);
} else if (!strcmp(argv[i], "-delay")) {
i++;
delayTime = atof(argv[i]);
} else
station_name = argv[i];
}
// initialize the PC/station
init(station_name,
local_in_logfile, local_out_logfile,
remote_in_logfile, remote_out_logfile,
NIC);
// signal handler so logfiles get closed right
signal(SIGINT, handle_cntl_c);
// filter the log if requested
if (filter && c) {
c->register_log_filter(filter_pos, c);
}
if (beQuiet) {
vrpn_System_TextPrinter.remove_object(btn);
vrpn_System_TextPrinter.remove_object(btn2);
vrpn_System_TextPrinter.remove_object(tkr);
if (beRedundant) {
vrpn_System_TextPrinter.remove_object(rc);
}
}
if (beRedundant) {
rc->set(redNum, vrpn_MsecsTimeval(redTime * 1000.0));
}
/*
* main interactive loop
*/
while ( ! done ) {
// Run this so control happens!
c->mainloop();
// Let the tracker and button do their things
btn->mainloop();
btn2->mainloop();
tkr->mainloop();
if (beRedundant) {
rc->mainloop();
}
// Sleep for 1ms so we don't eat the CPU
vrpn_SleepMsecs(1);
}
shutdown();
return 0;
} /* main */
src/vrpn/client_src/printvals.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/printvals.vcproj deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/run_auxiliary_logger.C deleted 100644 → 0
View file @ 4375e2bb
#include <stdio.h> // for fprintf, NULL, printf, etc
#include <stdlib.h> // for atoi, exit
#include <string.h> // for strcmp, strncpy
#include "vrpn_Auxiliary_Logger.h"
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Shared.h" // for timeval, vrpn_gettimeofday, etc
vrpn_Auxiliary_Logger_Remote *g_logger;
/*****************************************************************************
*
Callback handlers and the data structures they use to pass information
to the rest of the program.
*
*****************************************************************************/
// Caller sets to false before mainloop(); handle_log_report sets to true
// when a report arrives.
bool g_got_report = false;
// Names returned to the log report handler. Filled in by the report handler.
const unsigned NAMELEN = 2048;
char g_local_in[NAMELEN];
char g_local_out[NAMELEN];
char g_remote_in[NAMELEN];
char g_remote_out[NAMELEN];
void VRPN_CALLBACK handle_log_report (void *, const vrpn_AUXLOGGERCB info)
{
strncpy(g_local_in, info.local_in_logfile_name, NAMELEN);
strncpy(g_local_out, info.local_out_logfile_name, NAMELEN);
strncpy(g_remote_in, info.remote_in_logfile_name, NAMELEN);
strncpy(g_remote_out, info.remote_out_logfile_name, NAMELEN);
printf( "log report: \'%s\' \'%s\' \'%s\' \'%s\'\n",
g_local_in, g_local_out, g_remote_in, g_remote_out );
g_got_report = true;
}
/*****************************************************************************
*
*****************************************************************************/
// Request some log files and wait up to a second for the report of these
// files. Return true if we got a report and the names match.
bool test_logfile_names(const char *local_in, const char *local_out,
const char *remote_in, const char *remote_out)
{
struct timeval start;
struct timeval now;
// Mark no report and the request logging with the specified
// parameters.
g_got_report = false;
if (!g_logger->send_logging_request(local_in, local_out, remote_in, remote_out)) {
fprintf(stderr, "test_logfile_names: Logging request send failed\n");
return false;
}
// Mainloop the logger for up to five seconds waiting for a response.
// If we don't get a response, this is a failure.
vrpn_gettimeofday(&start, NULL);
do {
g_logger->mainloop();
vrpn_gettimeofday(&now, NULL);
vrpn_SleepMsecs(1);
} while ( !g_got_report && (vrpn_TimevalDurationSeconds(now, start) < 5.0));
if (!g_got_report) {
fprintf(stderr, "test_logfile_names: Timeout waiting for report of logging from server\n");
return false;
}
// Check to see if the names are the same. Return true if they all are.
if ( (strcmp(g_local_in, local_in) == 0) &&
(strcmp(g_local_out, local_out) == 0) &&
(strcmp(g_remote_in, remote_in) == 0) &&
(strcmp(g_remote_out, remote_out) == 0) ) {
return true;
} else {
return false;
}
}
/*****************************************************************************
*
init - initialize everything
*
*****************************************************************************/
int main (int argc, char * argv [])
{
const char * devicename = "Logger0@localhost";
const char * logfilename = "deleteme.vrpn";
int log_duration_seconds = 120;
struct timeval start;
struct timeval now;
int ret = 0;
// parse args
if (argc != 4) {
fprintf(stderr, "Usage: %s Device_name remote_logfile_name time_seconds\n"
" Device_name: VRPN name of data source to contact\n"
" example: Logger0@localhost\n"
" remote_logfile_name: The name of the file to log remotely\n"
" time_seconds: How long to log before closing and exiting\n",
argv[0]);
exit(0);
} else {
devicename = argv[1];
logfilename = argv[2];
log_duration_seconds = atoi(argv[3]);
}
// Open the logger and set up its callback handler.
fprintf(stderr, "Logger's name is %s.\n", devicename);
g_logger = new vrpn_Auxiliary_Logger_Remote (devicename);
g_logger->register_report_handler(NULL, handle_log_report);
// Main loop for half a second to get things started on the
// connection.
vrpn_gettimeofday(&start, NULL);
do {
g_logger->mainloop();
vrpn_gettimeofday(&now, NULL);
} while (vrpn_TimevalDurationSeconds(now, start) < 0.5);
// Try to create the named log file as the remote outgoing log
// on the server. Wait for the specified duration to give it
// time to log.
if (!test_logfile_names("", "", "", logfilename) ) {
fprintf(stderr,"Error creating remote outgoing log file %s\n",logfilename);
ret = -1;
}
vrpn_gettimeofday(&start, NULL);
do {
g_logger->mainloop();
vrpn_gettimeofday(&now, NULL);
} while (vrpn_TimevalDurationSeconds(now, start) <= log_duration_seconds);
// Try to create blank log files (no log should be made). Wait for a while after
// creation to give time to stop logging.
if (!test_logfile_names("", "", "", "") ) {
fprintf(stderr,"Error turning off logs\n");
ret = -1;
}
vrpn_gettimeofday(&start, NULL);
do {
g_logger->mainloop();
vrpn_gettimeofday(&now, NULL);
} while (vrpn_TimevalDurationSeconds(now, start) < 5.0);
// Done.
if (ret == 0) {
printf("Success!\n");
} else {
printf("Make sure that files with the requested names don't already exist.\n");
}
delete g_logger;
return ret;
} /* main */
src/vrpn/client_src/run_auxiliary_logger.dsp deleted 100644 → 0
View file @ 4375e2bb
# Microsoft Developer Studio Project File - Name="run_auxiliary_logger" - Package Owner=<4>
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src/vrpn/client_src/run_auxiliary_logger.vcproj deleted 100644 → 0
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src/vrpn/client_src/sound_client.C deleted 100644 → 0
View file @ 4375e2bb
#include "vrpn_Sound.h"
#include <string.h>
#include <math.h>
#define FASTSPEED 100
#define CIRCLERADIUS 25.0F
vrpn_Sound_Client *soundClient;
float X,Y,Z,adj;
static void init_sample_values()
{
Y=Z=0.0F;
X=25.0F;
adj=0.0F;
}
static void move_sample_values()
{
// handle the circle movement
adj+=(2.0F*3.14159265358979F/(((FASTSPEED+1-50.0F)*1.6F)+20.0F));
X=(float)(CIRCLERADIUS*cos(adj));
Z=(float)(CIRCLERADIUS*sin(adj));
}
void loopSound(vrpn_SoundID id)
{
vrpn_float64 position[3], orientation[4], velocity[4];
while(1)
{
//save old settings
position[0] = X; position[1] = Y; position[2] = Z;
orientation[0] = -X; orientation[1] = -Y; orientation[2] = -Z; orientation[3] = 1;
(void)soundClient->setSoundPose(id, position, orientation);
// move the sample values
move_sample_values();
// calculate the delta vector
velocity[0]=X-position[0];
velocity[1]=0-position[1];
velocity[2]=Z-position[2];
velocity[3]=((50.0F/300.0F)+1.0F)/1500.0F;
(void)soundClient->setSoundVelocity(id,velocity);
soundClient->mainloop();
if (X == 25.0F)
break;
vrpn_SleepMsecs(1);
}
}
int main(int argc, char** argv)
{
char server[80], device[80], dummy[80];
vrpn_SoundID ids[100], id;
char files[100][80];
int curID = 0;
int command;
int loop = 1, i;
vrpn_int32 repeat, volume;
vrpn_float64 position[3], orientation[4], velocity[4];
vrpn_float64 Lposition[3], Lorientation[4], Lvelocity[4];
position[0] = 0; position[1] = 0; position[2] = 0;
orientation[0] = 0; orientation[1] = 0; orientation[2] = 1; orientation[3] = 0;
velocity[0] = 0; velocity[1] = 0; velocity[2] = 0; velocity[3] = 0;
Lposition[0] = 0; Lposition[1] = 0; Lposition[2] = 0;
Lorientation[0] = 0; Lorientation[1] = 0; Lorientation[2] = -1; Lorientation[3] = 1;
Lvelocity[0] = 0; Lvelocity[1] = 0; Lvelocity[2] = 0; Lvelocity[3] = 0;
printf("Please enter the server you wish to connect to.\n");
scanf("%s", server);
printf("Please enter the sound device name you wish to connect to.\n");
scanf("%s", device);
vrpn_Connection *connection = vrpn_get_connection_by_name(server);
soundClient = new vrpn_Sound_Client(device, connection);
for(i = 0; i < 100; i++)
ids[i] = -1;
while(loop)
{
printf("Current sounds loaded\n");
for(i = 0; i < 100; i++)
{
if (ids[i] == -1)
continue;
if (i % 3 == 2)
printf("\n");
else
printf("\t");
printf("%d %s", ids[i], files[i]);
}
printf("\nOptions\n");
printf("1) Load Sound\n");
printf("2) Unload Sound\n");
printf("3) Play Sound\n");
printf("4) Stop Sound\n");
printf("5) Change Sound Volume\n");
printf("6) Change Sound Position\n");
printf("7) Change Sound Orientation\n");
printf("8) Change Sound Velocity\n");
printf("9) Change Listener Position\n");
printf("10) Change Listener Orientation\n");
printf("11) Change Listener Velocity\n");
printf("12) Loop sound around head\n");
printf("13) Quit\n");
printf("Choose option ");
scanf("%d", &command);
switch(command)
{
case 1: {
printf("Enter path and file to load\n");
scanf("%s", dummy);
vrpn_SoundDef SoundDef;
ids[curID] = soundClient->loadSound(dummy, curID, SoundDef);
strcpy(files[curID++], dummy);
soundClient->mainloop();
}
break;
case 2:
printf("Enter ID of sound to unload ");
scanf("%d", &id);
(void)soundClient->unloadSound(id);
for(i = 0; i < 100; i++)
if (ids[i] == id) ids[i] = -1;
soundClient->mainloop();
break;
case 3:
printf("Enter ID of sound to play ");
scanf("%d", &id);
printf("Enter number of times to repeat. (0 = continuous) ");
scanf("%d", &repeat);
(void)soundClient->playSound(id, repeat);
soundClient->mainloop();
break;
case 4:
printf("Enter ID of sound to stop ");
scanf("%d", &id);
(void)soundClient->stopSound(id);
soundClient->mainloop();
break;
case 5:
printf("Enter ID of sound to change ");
scanf("%d", &id);
printf("Enter value to change volume to ");
scanf("%d", &volume);
(void)soundClient->setSoundVolume(id, volume);
soundClient->mainloop();
break;
case 6:
printf("Enter ID of sound to change ");
scanf("%d", &id);
printf("Enter the new X,Y, and Z position coordinates for the sound\n");
scanf("%lf %lf %lf", &position[0], &position[1], &position[2]);
(void)soundClient->setSoundPose(id, position, orientation);
soundClient->mainloop();
break;
case 7:
printf("Enter ID of sound to change ");
scanf("%d", &id);
printf("Enter the new X,Y, Z, and W orientation coordinates for the sound\n");
scanf("%lf %lf %lf %lf", &orientation[0], &orientation[1], &orientation[2], &orientation[3]);
(void)soundClient->setSoundPose(id, position, orientation);
soundClient->mainloop();
break;
case 8:
printf("Enter ID of sound to change ");
scanf("%d", &id);
printf("Enter the new X,Y, and Z velocity coordinates for the sound and magnitude\n");
scanf("%lf %lf %lf %lf", &velocity[0], &velocity[1], &velocity[2], &velocity[3]);
(void)soundClient->setSoundVelocity(id,velocity);
soundClient->mainloop();
break;
case 9:
printf("Enter the new X,Y, and Z position coordinates for the listener\n");
scanf("%lf %lf %lf", &Lposition[0], &Lposition[1], &Lposition[2]);
(void)soundClient->setListenerPose(Lposition, Lorientation);
soundClient->mainloop();
break;
case 10:
printf("Enter the new X,Y, Z, and W orientation coordinates for the listener\n");
scanf("%lf %lf %lf %lf", &Lorientation[0], &Lorientation[1], &Lorientation[2], &Lorientation[3]);
(void)soundClient->setListenerPose(Lposition, Lorientation);
soundClient->mainloop();
break;
case 11:
printf("Enter the new X,Y, and Z velocity coordinates for the listener and magnitude\n");
scanf("%lf %lf %lf %lf", &Lvelocity[0], &Lvelocity[1], &Lvelocity[2], &Lvelocity[3]);
(void)soundClient->setListenerVelocity(Lvelocity);
soundClient->mainloop();
break;
case 12:
printf("Enter ID of sound to loop");
scanf("%d", &id);
init_sample_values();
loopSound(id);
break;
case 13:
loop = 0;
break;
default:
break;
}
}
return 0;
}
src/vrpn/client_src/sphere_client.C deleted 100644 → 0
View file @ 4375e2bb
//
// sphere.C - simple VRPN client, inspired by Randy Heiland
// generates a sphere with a radius of 3 cm
//
#include <math.h> // for sqrt
#include <stdio.h> // for printf, NULL
#include <stdlib.h> // for atof, exit
#include <vrpn_Button.h> // for vrpn_BUTTONCB, etc
#include <vrpn_ForceDevice.h> // for vrpn_ForceDevice_Remote, etc
#include <vrpn_Tracker.h> // for vrpn_TRACKERCB, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Connection.h" // for vrpn_Connection
#include "vrpn_Types.h" // for vrpn_float64
static float xpos,ypos,zpos;
/*****************************************************************************
*
Callback handler
*
*****************************************************************************/
void VRPN_CALLBACK handle_force_change(void * /*userdata*/, const vrpn_FORCECB f)
{
static vrpn_FORCECB lr; // last report
static int first_report_done = 0;
if ((!first_report_done) ||
((f.force[0] != lr.force[0]) || (f.force[1] != lr.force[1])
|| (f.force[2] != lr.force[2]))) {
printf("force is (%f,%f,%f)\n", f.force[0], f.force[1], f.force[2]);
}
first_report_done = 1;
lr = f;
}
vrpn_ForceDevice_Remote *forceDevice;
void VRPN_CALLBACK handle_tracker_change(void * /*userdata*/, const vrpn_TRACKERCB t)
{
static vrpn_TRACKERCB lr; // last report
static float dist_interval_sq = (float)0.004;
if ((lr.pos[0] - t.pos[0])*(lr.pos[0] - t.pos[0]) +
(lr.pos[1] - t.pos[1])*(lr.pos[1] - t.pos[1]) +
(lr.pos[2] - t.pos[2])*(lr.pos[2] - t.pos[2]) > dist_interval_sq){
printf("Sensor %d is now at (%g,%g,%g)\n", t.sensor,
t.pos[0], t.pos[1], t.pos[2]);
lr = t;
}
xpos = (float)t.pos[0];
ypos = (float)t.pos[1];
zpos = (float)t.pos[2];
// we may call forceDevice->set_plane(...) followed by
// forceDevice->sendSurface() here to change the plane
// for example: using position information from a tracker we can
// compute a plane to approximate a complex surface at that
// position and send that approximation 15-30 times per
// second to simulate the complex surface
double norm = sqrt(xpos*xpos + ypos*ypos + zpos*zpos);
double radius = .03; // radius is 3 cm
forceDevice->set_plane(xpos,ypos,zpos, (float)(-radius*norm));
forceDevice->sendSurface();
}
void VRPN_CALLBACK handle_button_change(void *userdata, const vrpn_BUTTONCB b)
{
static int count=0;
static int buttonstate = 1;
int done = 0;
if (b.state != buttonstate) {
printf("button #%d is in state %d\n", b.button, b.state);
buttonstate = b.state;
count++;
}
if (count > 4)
done = 1;
*(int *)userdata = done;
}
int main(int argc, char *argv[])
{
int done = 0;
vrpn_Tracker_Remote *tracker;
vrpn_Button_Remote *button;
if (argc != 4) {
printf("Usage: %s sFric dFric device_name\n",argv[0]);
printf(" Example: %s 0.1 0.1 Phantom@myhost.mydomain.edu\n",argv[0]);
exit(-1);
}
float sFric = (float)atof(argv[1]);
float dFric = (float)atof(argv[2]);
char *device_name = argv[3];
printf("Connecting to %s: sFric, dFric= %f %f\n",device_name, sFric,dFric);
/* initialize the force device */
forceDevice = new vrpn_ForceDevice_Remote(device_name);
forceDevice->register_force_change_handler(NULL, handle_force_change);
/* initialize the tracker */
tracker = new vrpn_Tracker_Remote(device_name);
tracker->register_change_handler(NULL, handle_tracker_change);
/* initialize the button */
button = new vrpn_Button_Remote(device_name);
button->register_change_handler(&done, handle_button_change);
// Wait until we are connected to the server.
while (!forceDevice->connectionPtr()->connected()) {
forceDevice->mainloop();
}
// Set plane and surface parameters. Initially, the plane will be
// far outside the volume so we don't get a sudden jerk at startup.
forceDevice->set_plane(0.0, 1.0, 0.0, 100.0);
/*-------------------------------------------------------------
correct ranges for these values (from GHOST 1.2 documentation):
dynamic, static friction: 0-1.0
Kspring: 0-1.0
Kdamping: 0-0.005
An additional constraint that I discovered is that dynamic friction must
be smaller than static friction or you will get the same error. "1.0" means
the maximum stable surface presentable by the device.
--------------------------------------------------------------*/
forceDevice->setSurfaceKspring(1.0);
forceDevice->setSurfaceKdamping(0.0); // damping constant -
// units of dynes*sec/cm
forceDevice->setSurfaceFstatic(sFric); // set static friction
forceDevice->setSurfaceFdynamic(dFric); // set dynamic friction
// texture and buzzing stuff:
// this turns off buzzing and texture
forceDevice->setSurfaceBuzzAmplitude(0.0);
forceDevice->setSurfaceBuzzFrequency(60.0); // Hz
forceDevice->setSurfaceTextureAmplitude(0.00); // meters!!!
forceDevice->setSurfaceTextureWavelength((float)0.01); // meters!!!
forceDevice->setRecoveryTime(10); // recovery occurs over 10
// force update cycles
// enable force device and send first surface
forceDevice->startSurface();
printf("\n3cm sphere at the origin should be present always\n");
printf("Press and release the Phantom button 3 times to exit\n");
// main loop
while (! done )
{
// Let the forceDevice send its planes to remote force device
forceDevice->mainloop();
// Let tracker receive position information from remote tracker
tracker->mainloop();
// Let button receive button status from remote button
button->mainloop();
}
// shut off force device
forceDevice->stopSurface();
// Delete the objects
delete forceDevice;
delete button;
delete tracker;
return 0;
} /* main */
src/vrpn/client_src/sphere_client.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/sphere_client.vcproj deleted 100644 → 0
View file @ 4375e2bb
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