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  • danc/MicroCART
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src/vrpn/client_src/testSharedObject.C deleted 100644 → 0
View file @ 4375e2bb
#include <stdio.h> // for printf
#include <stdlib.h> // for exit
#include <vrpn_Connection.h> // for vrpn_Connection, etc
#include <vrpn_SharedObject.h> // for vrpn_Shared_int32_Remote, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Shared.h" // for timeval
#include "vrpn_Types.h" // for vrpn_bool, vrpn_int32
int VRPN_CALLBACK noteChange (void * userdata, vrpn_int32 newValue, vrpn_bool isLocal) {
vrpn_Shared_int32_Remote * ip;
ip = (vrpn_Shared_int32_Remote *) userdata;
printf("Remote %s set to %d.\n", ip->name(), newValue);
return 0;
}
int main (int argc, char ** argv) {
vrpn_Connection * c;
timeval qsec;
qsec.tv_sec = 0L;
qsec.tv_usec = 250000L;
c = vrpn_get_connection_by_name(argv[1]);
if (!c) {
exit(0);
}
vrpn_Shared_int32_Remote a ("a", 0, VRPN_SO_DEFER_UPDATES);
a.bindConnection(c);
a.register_handler(noteChange, &a);
c->mainloop(&qsec);
printf("a = %d.\n", a.value());
c->mainloop(&qsec);
a = 3;
c->mainloop(&qsec);
printf("a = %d.\n", a.value());
c->mainloop(&qsec);
a = -3;
c->mainloop(&qsec);
printf("a = %d.\n", a.value());
a.becomeSerializer();
c->mainloop(&qsec);
c->mainloop(&qsec);
printf("a = %d.\n", a.value());
c->mainloop(&qsec);
a = 3;
c->mainloop(&qsec);
printf("a = %d.\n", a.value());
c->mainloop(&qsec);
a = -3;
c->mainloop(&qsec);
printf("a = %d.\n", a.value());
while (1) {
c->mainloop();
}
}
src/vrpn/client_src/test_Zaber.C deleted 100644 → 0
View file @ 4375e2bb
#include <signal.h> // for signal, SIGINT
#include <stdio.h> // for printf, fprintf, NULL, etc
#include <stdlib.h> // for exit
#include "vrpn_Analog.h" // for vrpn_Analog_Remote, etc
#include "vrpn_Analog_Output.h" // for vrpn_Analog_Output_Remote
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Shared.h" // for timeval, vrpn_gettimeofday, etc
#include "vrpn_Types.h" // for vrpn_float64
#define POLL_INTERVAL (2000000) // time to poll if no response in a while (usec)
vrpn_Analog_Remote *ana;
vrpn_Analog_Output_Remote *anaout;
int done = 0;
bool analog_0_set = false;
vrpn_float64 analog_0;
/*****************************************************************************
*
Callback handlers
*
*****************************************************************************/
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]);
}
analog_0 = a.channel[0];
analog_0_set = true;
printf("\n");
}
/*****************************************************************************
*
init - initialize everything
*
*****************************************************************************/
void init (const char * devicename)
{
fprintf(stderr, "Zaber's name is %s.\n", devicename);
ana = new vrpn_Analog_Remote (devicename);
anaout = new vrpn_Analog_Output_Remote(devicename);
// Set up the callback handlers
printf("Analog update: Analogs: [new values listed]\n");
ana->register_change_handler(NULL, handle_analog);
} /* init */
void handle_cntl_c (int) {
done = 1;
}
void shutdown (void) {
fprintf(stderr, "\nIn control-c handler.\n");
if (ana) delete ana;
if (anaout) delete anaout;
exit(0);
}
int main (int argc, char * argv [])
{
struct timeval timestamp;
vrpn_gettimeofday(&timestamp, NULL);
#ifdef hpux
char default_station_name [100];
strcpy(default_station_name, "Analog0@localhost");
#else
char default_station_name [] = { "Analog0@localhost" };
#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: Analog0@localhost\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);
// Wait until we hear a value from analog0 so we know where
// to start.
analog_0_set = false;
while (!analog_0_set) {
ana->mainloop();
}
/*
* main interactive loop
*/
while ( ! done ) {
// Once every two seconds, ask the first analog to move
// 10000 steps bigger (if it is less than 10000) or
// 10000 steps shorter (if it is more than 10000)
struct timeval current_time;
vrpn_gettimeofday(&current_time, NULL);
if ( vrpn_TimevalDuration(current_time,timestamp) > POLL_INTERVAL) {
if (analog_0_set) {
double newval;
if (analog_0 > 10000) {
newval = analog_0-10000;
} else {
newval = analog_0+10000;
}
printf("Requesting change to %lf\n", newval);
anaout->request_change_channel_value(0, newval);
} else {
printf("No value yet from Zaber, not sending change request\n");
}
vrpn_gettimeofday(&timestamp, NULL);
}
// Let the devices do their things
anaout->mainloop();
ana->mainloop();
// Sleep for 1ms so we don't eat the CPU
vrpn_SleepMsecs(1);
}
shutdown();
return 0;
} /* main */
src/vrpn/client_src/test_imager.C deleted 100644 → 0
View file @ 4375e2bb
#include <math.h> // for pow
#include <stdio.h> // for fprintf, stderr, NULL, etc
#include <stdlib.h> // for rand
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Connection.h"
#include "vrpn_Imager.h" // for vrpn_IMAGERREGIONCB, etc
#include "vrpn_Types.h" // for vrpn_uint16
//-----------------------------------------------------------------
// This section contains a copy of an image that is shared between
// the client and server. It is completely an artifact of this test
// program. The program works by sending the whole image one piece
// at a time from the server to the client; the client then compares
// with the image to make sure it matches.
vrpn_uint16 *image = NULL; //< Holds the image to be sent and tested
const vrpn_uint16 image_x_size = 256;
const vrpn_uint16 image_y_size = 128;
// Allocate the image and fill it with random numbers
bool init_test_image(void)
{
vrpn_uint16 x,y;
if ( (image = new vrpn_uint16[image_x_size * image_y_size]) == NULL) {
fprintf(stderr, "Could not allocate image\n");
return false;
}
for (x = 0; x < image_x_size; x++) {
for (y = 0; y < image_y_size; y++) {
image[x + y*image_x_size] = rand();
}
}
return true;
}
//-----------------------------------------------------------------
// This section contains code that does what the server should do
vrpn_Connection *svrcon; //< Connection for server to talk on
vrpn_Imager_Server *svr; //< Image server to be used to send
int svrchan; //< Server channel index for image data
bool init_server_code(void)
{
if ( (svrcon = vrpn_create_server_connection()) == NULL) {
fprintf(stderr, "Could not open server connection\n");
return false;
}
if ( (svr = new vrpn_Imager_Server("TestImage", svrcon,
image_x_size, image_y_size)) == NULL) {
fprintf(stderr, "Could not open Imager Server\n");
return false;
}
if ( (svrchan = svr->add_channel("value", "unsigned16bit", 0, (float)(pow(2.0,16)-1))) == -1) {
fprintf(stderr, "Could not add channel to server image\n");
return false;
}
return true;
}
void mainloop_server_code(void)
{
static vrpn_uint16 y = 0; //< Loops through the image and sends data
// Send the current row over to the client.
svr->send_region_using_base_pointer(svrchan, 0, image_x_size-1, y,y, image, 1, image_x_size);
svr->mainloop();
printf("Sent a region\n");
// Go to the next line for next time.
if (++y == image_y_size) { y = 0; }
// Mainloop the server connection (once per server mainloop, not once per object)
svrcon->mainloop();
}
//-----------------------------------------------------------------
// This section contains code that does what the client should do.
// It listens until it has gotten twice as many rows as there are in
// the image and then indicates that it is done.
vrpn_Imager_Remote *clt; //< Client imager
int client_rows_gotten = 0; //< Keeps track of how many rows we've gotten
bool client_done = false; //< Lets us know if the client wants to quit
// Handler to get an image region in and check it against the image to make
// sure it came over okay. Also keeps track of how many rows we have.
void VRPN_CALLBACK handle_region_data(void *, const vrpn_IMAGERREGIONCB info)
{
unsigned x,y;
const vrpn_Imager_Channel *chan;
// Find out the scale and offset for this channel.
if ( (chan = clt->channel(info.region->d_chanIndex)) == NULL) {
fprintf(stderr, "Warning: Illegal channel index (%d) in region report\n", info.region->d_chanIndex);
return;
}
double scale = chan->scale;
double offset = chan->offset;
// Check the image data against the image to make sure it matches.
for (y = info.region->d_rMin; y <= info.region->d_rMax; y++) {
for (x = info.region->d_cMin; x <= info.region->d_cMax; x++) {
vrpn_uint16 val;
if (!info.region->read_unscaled_pixel(x,y,val)) {
fprintf(stderr, "Error indexing region that was read\n");
client_done = true;
return;
}
val = (vrpn_uint16)(val * scale + offset);
if (image[x+y*image_x_size] != val) {
fprintf(stderr, "Error: Read pixel (%d) does not match stored pixel (%d)\n",
val, image[x+y*image_x_size]);
client_done = true;
return;
}
}
}
// One more region... are we done?
printf("Got a region\n");
if (++client_rows_gotten >= 2*image_y_size) {
printf("Got %d rows -- success!\n", client_rows_gotten);
client_done = true;
}
}
bool init_client_code(void)
{
// Open the client object and set the callback handler for new region data
if ( (clt = new vrpn_Imager_Remote("TestImage@localhost")) == NULL) {
fprintf(stderr, "Error: Cannot create remote image object\n");
return false;
}
if (clt->register_region_handler(NULL, handle_region_data) == -1) {
fprintf(stderr, "Error: cannot register handler for regions\n");
return false;
}
// Set callback handler for new description data (user code might not do this).
return true;
}
void mainloop_client_code(void)
{
clt->mainloop();
}
//-----------------------------------------------------------------
// Mostly just calls the above functions; split into client and
// server parts is done clearly to help people who want to use this
// as example code. You could pull the above functions down into
// the main() program body without trouble (except for the callback
// handler, of course).
int main(int argc, char *argv[])
{
if (!init_test_image()) { return -1; }
if (!init_server_code()) { return -1; }
if (!init_client_code()) { return -1; }
while (!client_done) {
mainloop_server_code();
mainloop_client_code();
}
if (clt) { delete clt; }
if (svr) { delete svr; }
return 0;
}
src/vrpn/client_src/test_imager.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/test_imager.vcproj deleted 100644 → 0
View file @ 4375e2bb
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ProjectType="Visual C++"
Version="9.00"
Name="test_imager"
ProjectGUID="{3A77BE37-0660-4CC9-A7F8-CE83070278CB}"
TargetFrameworkVersion="131072"
>
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<Platform
Name="Win32"
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Name="Release|Win32"
OutputDirectory=".\../pc_win32/server_src/test_imager/Release"
IntermediateDirectory=".\../pc_win32/server_src/test_imager/Release"
ConfigurationType="1"
InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC60.vsprops"
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src/vrpn/client_src/test_mutex.C deleted 100644 → 0
View file @ 4375e2bb
#include <stdio.h>
#include <string.h>
#include <stdlib.h> // for exit(), atoi()
#include <vrpn_Mutex.h>
int rg (void *) {
printf("callback - Mutex granted.\n");
return 0;
}
int rd (void *) {
printf("callback - Mutex denied.\n");
return 0;
}
int rel (void *) {
printf("callback - Mutex released.\n");
return 0;
}
int main (int argc, char ** argv) {
vrpn_Mutex_Remote * me;
char inputLine [100];
me = new vrpn_Mutex_Remote (argv[1]);
me->addRequestGrantedCallback(NULL, rg);
me->addRequestDeniedCallback(NULL, rd);
me->addReleaseCallback(NULL, rel);
printf("req - request the mutex.\n");
printf("rel - release the mutex.\n");
printf("? - get current mutex state.\n");
printf("quit - exit.\n");
while (1) {
me->mainloop();
memset(inputLine, 0, 100);
if (fgets(inputLine, 100, stdin) == NULL) {
perror("Could not read line");
exit(-1);
}
if (!strncmp(inputLine, "req", 3)) {
printf("test_mutex: sending request.\n");
me->request();
} else if (!strncmp(inputLine, "rel", 3)) {
printf("test_mutex: sending release.\n");
me->release();
} else if (!strncmp(inputLine, "?", 1)) {
printf("isAvailable: %d.\n", me->isAvailable());
printf("isHeldLocally: %d.\n", me->isHeldLocally());
printf("isHeldRemotely: %d.\n", me->isHeldRemotely());
} else if (!strncmp(inputLine, "quit", 4)) {
delete me;
exit(0);
} else {
printf(".\n");
}
}
}
src/vrpn/client_src/test_zaber.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/test_zaber.vcproj deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/testimager_client.C deleted 100644 → 0
View file @ 4375e2bb
//----------------------------------------------------------------------------
// Example program to read pixels from a vrpn_Imager server and display
// them in an OpenGL window. It assumes that the size of the imager does
// not change during the run. It asks for unsigned 8-bit pixels.
#include <stdio.h> // for printf, NULL, fprintf, etc
#include <stdlib.h> // for exit
#include <string.h> // for strcmp
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Shared.h" // for timeval, vrpn_SleepMsecs, etc
#include <vrpn_Connection.h> // for vrpn_Connection, etc
#include <vrpn_FileConnection.h>
#include <vrpn_Imager.h> // for vrpn_Imager_Remote, etc
#ifdef __APPLE__
#include <GLUT/glut.h>
#include <OpenGL/OpenGL.h>
#else
#include <GL/gl.h> // for glClear, glClearColor, etc
#include <GL/glut.h> // for glutCreateWindow, etc // IWYU pragma: keep
#endif
//----------------------------------------------------------------------------
// Glut insists on taking over the whole application, leaving us to use
// global variables to pass information between the various callback
// handlers.
bool g_quit = false; //< Set to true when time to quit
vrpn_Connection *g_connection; //< Set if logging is enabled.
vrpn_Imager_Remote *g_imager; //< Imager client object
bool g_got_dimensions = false; //< Heard image dimensions from server?
int g_Xdim, g_Ydim; //< Dimensions in X and Y
bool g_ready_for_region = false; //< Everything set up to handle a region?
unsigned char *g_image = NULL; //< Pointer to the storage for the image
bool g_already_posted = false; //< Posted redisplay since the last display?
bool g_autoscale = false; //< Should we auto-scale the brightness and contrast?
//----------------------------------------------------------------------------
// Imager callback handlers.
void VRPN_CALLBACK handle_discarded_frames(void *, const vrpn_IMAGERDISCARDEDFRAMESCB info)
{
printf("Server discarded %d frames\n", (int)(info.count));
}
void VRPN_CALLBACK handle_description_message(void *, const struct timeval)
{
// This method is different from other VRPN callbacks because it simply
// reports that values have been filled in on the Imager_Remote class.
// It does not report what the new values are, only the time at which
// they changed.
// If we have already heard the dimensions, then check and make sure they
// have not changed. Also ensure that there is at least one channel. If
// not, then print an error and exit.
if (g_got_dimensions) {
if ( (g_Xdim != g_imager->nCols()) || (g_Ydim != g_imager->nRows()) ) {
fprintf(stderr,"Error -- different image dimensions reported\n");
exit(-1);
}
if (g_imager->nChannels() <= 0) {
fprintf(stderr,"Error -- No channels to display!\n");
exit(-1);
}
}
// Record that the dimensions are filled in. Fill in the globals needed
// to store them.
g_Xdim = g_imager->nCols();
g_Ydim = g_imager->nRows();
g_got_dimensions = true;
}
void myDisplayFunc();
// New pixels coming: fill them into the image and tell Glut to redraw.
void VRPN_CALLBACK handle_region_change(void *userdata, const vrpn_IMAGERREGIONCB info)
{
const vrpn_Imager_Region *region=info.region;
const vrpn_Imager_Remote *imager = (const vrpn_Imager_Remote *)userdata;
// Just leave things alone if we haven't set up the drawable things
// yet.
if (!g_ready_for_region) { return; }
// Copy pixels into the image buffer.
// Flip the image over in Y so that the image coordinates
// display correctly in OpenGL.
// Figure out which color to put the data in depending on the name associated
// with the channel index. If it is one of "red", "green", or "blue" then put
// it into that channel.
if (strcmp(imager->channel(region->d_chanIndex)->name, "red") == 0) {
region->decode_unscaled_region_using_base_pointer(g_image+0, 3, 3*g_Xdim, 0, g_Ydim, true);
} else if (strcmp(imager->channel(region->d_chanIndex)->name, "green") == 0) {
region->decode_unscaled_region_using_base_pointer(g_image+1, 3, 3*g_Xdim, 0, g_Ydim, true);
} else if (strcmp(imager->channel(region->d_chanIndex)->name, "blue") == 0) {
region->decode_unscaled_region_using_base_pointer(g_image+2, 3, 3*g_Xdim, 0, g_Ydim, true);
} else {
// This uses a repeat count of three to put the data into all channels.
// NOTE: This copies each channel into all buffers, rather
// than just a specific one (overwriting all with the last one written). A real
// application will probably want to provide a selector to choose which
// is drawn. It can check region->d_chanIndex to determine which channel
// is being reported for each callback.
region->decode_unscaled_region_using_base_pointer(g_image, 3, 3*g_Xdim, 0, g_Ydim, true, 3);
}
// If we're logging, save to disk. This is needed to keep up with
// logging and because the program is killed to exit.
if (g_connection) { g_connection->save_log_so_far(); }
// We do not post a redisplay here, because we want to do that only
// when we've gotten the end of a frame. It is done in the
// end_of_frame message handler.
}
void VRPN_CALLBACK handle_end_of_frame(void *,const struct _vrpn_IMAGERENDFRAMECB)
{
// Tell Glut it is time to draw. Make sure that we don't post the redisplay
// operation more than once by checking to make sure that it has been handled
// since the last time we posted it. If we don't do this check, it gums
// up the works with tons of redisplay requests and the program won't
// even handle windows events.
// NOTE: This exposes a race condition. If more video messages arrive
// before the frame-draw is executed, then we'll end up drawing some of
// the new frame along with this one. To make really sure there is not tearing,
// double buffer: fill partial frames into one buffer and draw from the
// most recent full frames in another buffer. You could use an OpenGL texture
// as the second buffer, sending each full frame into texture memory and
// rendering a textured polygon.
if (!g_already_posted) {
g_already_posted = true;
glutPostRedisplay();
}
}
//----------------------------------------------------------------------------
// Capture timing information and print out how many frames per second
// are being drawn. Remove this function if you don't want timing info.
void print_timing_info(void)
{ static struct timeval last_print_time;
struct timeval now;
static bool first_time = true;
static int frame_count = 0;
if (first_time) {
vrpn_gettimeofday(&last_print_time, NULL);
first_time = false;
} else {
frame_count++;
vrpn_gettimeofday(&now, NULL);
double timesecs = 0.001 * vrpn_TimevalMsecs(vrpn_TimevalDiff(now, last_print_time));
if (timesecs >= 5) {
double frames_per_sec = frame_count / timesecs;
frame_count = 0;
printf("Displayed frames per second = %lg\n", frames_per_sec);
last_print_time = now;
}
}
}
//----------------------------------------------------------------------------
// Auto-scale the image so that the darkest pixel is 0 and the brightest
// is 255. This is to provide a function that someone using this program
// to watch a microscope video wanted -- we're starting down the slippery
// slope of turning this from an example program into an application...
void do_autoscale(void)
{
// Find the minimum and maximum value of all pixels of all colors
// in the image.
unsigned char min_val = g_image[0];
unsigned char max_val = min_val;
int x,y,c;
for (x = 0; x < g_Xdim; x++) {
for (y = 0; y < g_Ydim; y++) {
for (c = 0; c < 3; c++) {
unsigned char val = g_image[c + 3 * ( x + g_Xdim * ( y ) )];
if (val < min_val) { min_val = val; }
if (val > max_val) { max_val = val; }
}
}
}
// Compute the scale and offset to apply to map the minimum value to
// zero and the maximum value to 255.
float offset = min_val;
float scale;
if (max_val == min_val) {
scale = 1;
} else {
scale = 255.0 / (max_val - min_val);
}
// Apply this scaling to each pixel.
for (x = 0; x < g_Xdim; x++) {
for (y = 0; y < g_Ydim; y++) {
for (c = 0; c < 3; c++) {
float val = g_image[c + 3 * ( x + g_Xdim * ( y ) )];
val = (val - offset) * scale;
g_image[c + 3 * ( x + g_Xdim * ( y ) )] = static_cast<unsigned char>(val);
}
}
}
}
//----------------------------------------------------------------------------
// Glut callback handlers.
void myDisplayFunc(void)
{
// Clear the window and prepare to draw in the back buffer.
// This is not strictly necessary, because we're going to overwrite
// the entire window without Z buffering turned on.
glDrawBuffer(GL_BACK);
glClearColor(0.0, 0.0, 0.0, 0.0);
glClear(GL_COLOR_BUFFER_BIT);
// If we're auto-scaling the image, do so now.
if (g_autoscale) {
do_autoscale();
}
// Store the pixels from the image into the frame buffer
// so that they cover the entire image (starting from lower-left
// corner, which is at (-1,-1)).
glRasterPos2f(-1, -1);
glDrawPixels(g_imager->nCols(),g_imager->nRows(), GL_RGB, GL_UNSIGNED_BYTE, g_image);
// Swap buffers so we can see it.
glutSwapBuffers();
// Capture timing information and print out how many frames per second
// are being drawn.
print_timing_info();
// We've no longer posted redisplay since the last display.
g_already_posted = false;
}
void myIdleFunc(void)
{
// See if there are any more messages from the server and then sleep
// a little while so that we don't eat the whole CPU.
g_imager->mainloop();
vrpn_SleepMsecs(5);
if (g_quit) {
delete g_imager;
if (g_image) { delete [] g_image; g_image = NULL; };
exit(0);
}
}
void myKeyboardFunc(unsigned char key, int x, int y)
{
switch (key) {
case 27: // Escape
case 'q':
case 'Q':
g_quit = 1;
break;
case 'a':
case 'A':
g_autoscale = !g_autoscale;
printf("Turning autoscaling %s\n", g_autoscale?"on":"off" );
break;
case '0': // For a number, set the throttle to that number
case '1':
case '2':
case '3':
case '4':
case '5':
case '6':
case '7':
case '8':
case '9':
printf("Throttling after %d frames\n", key - '0');
g_imager->throttle_sender(key - '0');
break;
case '-': // For the '-' sign, set the throttle to unlimited
printf("Turning off frame throttle\n");
g_imager->throttle_sender(-1);
break;
}
}
int main(int argc, char **argv)
{
char default_imager[] = "TestImage@localhost";
char *device_name = default_imager;
char *logfile_name = NULL;
int i;
// Parse the command line. If there is one argument, it is the device
// name. If there is a second, it is a logfile name.
if (argc >= 2) { device_name = argv[1]; }
if (argc >= 3) { logfile_name = argv[2]; }
if (argc > 3) { fprintf(stderr, "Usage: %s [device_name [logfile_name]]\n", argv[0]); exit(-1); }
// In case we end up loading an video from a file, make sure we
// neither pre-load nor accumulate the images.
vrpn_FILE_CONNECTIONS_SHOULD_PRELOAD = false;
vrpn_FILE_CONNECTIONS_SHOULD_ACCUMULATE = false;
// Say that we've posted a redisplay so that the callback handler
// for endframe doesn't try to post one before glut is open.
g_already_posted = true;
// Create a log file of the video if we've been asked to do logging.
// This has the side effect of having the imager also use this same
// connection, because VRPN maps the same connection name to the
// same one rather than creating a new one.
if (logfile_name) {
g_connection = vrpn_get_connection_by_name(device_name, logfile_name);
}
// Open the Imager client and set the callback
// for new data and for information about the size of
// the image.
printf("Opening %s\n", device_name);
g_imager = new vrpn_Imager_Remote(device_name);
g_imager->register_description_handler(NULL, handle_description_message);
g_imager->register_region_handler(g_imager, handle_region_change);
g_imager->register_discarded_frames_handler(NULL, handle_discarded_frames);
g_imager->register_end_frame_handler(g_imager, handle_end_of_frame);
printf("Waiting to hear the image dimensions...\n");
while (!g_got_dimensions) {
g_imager->mainloop();
vrpn_SleepMsecs(1);
}
// Because the vrpn_Imager server doesn't follow "The VRPN Way" in that
// it will continue to attempt to flood the network with more data than
// can be sent, we need to tell the client's connection to stop handling
// incoming messages after some finite number, to avoid getting stuck down
// in the imager's mainloop() and never returning control to the main
// program. This strange-named function does this for us. If the camera
// is not sending too many messages for the network, this should not have
// any effect.
g_imager->connectionPtr()->Jane_stop_this_crazy_thing(50);
// Allocate memory for the image and clear it, so that things that
// don't get filled in will be black.
if ( (g_image = new unsigned char[g_Xdim * g_Ydim * 3]) == NULL) {
fprintf(stderr,"Out of memory when allocating image!\n");
return -1;
}
for (i = 0; i < g_Xdim * g_Ydim * 3; i++) {
g_image[i] = 0;
}
g_ready_for_region = true;
printf("Receiving images at size %dx%d\n", g_Xdim, g_Ydim);
printf("Press '0'-'9' in OpenGL window to throttle incoming images.\n");
printf("Press '-' to disable throttling.\n");
printf("Press 'a' to enable/disable autoscaling of brightness.\n");
printf("Press 'q' or 'Q' or ESC to quit.\n");
// Initialize GLUT and create the window that will display the
// video -- name the window after the device that has been
// opened in VRPN.
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(g_Xdim, g_Ydim);
glutInitWindowPosition(100, 100);
glutCreateWindow(vrpn_copy_service_name(device_name));
// Set the display function and idle function for GLUT (they
// will do all the work) and then give control over to GLUT.
glutDisplayFunc(myDisplayFunc);
glutIdleFunc(myIdleFunc);
glutKeyboardFunc(myKeyboardFunc);
glutMainLoop();
// Clean up objects and return. This code is never called because
// glutMainLoop() never returns.
return 0;
}
src/vrpn/client_src/testimager_client.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/testimager_client.vcproj deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/text.C deleted 100644 → 0
View file @ 4375e2bb
#include <signal.h> // for signal, SIGINT
#include <stdio.h> // for printf, NULL
#include <stdlib.h> // for exit
#include <vrpn_Connection.h> // for vrpn_Connection
#include <vrpn_Text.h> // for vrpn_Text_Receiver, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK
vrpn_Connection * c;
void handle_cntl_c (int) {
const char * n;
long i;
if (c)
for (i = 0L; (n = c->sender_name(i)); i++)
printf("Knew sender \"%s\".\n", n);
// print out type names
if (c)
for (i = 0L; (n = c->message_type_name(i)); i++)
printf("Knew type \"%s\".\n", n);
exit(0);
}
void VRPN_CALLBACK my_handler(void * userdata, const vrpn_TEXTCB info){
printf("%d %d %s\n", info.type, info.level, info.message);
}
int main(int argc, char* argv[])
{
vrpn_Text_Receiver * r = new vrpn_Text_Receiver (argv[1]);
r->register_message_handler(NULL, my_handler);
// DEBUGGING - TCH 8 Sept 98
c = r->connectionPtr();
signal(SIGINT, handle_cntl_c);
while (1)
r->mainloop();
}
src/vrpn/client_src/tracker_to_poser.cpp deleted 100644 → 0
View file @ 4375e2bb
#include <stdio.h> // for fprintf, stderr, printf, etc
#include <stdlib.h> // for atoi, exit
#include <string.h> // for strcmp
#include <vrpn_Shared.h> // for vrpn_gettimeofday, vrpn_SleepMsecs, timeval
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Poser.h" // for vrpn_Poser_Remote
#include "vrpn_Tracker.h" // for vrpn_TRACKERCB, etc
static bool g_verbose = false;
void Usage (const char * s)
{
fprintf(stderr,"Usage: %s [-v] [-millisleep n] [trackername [posername]]\n",s);
fprintf(stderr," -millisleep: Sleep n milliseconds each loop cycle\n");
fprintf(stderr," (if no option is specified, the Windows architecture\n");
fprintf(stderr," will free the rest of its time slice on each loop\n");
fprintf(stderr," but leave the processes available to be run immediately;\n");
fprintf(stderr," a 1ms sleep is the default on all other architectures).\n");
fprintf(stderr," -millisleep 0 is recommended when using this server and\n");
fprintf(stderr," a client on the same uniprocessor CPU Win32 PC.\n");
fprintf(stderr," -millisleep -1 will cause the server process to use the\n");
fprintf(stderr," whole CPU on any uniprocessor machine.\n");
fprintf(stderr," -v: Verbose.\n");
fprintf(stderr," trackername: String name of the tracker device (default Tracker0@localhost)\n");
fprintf(stderr," posername: String name of the poser device (default Poser0@localhost)\n");
exit(0);
}
//--------------------------------------------------------------------------------------
// This function takes the pose reported by the tracker and sends it
// directly to the poser, without changing it in any way. For this to
// work properly, the tracker must report translations in just the right
// space for the poser.
void VRPN_CALLBACK handle_tracker_update(void *userdata, const vrpn_TRACKERCB t)
{
// Turn the pointer into a poser pointer.
vrpn_Poser_Remote *psr= (vrpn_Poser_Remote*)userdata;
// Get the data from the tracker and send it to the poser.
struct timeval now;
vrpn_gettimeofday(&now, NULL);
psr->request_pose(now, t.pos, t.quat);
}
int main (int argc, char * argv[])
{
char default_tracker[] = "Tracker0@localhost";
char default_poser[] = "Poser0@localhost";
char *tracker_client_name = default_tracker;
char *poser_client_name = default_poser;
int realparams = 0;
int i;
#ifdef _WIN32
// On Windows, the millisleep with 0 option frees up the CPU time slice for other jobs
// but does not sleep for a specific time. On Unix, this returns immediately and does
// not do anything but waste cycles.
int milli_sleep_time = 0; // How long to sleep each iteration (default: free the timeslice but be runnable again immediately)
#else
int milli_sleep_time = 1; // How long to sleep each iteration (default: 1ms)
#endif
#ifdef WIN32
WSADATA wsaData;
int status;
if ((status = WSAStartup(MAKEWORD(1,1), &wsaData)) != 0) {
fprintf(stderr, "WSAStartup failed with %d\n", status);
return(1);
}
#endif // not WIN32
//--------------------------------------------------------------------------------------
// Parse the command line
i = 1;
while (i < argc) {
if (!strcmp(argv[i], "-v")) { // Specify config-file name
g_verbose = true;
} else if (!strcmp(argv[i], "-millisleep")) { // How long to sleep each loop?
if (++i > argc) { Usage(argv[0]); }
milli_sleep_time = atoi(argv[i]);
} else if (argv[i][0] == '-') { // Unknown flag
Usage(argv[0]);
} else switch (realparams) { // Non-flag parameters
case 0:
tracker_client_name = argv[i];
realparams++;
break;
case 1:
poser_client_name = argv[i];
realparams++;
break;
default:
Usage(argv[0]);
}
i++;
}
if (realparams > 2) {
Usage(argv[0]);
}
//--------------------------------------------------------------------------------------
// Open the tracker and poser objects that we're going to use.
if (g_verbose) {
printf("Opening tracker %s, poser %s\n", tracker_client_name, poser_client_name);
}
vrpn_Tracker_Remote *tkr = new vrpn_Tracker_Remote(tracker_client_name);
vrpn_Poser_Remote *psr = new vrpn_Poser_Remote(poser_client_name);
//--------------------------------------------------------------------------------------
// Set up the callback handler on the tracker object and pass it
// a pointer to the poser it is to use. Only ask for data from
// sensor 0.
tkr->register_change_handler(psr, handle_tracker_update, 0);
//--------------------------------------------------------------------------------------
// Loop forever until killed.
while (1) {
tkr->mainloop();
psr->mainloop();
vrpn_SleepMsecs(milli_sleep_time);
}
return 0;
}
src/vrpn/client_src/tracker_to_poser.dsp deleted 100644 → 0
View file @ 4375e2bb
# Microsoft Developer Studio Project File - Name="tracker_to_poser" - Package Owner=<4>
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src/vrpn/client_src/tracker_to_poser.vcproj deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/vrpn_LamportClock.t.C deleted 100644 → 0
View file @ 4375e2bb
// Test code for vrpn_LamportClock
#ifdef VRPN_USE_OLD_STREAMS
#include <iostream.h>
#else
#include <iostream>
using namespace std;
#endif
#include <assert.h>
#include <vrpn_LamportClock.h>
vrpn_LamportClock * clockA;
vrpn_LamportClock * clockB;
void setUp (void) {
clockA = new vrpn_LamportClock (2, 0);
clockB = new vrpn_LamportClock (2, 1);
}
void tearDown (void) {
if (clockA) delete clockA;
if (clockB) delete clockB;
}
void test_one_getTimestampAndAdvance (void) {
vrpn_LamportTimestamp * t1 = clockA->getTimestampAndAdvance();
vrpn_LamportTimestamp tc (*t1);
assert(t1);
assert(t1->size() == 2);
assert((*t1)[0] == 1);
assert((*t1)[1] == 0);
assert(!(*t1 < *t1));
assert(!(tc < *t1));
assert(!(*t1 < tc));
vrpn_LamportTimestamp * t2 = clockA->getTimestampAndAdvance();
assert(t2);
assert((*t1)[0] == 1);
assert((*t1)[1] == 0);
assert(t2->size() == 2);
assert((*t2)[0] == 2);
assert((*t2)[1] == 0);
assert(*t1 < *t2);
assert(!(*t2 < *t1));
vrpn_LamportTimestamp * t3 = clockA->getTimestampAndAdvance();
vrpn_LamportTimestamp * t4 = clockA->getTimestampAndAdvance();
vrpn_LamportTimestamp * t5 = clockA->getTimestampAndAdvance();
assert(t5->size() == 2);
assert((*t5)[0] == 5);
assert((*t5)[1] == 0);
delete t1;
delete t2;
delete t3;
delete t4;
delete t5;
}
void test_two (void) {
vrpn_LamportTimestamp * ta1 = clockA->getTimestampAndAdvance();
vrpn_LamportTimestamp * tb1 = clockB->getTimestampAndAdvance();
clockA->receive(*tb1);
vrpn_LamportTimestamp * ta2 = clockA->getTimestampAndAdvance();
assert((*ta2)[0] == 2);
assert((*ta2)[1] == 1);
assert(*ta1 < *ta2);
assert(*tb1 < *ta2);
assert(!(*tb1 < *ta1));
assert(!(*ta1 < *tb1));
delete ta1;
delete tb1;
delete ta2;
}
int main (int argc, char ** argv) {
setUp();
test_one_getTimestampAndAdvance();
tearDown();
setUp();
test_two();
tearDown();
cout << "OK" << endl;
}
src/vrpn/client_src/vrpn_ping.C deleted 100644 → 0
View file @ 4375e2bb
/* This program will ping a VRPN server and time how long it takes the server
that is being pinged to respond. It makes use of the VRPN ping/pong
mechanism by which objects detect if they have connected to servers.
It gives an indication of the round-trip time from a message at the user
level from a client through the user level at a server.
*/
#include <signal.h> // for signal, SIGINT
#include <stdio.h> // for NULL, printf
#include <stdlib.h> // for exit
#include <vrpn_Connection.h> // for vrpn_Connection, etc
#include <vrpn_Text.h> // for vrpn_Text_Receiver
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Shared.h" // for timeval, vrpn_gettimeofday, etc
#include "vrpn_Types.h" // for vrpn_int32
vrpn_Text_Receiver *r;
vrpn_Connection *c;
vrpn_int32 ping_message_id;
vrpn_int32 pong_message_id;
vrpn_int32 sender;
struct timeval now;
struct timeval last_ping;
void handle_cntl_c(int) { exit(0); }
int VRPN_CALLBACK my_pong_handler(void *userdata, vrpn_HANDLERPARAM p)
{
static int count = 0;
static double min = 10000, max = 0, sum = 0;
// See how long it has been between the ping request and
// the pong response.
struct timeval diff;
vrpn_gettimeofday(&now, NULL);
double msecs;
diff = vrpn_TimevalDiff(now, last_ping);
msecs = vrpn_TimevalMsecs(vrpn_TimevalNormalize(diff));
// Keep statistics on the length (min, max, average)
if (msecs < min) {
min = msecs;
};
if (msecs > max) {
max = msecs;
};
sum += msecs;
// Print and reset the statistics every once in a while
if (++count == 500) {
printf("Min = %4.2g, Max = %4.2g, Mean = %4.2g\n", min, max,
sum / count);
count = 0;
min = 10000;
max = sum = 0.0;
}
// Send a new ping request, and record when we sent it.
// REMEMBER not to call mainloop() within the handler.
vrpn_gettimeofday(&last_ping, NULL);
c->pack_message(0, last_ping, ping_message_id, sender, NULL,
vrpn_CONNECTION_RELIABLE);
c->send_pending_reports();
return 0;
}
int main(int argc, char *argv[])
{
// Declare a new text receiver (all objects are text senders)
// and find out what connection it is using.
r = new vrpn_Text_Receiver(argv[1]);
c = r->connectionPtr();
// Declare the same sender and message types that the BaseClass
// will use for doing the ping/pong, so we can use the same
// mechanism. Register a handler for the pong message, so we
// can deal with them.
ping_message_id = c->register_message_type("Server, are you there?");
pong_message_id = c->register_message_type("Server is here!");
sender = c->register_sender(vrpn_copy_service_name(argv[1]));
c->register_handler(pong_message_id, my_pong_handler, NULL, sender);
// Let the user kill the program "nicely."
signal(SIGINT, handle_cntl_c);
// Wait a few seconds (spinning while we do) in order to allow the
// real pong message to clear from the system.
struct timeval then, diff;
vrpn_gettimeofday(&then, NULL);
do {
vrpn_gettimeofday(&now, NULL);
r->mainloop();
diff = vrpn_TimevalDiff(now, then);
} while (vrpn_TimevalMsecs(vrpn_TimevalNormalize(diff)) < 2000);
// Send a new ping request to the server, and start counting how
// long it takes to respond.
vrpn_gettimeofday(&last_ping, NULL);
c->pack_message(0, last_ping, ping_message_id, sender, NULL,
vrpn_CONNECTION_RELIABLE);
// Loop forever.
while (1) {
r->mainloop();
}
}
src/vrpn/client_src/vrpn_print_devices.C deleted 100644 → 0
View file @ 4375e2bb
/* vrpn_print_devices.C
This is a VRPN client program that will connect to one or more VRPN
server devices and print out descriptions of any of a number of
message types. These include at least tracker, button, dial and analog
messages. It is useful for testing whether a server is up and running,
and perhaps for simple debugging.
*/
#include <stdio.h> // for printf, fprintf, NULL, etc
#include <stdlib.h> // for exit, atoi
#ifndef _WIN32_WCE
#include <signal.h> // for signal, SIGINT
#endif
#include <string.h> // for strcmp, strncpy
#include <vrpn_Analog.h> // for vrpn_ANALOGCB, etc
#include <vrpn_Button.h> // for vrpn_Button_Remote, etc
#include <vrpn_Dial.h> // for vrpn_Dial_Remote, etc
#include <vrpn_FileConnection.h> // For preload and accumulate settings
#include <vrpn_Shared.h> // for vrpn_SleepMsecs
#include <vrpn_Text.h> // for vrpn_Text_Receiver, etc
#include <vrpn_Tracker.h> // for vrpn_TRACKERACCCB, etc
#include <vector> // for vector
#include "vrpn_BaseClass.h" // for vrpn_System_TextPrinter, etc
#include "vrpn_Configure.h" // for VRPN_CALLBACK
#include "vrpn_Types.h" // for vrpn_float64, vrpn_int32
using namespace std;
int done = 0; // Signals that the program should exit
unsigned tracker_stride = 1; // Every nth report will be printed
//-------------------------------------
// This section contains the data structure that holds information on
// the devices that are created. For each named device, a remote of each
// type (tracker, button, analog, dial, text) is created. A particular device
// may only report a subset of these values, but that doesn't hurt anything --
// there simply will be no messages of the other types to receive and so
// nothing is printed.
class device_info {
public:
char *name;
vrpn_Tracker_Remote *tkr;
vrpn_Button_Remote *btn;
vrpn_Analog_Remote *ana;
vrpn_Dial_Remote *dial;
vrpn_Text_Receiver *text;
};
const unsigned MAX_DEVICES = 50;
//-------------------------------------
// This section contains the data structure that is used to determine how
// often to print a report for each sensor of each tracker. Each element
// contains a counter that is used by the callback routine to keep track
// of how many it has skipped. There is an element for each possible sensor.
// A new array of elements is created for each new tracker object, and a
// pointer to it is passed as the userdata pointer to the callback handlers.
// A separate array is kept for the position, velocity, and acceleration for
// each
// tracker. The structure passed to the callback handler also has a
// string that is the name of the tracker.
class t_user_callback {
public:
char t_name[vrpn_MAX_TEXT_LEN];
vector<unsigned> t_counts;
};
/*****************************************************************************
*
Callback handlers
*
*****************************************************************************/
void VRPN_CALLBACK
handle_tracker_pos_quat(void *userdata, const vrpn_TRACKERCB t)
{
t_user_callback *t_data = static_cast<t_user_callback *>(userdata);
// Make sure we have a count value for this sensor
while (t_data->t_counts.size() <= static_cast<unsigned>(t.sensor)) {
t_data->t_counts.push_back(0);
}
// See if we have gotten enough reports from this sensor that we should
// print this one. If so, print and reset the count.
if (++t_data->t_counts[t.sensor] >= tracker_stride) {
t_data->t_counts[t.sensor] = 0;
printf("Tracker %s, sensor %d:\n pos (%5.2f, %5.2f, %5.2f); "
"quat (%5.2f, %5.2f, %5.2f, %5.2f)\n",
t_data->t_name, t.sensor, t.pos[0], t.pos[1], t.pos[2],
t.quat[0], t.quat[1], t.quat[2], t.quat[3]);
}
}
void VRPN_CALLBACK handle_tracker_vel(void *userdata, const vrpn_TRACKERVELCB t)
{
t_user_callback *t_data = static_cast<t_user_callback *>(userdata);
// Make sure we have a count value for this sensor
while (t_data->t_counts.size() <= static_cast<unsigned>(t.sensor)) {
t_data->t_counts.push_back(0);
}
// See if we have gotten enough reports from this sensor that we should
// print this one. If so, print and reset the count.
if (++t_data->t_counts[t.sensor] >= tracker_stride) {
t_data->t_counts[t.sensor] = 0;
printf("Tracker %s, sensor %d:\n vel (%5.2f, %5.2f, %5.2f); "
"quatvel (%5.2f, %5.2f, %5.2f, %5.2f)\n",
t_data->t_name, t.sensor, t.vel[0], t.vel[1], t.vel[2],
t.vel_quat[0], t.vel_quat[1], t.vel_quat[2], t.vel_quat[3]);
}
}
void VRPN_CALLBACK handle_tracker_acc(void *userdata, const vrpn_TRACKERACCCB t)
{
t_user_callback *t_data = static_cast<t_user_callback *>(userdata);
// Make sure we have a count value for this sensor
while (t_data->t_counts.size() <= static_cast<unsigned>(t.sensor)) {
t_data->t_counts.push_back(0);
}
// See if we have gotten enough reports from this sensor that we should
// print this one. If so, print and reset the count.
if (++t_data->t_counts[t.sensor] >= tracker_stride) {
t_data->t_counts[t.sensor] = 0;
printf("Tracker %s, sensor %d:\n acc (%5.2f, %5.2f, %5.2f); "
"quatacc (%5.2f, %5.2f, %5.2f, %5.2f)\n",
t_data->t_name, t.sensor, t.acc[0], t.acc[1], t.acc[2],
t.acc_quat[0], t.acc_quat[1], t.acc_quat[2], t.acc_quat[3]);
}
}
void VRPN_CALLBACK handle_button(void *userdata, const vrpn_BUTTONCB b)
{
const char *name = (const char *)userdata;
printf("##########################################\r\n"
"Button %s, number %d was just %s\n"
"##########################################\r\n",
name, b.button, b.state ? "pressed" : "released");
}
void VRPN_CALLBACK
handle_button_states(void *userdata, const vrpn_BUTTONSTATESCB b)
{
const char *name = (const char *)userdata;
printf("Button %s has %d buttons with states:", name, b.num_buttons);
int i;
for (i = 0; i < b.num_buttons; i++) {
printf(" %d", b.states[i]);
}
printf("\n");
}
void VRPN_CALLBACK handle_analog(void *userdata, const vrpn_ANALOGCB a)
{
int i;
const char *name = (const char *)userdata;
printf("Analog %s:\n %5.2f", name, a.channel[0]);
for (i = 1; i < a.num_channel; i++) {
printf(", %5.2f", a.channel[i]);
}
printf(" (%d chans)\n", a.num_channel);
}
void VRPN_CALLBACK handle_dial(void *userdata, const vrpn_DIALCB d)
{
const char *name = (const char *)userdata;
printf("Dial %s, number %d was moved by %5.2f\n", name, d.dial, d.change);
}
void VRPN_CALLBACK handle_text(void *userdata, const vrpn_TEXTCB t)
{
const char *name = (const char *)userdata;
// Warnings and errors are printed by the system text printer.
if (t.type == vrpn_TEXT_NORMAL) {
printf("%s: Text message: %s\n", name, t.message);
}
}
// 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 [-notracker] [-nobutton] [-noanalog] [-nodial]\n"
" [-trackerstride n]\n"
" [-notext] device1 [device2] [device3] [device4] [...]\n"
" -trackerstride: Print every nth report from each tracker sensor\n"
" -notracker: Don't print tracker reports for following devices\n"
" -nobutton: Don't print button reports for following devices\n"
" -noanalog: Don't print analog reports for following devices\n"
" -nodial: Don't print dial reports for following devices\n"
" -notext: Don't print text messages (warnings, errors) for "
"following devices\n"
" deviceX: VRPN name of device to connect to (eg: Tracker0@ioglab)\n"
" The default behavior is to print all message types for all devices "
"listed\n"
" The order of the parameters can be changed to suit\n",
arg0);
exit(0);
}
int main(int argc, char *argv[])
{
int print_for_tracker = 1; // Print tracker reports?
int print_for_button = 1; // Print button reports?
int print_for_analog = 1; // Print analog reports?
int print_for_dial = 1; // Print dial reports?
int print_for_text = 1; // Print warning/error messages?
// If we happen to open a file, neither preload nor accumulate the
// messages in memory, to avoid crashing for huge files.
vrpn_FILE_CONNECTIONS_SHOULD_PRELOAD = false;
vrpn_FILE_CONNECTIONS_SHOULD_ACCUMULATE = false;
device_info device_list[MAX_DEVICES];
unsigned num_devices = 0;
int i;
// Parse arguments, creating objects as we go. Arguments that
// change the way a device is treated affect all devices that
// follow on the command line.
for (i = 1; i < argc; i++) {
if (!strcmp(argv[i], "-notracker")) {
print_for_tracker = 0;
}
else if (!strcmp(argv[i], "-nobutton")) {
print_for_button = 0;
}
else if (!strcmp(argv[i], "-noanalog")) {
print_for_analog = 0;
}
else if (!strcmp(argv[i], "-nodial")) {
print_for_dial = 0;
}
else if (!strcmp(argv[i], "-notext")) {
print_for_text = 0;
}
else if (!strcmp(argv[i], "-trackerstride")) {
if (++i >= argc) {
Usage(argv[0]);
}
if (atoi(argv[i]) <= 0) {
fprintf(stderr,
"-trackerstride argument must be 1 or greater\n");
return -1;
}
tracker_stride = atoi(argv[i]);
}
else { // Create a device and connect to it.
device_info *dev;
// Make sure we have enough room for the new device
if (num_devices == MAX_DEVICES) {
fprintf(stderr, "Too many devices!\n");
exit(-1);
}
// Name the device and open it as everything
dev = &device_list[num_devices];
dev->name = argv[i];
dev->tkr = new vrpn_Tracker_Remote(dev->name);
dev->ana = new vrpn_Analog_Remote(dev->name);
dev->btn = new vrpn_Button_Remote(dev->name);
dev->dial = new vrpn_Dial_Remote(dev->name);
dev->text = new vrpn_Text_Receiver(dev->name);
if ((dev->ana == NULL) || (dev->btn == NULL) ||
(dev->dial == NULL) || (dev->tkr == NULL) ||
(dev->text == NULL)) {
fprintf(stderr, "Error opening %s\n", dev->name);
return -1;
}
else {
printf("Opened %s as:", dev->name);
}
// If we are printing the tracker reports, prepare the
// user-data callbacks and hook them up to be called with
// the correct data for this device.
if (print_for_tracker) {
vrpn_Tracker_Remote *tkr = dev->tkr;
t_user_callback *tc1 = new t_user_callback;
t_user_callback *tc2 = new t_user_callback;
t_user_callback *tc3 = new t_user_callback;
if ((tc1 == NULL) || (tc2 == NULL) || (tc3 == NULL)) {
fprintf(stderr, "Out of memory\n");
}
printf(" Tracker");
// Fill in the user-data callback information
strncpy(tc1->t_name, dev->name, sizeof(tc1->t_name));
strncpy(tc2->t_name, dev->name, sizeof(tc2->t_name));
strncpy(tc3->t_name, dev->name, sizeof(tc3->t_name));
// Set up the tracker callback handlers
tkr->register_change_handler(tc1, handle_tracker_pos_quat);
tkr->register_change_handler(tc2, handle_tracker_vel);
tkr->register_change_handler(tc3, handle_tracker_acc);
}
if (print_for_button) {
printf(" Button");
dev->btn->register_change_handler(dev->name, handle_button);
dev->btn->register_states_handler(dev->name,
handle_button_states);
}
if (print_for_analog) {
printf(" Analog");
dev->ana->register_change_handler(dev->name, handle_analog);
}
if (print_for_dial) {
printf(" Dial");
dev->dial->register_change_handler(dev->name, handle_dial);
}
if (print_for_text) {
printf(" Text");
dev->text->register_message_handler(dev->name, handle_text);
}
else {
vrpn_System_TextPrinter.remove_object(dev->tkr);
vrpn_System_TextPrinter.remove_object(dev->btn);
vrpn_System_TextPrinter.remove_object(dev->ana);
vrpn_System_TextPrinter.remove_object(dev->dial);
vrpn_System_TextPrinter.remove_object(dev->text);
}
printf(".\n");
num_devices++;
}
}
if (num_devices == 0) {
Usage(argv[0]);
}
#ifndef _WIN32_WCE
// signal handler so logfiles get closed right
signal(SIGINT, handle_cntl_c);
#endif
/*
* main interactive loop
*/
printf("Press ^C to exit.\n");
while (!done) {
unsigned i;
// Let all the devices do their things
for (i = 0; i < num_devices; i++) {
device_list[i].tkr->mainloop();
device_list[i].btn->mainloop();
device_list[i].ana->mainloop();
device_list[i].dial->mainloop();
device_list[i].text->mainloop();
}
// Sleep for 1ms so we don't eat the CPU
vrpn_SleepMsecs(1);
}
// Delete all devices.
{
unsigned i;
for (i = 0; i < num_devices; i++) {
delete device_list[i].tkr;
delete device_list[i].btn;
delete device_list[i].ana;
delete device_list[i].dial;
delete device_list[i].text;
}
}
return 0;
} /* main */
src/vrpn/client_src/vrpn_print_devices.dsp deleted 100644 → 0
View file @ 4375e2bb
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src/vrpn/client_src/vrpn_print_devices.vcproj deleted 100644 → 0
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