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src/vrpn/client_src/haptic/phantom-wave.C deleted 100644 → 0
View file @ 4375e2bb
#include <stdlib.h>
#include <stdio.h>
#include <vrpn_ForceDevice.h>
#include <vrpn_Tracker.h>
#include <vrpn_Button.h>
#define PHANTOM_SERVER "Tracker0@localhost"
/*****************************************************************************
*
Callback handler
*
*****************************************************************************/
void 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 handle_tracker_change(void *userdata, const vrpn_TRACKERCB t)
{
static vrpn_TRACKERCB lr; // last report
static float dist_interval_sq = 0.04;
float *pos = (float *)userdata;
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;
}
pos[0] = t.pos[0];
pos[1] = t.pos[1];
pos[2] = t.pos[2];
}
void handle_button_change(void *userdata, const vrpn_BUTTONCB b)
{
static int buttonstate = 1;
if (b.state != buttonstate) {
printf("button #%ld is in state %ld\n", b.button, b.state);
buttonstate = b.state;
}
*(int *)userdata = buttonstate;
}
int main(int argc, char *argv[]) {
int done = 0;
float pos[3];
int forceInEffect = 0;
int forceEnabled = 0;
vrpn_ForceDevice_Remote *forceDevice;
vrpn_Tracker_Remote *tracker;
vrpn_Button_Remote *button;
float t;
/* 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((void *)pos, handle_tracker_change);
/* initialize the button */
button = new vrpn_Button_Remote(PHANTOM_SERVER);
button->register_change_handler((void *)&forceEnabled, handle_button_change);
t=0.0;
// main loop
while (!done) {
t+=0.001f;
// Let the forceDevice send its messages 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();
forceEnabled = 1;
if (forceEnabled) {
float py = (0.05 * sin(t + pos[0]*40.0*M_PI) + 0.05);
if (pos[1] > py) {
forceDevice->stopForceField();
forceInEffect = 0;
} else {
float fy;
forceDevice->setFF_Origin(pos[0],pos[1],pos[2]);
fy = (py - pos[1]) * 14.0;
// units = dynes
forceDevice->setFF_Force(0.20 * cos(t + pos[0]*200.0*M_PI),
fy,
0.0 * cos( pos[2]*200.0*M_PI));
// set derivatives of force field:
// units = dynes/meter
forceDevice->setFF_Jacobian(
-20.0*sin(t + pos[0]*200.0*M_PI), 0, 0,
0, -14.0, 0,
0, 0, -0.0*M_PI*sin(pos[2]*200.0*M_PI)
);
forceDevice->setFF_Radius(0.02); // 2cm radius of validity
forceDevice->sendForceField();
forceInEffect = 1;
}
}
else if (forceInEffect){
forceDevice->stopForceField();
forceInEffect = 0;
}
}
} /* main */
src/vrpn/client_src/haptic/smdvrpn.C deleted 100644 → 0
View file @ 4375e2bb
#include <stdio.h>
#include "vrpn_Tracker.h"
#include "vrpn_Button.h"
#include "vrpn_ForceDevice.h"
#include "quat.h"
#include "glwin.h"
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glx.h>
typedef struct {
float x; // position
float y;
float z;
} pos;
typedef struct {
float fx;
float fy;
float fz;
} force;
typedef struct {
float x;
float y;
float z;
float vx;
float vy;
float vz;
float ax;
float ay;
float az;
float mass;
float charge;
} state;
void handle_tracker(void *userdata, const vrpn_TRACKERCB t) {
pos *p = (pos *) userdata;
p->x = -t.pos[0];
p->y = t.pos[1];
p->z = -t.pos[2];
}
void handle_force(void *userdata, const vrpn_FORCECB fcb) {
force *f = (force *) userdata;
f->fx = -fcb.force[0];
f->fy = fcb.force[1];
f->fz = -fcb.force[2];
}
void handle_button(void *userdata, const vrpn_BUTTONCB b) {
switch (b.button) {
case 0:
*(int *)userdata = b.state;
if (b.state == 1) printf("Force field enabled\n");
else printf("Force field disabled\n");
break;
default:
printf("Unknown button %3d was pressed\n",b.button);
}
fflush(stdout);
}
void init_graphics(void *myglwin)
{
// allw the window to open and do its stuff once
glwin_handle_events(myglwin);
// setup OpenGL state...
glShadeModel(GL_SMOOTH);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45.0, 1.0, 0.01, 10.0);
gluLookAt( 0.0, 0.1, -5.0, // eye pos
0.0, 0.0, 0.0, // look at this point
0.0, 1.0, 0.0); // up direction
glClearColor(0.0, 0.0, 0.0, 0.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_DEPTH_TEST);
//
// Setup cute lighting parms..
//
glEnable(GL_LIGHTING);
GLfloat lpos[] = { 0.0, 0.0, -100.0, 1.0};
GLfloat lamb[] = { 0.05, 0.05, 0.05, 1.0};
GLfloat ldif[] = { 0.5, 0.5, 0.5, 1.0};
GLfloat lspc[] = { 0.5, 0.5, 0.5, 1.0};
glLightfv(GL_LIGHT0, GL_POSITION, lpos);
glLightfv(GL_LIGHT0, GL_AMBIENT, lamb);
glLightfv(GL_LIGHT0, GL_DIFFUSE, ldif);
glLightfv(GL_LIGHT0, GL_SPECULAR, lspc);
glLightf(GL_LIGHT0, GL_SHININESS, 400.0);
glEnable(GL_LIGHT0);
GLfloat mdif[] = {0.9, 0.0, 0.2, 1.0};
GLfloat mspc[] = {0.2, 0.2, 0.2, 1.0};
glMaterialfv(GL_FRONT, GL_DIFFUSE, mdif);
glMaterialfv(GL_FRONT, GL_SPECULAR, mspc);
glEnable(GL_COLOR_MATERIAL);
}
void draw_axes() {
//
// Draw Coordinate Axes
//
glDisable(GL_LIGHTING);
glBegin(GL_LINES);
float i;
glColor3f(0.0, 1.0, 0.0);
for (i=-10; i<10; i += 0.50) {
glVertex3f( -10.0, 0.0, i);
glVertex3f( 10.0, 0.0, i);
glVertex3f( i, 0.0, -10.0);
glVertex3f( i, 0.0, 10.0);
}
for (i=-10; i<10; i += 0.50) {
glVertex3f( -10.0, 1.0, i);
glVertex3f( 10.0, 1.0, i);
glVertex3f( i, 1.0, -10.0);
glVertex3f( i, 1.0, 10.0);
}
glEnd();
}
void draw_tracker_and_atom(force *p, GLUquadricObj *qobj,
state *atom, GLUquadricObj *qatom)
{
float x, y, z;
float atomx, atomy, atomz;
// Convert from atom coordinates to scene coordinates
atomx = atom->x;
atomy = atom->y;
atomz = atom->z;
// Convert from haptic coordinates to our scene coordinates
x=-(p->fx) + atomx;
y=-(p->fy) + atomy;
z=-(p->fz) + atomz;
// First draw line from tracker to atom
glColor3f(1.0, 1.0, 1.0);
glBegin(GL_LINES);
glVertex3f(x, y, z);
glVertex3f(atomx, atomy, atomz);
glEnd();
glEnable(GL_LIGHTING);
glColor3f(1.0, 0.0, 0.2);
glPushMatrix();
glTranslatef(x, y, z);
gluSphere(qobj, 0.2, 32, 32);
glPopMatrix();
glColor3f(0.0, 1.0, 0.2);
glPushMatrix();
glTranslatef(atomx, atomy, atomz);
gluSphere(qobj, 0.2, 32, 32);
glPopMatrix();
}
void apply_bc(state *atom)
{
const float floor_k = 20.0;
const float maxdim = 1.0;
const float nearclip = 3.99;
const float farclip = 5.0;
if (atom->y < 0) atom->ay -= floor_k*atom->y/atom->mass;
if (atom->y > maxdim) atom->ay -= floor_k*(atom->y-maxdim)/atom->mass;
if (atom->x > maxdim) atom->ax -= floor_k*(atom->x-maxdim)/atom->mass;
if (atom->x < -maxdim) atom->ax -= floor_k*(atom->x+maxdim)/atom->mass;
if (atom->z > farclip) atom->az -= floor_k*(atom->z-farclip)/atom->mass;
if (atom->z < -nearclip) atom->az -= floor_k*(atom->z+nearclip)/atom->mass;
}
void run_dynamics(state *atom, force *f)
{
const int N=1;
const float dt = 0.0004;
for (int i=0; i < N; i++) {
atom->x += dt*atom->vx + .5*dt*dt*atom->ax;
atom->y += dt*atom->vy + .5*dt*dt*atom->ay;
atom->z += dt*atom->vz + .5*dt*dt*atom->az;
atom->vx += 0.5*dt*(atom->ax);
atom->vy += 0.5*dt*(atom->ay);
atom->vz += 0.5*dt*(atom->az);
atom->ax = -f->fx/atom->mass;
atom->ay = -f->fy/atom->mass;
atom->az = -f->fz/atom->mass;
apply_bc(atom);
atom->vx += 0.5*dt*(atom->ax);
atom->vy += 0.5*dt*(atom->ay);
atom->vz += 0.5*dt*(atom->az);
}
}
int main(int argc, char **argv) {
if (argc < 2) {
printf("%s: Invalid parms\n", argv[0]);
printf("usage: \n");
printf(" %s Tracker0@host\n", argv[0]);
return -1;
}
char *server = argv[1];
pos *phan_position = new pos;
pos *phan_offset = new pos;
force *phan_force = new force;
state *atom_state = new state;
int ff_enabled, ff_active;
double kspr = 500.0; // Units???
vrpn_Tracker_Remote *tkr;
vrpn_Button_Remote *btn;
vrpn_ForceDevice_Remote *fdv;
printf("Opening: %s ...\n", server);
tkr = new vrpn_Tracker_Remote(server);
tkr->register_change_handler(phan_position, handle_tracker);
btn = new vrpn_Button_Remote(server);
btn->register_change_handler(&ff_enabled, handle_button);
fdv = new vrpn_ForceDevice_Remote(server);
fdv->register_force_change_handler(phan_force, handle_force);
void * myglwin = glwin_create(700, 700);
if (myglwin == NULL) {
printf("Failed to open OpenGL window!!\n");
return -1;
}
atom_state->x = 0.0; atom_state->y = 0.0; atom_state->z = 0.0;
atom_state->vx = 0.0; atom_state->vy = 0.0; atom_state->vz = 0.0;
atom_state->ax = 0.0; atom_state->ay = 0.0; atom_state->az = 0.0;
atom_state->mass = .001;
ff_active = 0;
init_graphics(myglwin);
GLUquadricObj *qobj = gluNewQuadric();
GLUquadricObj *qatom = gluNewQuadric();
/*
* main interactive loop
*/
while (1) {
// Let the tracker do its thing
tkr->mainloop();
btn->mainloop();
fdv->mainloop();
run_dynamics(atom_state, phan_force);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (ff_enabled ) {
if (!ff_active) {
// Set up force field so initially the force is zero
phan_offset->x = phan_position->x - .2*atom_state->x;
phan_offset->y = phan_position->y - .2*atom_state->y;
phan_offset->z = phan_position->z - .2*atom_state->z;
}
// Now turn the force field on
// scene -> haptic: rotate 180 about the y axis
fdv->setConstraintMode(vrpn_ForceDevice::POINT_CONSTRAINT);
float cpos[3];
cpos[0] = -(.2*atom_state->x + phan_offset->x);
cpos[1] = (.2*atom_state->y + phan_offset->y);
cpos[2] = -(.2*atom_state->z + phan_offset->z);
fdv->setConstraintPoint(cpos);
fdv->setConstraintKSpring(kspr);
fdv->enableConstraint(1); // enable force field
ff_active = 1;
}
else if (ff_active) {
fdv->enableConstraint(0); // disable force field
ff_active = 0;
}
draw_axes();
draw_tracker_and_atom(phan_force, qobj, atom_state, qatom);
glwin_swap_buffers(myglwin);
}
} /* main */
src/vrpn/client_src/haptic/testvrpn.C deleted 100644 → 0
View file @ 4375e2bb
#include <stdio.h>
#include "vrpn_Tracker.h"
#include "vrpn_Button.h"
#include "vrpn_ForceDevice.h"
void handle_tracker(void *userdata, const vrpn_TRACKERCB t) {
printf("Sensor %3d is now at (%11f, %11f, %11f, %11f, %11f, %11f, %11f) \r",
t.sensor, t.pos[0], t.pos[1], t.pos[2],
t.quat[0], t.quat[1], t.quat[2], t.quat[3]);
fflush(stdout);
}
void handle_button(void *userdata, const vrpn_BUTTONCB b) {
printf("\nButton %3d is in state: %d \n",
b.button, b.state);
fflush(stdout);
}
void handle_force(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("\nForce is (%11f, %11f, %11f) \n",
f.force[0], f.force[1], f.force[2]);
first_report_done = 1;
lr = f;
}
int main(int argc, char **argv) {
char * server;
vrpn_Tracker_Remote *tkr;
vrpn_Button_Remote *btn;
vrpn_ForceDevice_Remote *fdv;
if (argc < 2) {
printf("%s: Invalid parms\n", argv[0]);
printf("usage: \n");
printf(" %s Tracker0@host\n", argv[0]);
return -1;
}
server = argv[1];
printf("Opening: %s ...\n", server);
tkr = new vrpn_Tracker_Remote(server);
tkr->register_change_handler(NULL, handle_tracker);
btn = new vrpn_Button_Remote(server);
btn->register_change_handler(NULL, handle_button);
fdv = new vrpn_ForceDevice_Remote(server);
fdv->register_force_change_handler(NULL, handle_force);
tkr->reset_origin();
/*
* main interactive loop
*/
while (1) {
// Let the tracker do its thing
tkr->mainloop();
btn->mainloop();
fdv->mainloop();
}
} /* main */
src/vrpn/client_src/logfilesenders deleted 100755 → 0
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src/vrpn/client_src/logfilesenders.C deleted 100644 → 0
View file @ 4375e2bb
#include <fcntl.h> // for open, O_RDONLY
#ifndef _WIN32
#include <netinet/in.h> // for ntohl
#include <unistd.h> // for close, read
#endif
#include <stdio.h> // for printf, fprintf, stderr
#include <stdlib.h> // for exit
#include <vrpn_Connection.h> // for vrpn_HANDLERPARAM, etc
#include "vrpn_Shared.h" // for timeval
const int buflen = 8000;
void Usage (const char * name) {
fprintf(stderr, "Usage: %s <filename>\n", name);
}
int main (int argc, char ** argv) {
char buffer [buflen];
vrpn_HANDLERPARAM header;
int file;
int retval;
if (argc != 2) {
Usage(argv[0]);
exit(0);
}
file = open(argv[1], O_RDONLY);
if (file == -1) {
fprintf(stderr, "Couldn't open \"%s\".\n", argv[1]);
exit(0);
}
while (1) {
int len;
struct timeval time;
long sender;
long type;
int len2;
retval = read(file, &header, sizeof(header));
if (retval < 0) { printf("ERROR\n"); close(file); exit(0); }
if (!retval) { printf("EOF\n"); close(file); exit(0); }
len = ntohl(header.payload_len);
time.tv_sec = ntohl(header.msg_time.tv_sec);
time.tv_usec = ntohl(header.msg_time.tv_usec);
sender = ntohl(header.sender);
type = ntohl(header.type);
//printf("Message type %d, sender %d, payload length %d\n",
//type, sender, len);
retval = read(file, buffer, len);
if (retval < 0) { printf("ERROR\n"); close(file); exit(0); }
if (!retval) { printf("EOF\n"); close(file); exit(0); }
//printf(" <%d bytes>\n", retval);
switch (type) {
case vrpn_CONNECTION_SENDER_DESCRIPTION:
len2 = ntohl(* ((int *) buffer));
buffer[len2 + sizeof(int)] = 0;
printf(" The name of sender #%ld is \"%s\".\n", sender, buffer + sizeof(int));
break;
case vrpn_CONNECTION_TYPE_DESCRIPTION:
len2 = ntohl(* ((int *) buffer));
buffer[len2 + sizeof(int)] = 0;
//printf(" The name of type #%d is \"%s\".\n", sender, buffer + sizeof(int));
break;
case vrpn_CONNECTION_UDP_DESCRIPTION:
buffer[len] = 0;
//printf(" UDP host is \"%s\", port %d.\n", buffer, sender);
break;
case vrpn_CONNECTION_LOG_DESCRIPTION:
buffer[len] = 0;
//printf(" Log to file \"%s\".\n", buffer);
break;
}
}
}
src/vrpn/client_src/logfiletypes deleted 100755 → 0
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src/vrpn/client_src/logfiletypes.C deleted 100644 → 0
View file @ 4375e2bb
#include <fcntl.h> // for open, O_RDONLY
#ifndef _WIN32
#include <netinet/in.h> // for ntohl
#include <unistd.h> // for close, read
#endif
#include <stdio.h> // for printf, fprintf, stderr
#include <stdlib.h> // for exit
#include <vrpn_Connection.h> // for vrpn_HANDLERPARAM, etc
#include "vrpn_Shared.h" // for timeval
const int buflen = 8000;
void Usage (const char * name) {
fprintf(stderr, "Usage: %s <filename>\n", name);
}
int main (int argc, char ** argv) {
char buffer [buflen];
vrpn_HANDLERPARAM header;
int file;
int retval;
if (argc != 2) {
Usage(argv[0]);
exit(0);
}
file = open(argv[1], O_RDONLY);
if (file == -1) {
fprintf(stderr, "Couldn't open \"%s\".\n", argv[1]);
exit(0);
}
while (1) {
int len;
struct timeval time;
long sender;
long type;
int len2;
retval = read(file, &header, sizeof(header));
if (retval < 0) { printf("ERROR\n"); close(file); exit(0); }
if (!retval) { printf("EOF\n"); close(file); exit(0); }
len = ntohl(header.payload_len);
time.tv_sec = ntohl(header.msg_time.tv_sec);
time.tv_usec = ntohl(header.msg_time.tv_usec);
sender = ntohl(header.sender);
type = ntohl(header.type);
//printf("Message type %d, sender %d, payload length %d\n",
//type, sender, len);
retval = read(file, buffer, len);
if (retval < 0) { printf("ERROR\n"); close(file); exit(0); }
if (!retval) { printf("EOF\n"); close(file); exit(0); }
//printf(" <%d bytes>\n", retval);
switch (type) {
case vrpn_CONNECTION_SENDER_DESCRIPTION:
len2 = ntohl(* ((int *) buffer));
buffer[len2 + sizeof(int)] = 0;
//printf(" The name of sender #%d is \"%s\".\n", sender, buffer + sizeof(int));
break;
case vrpn_CONNECTION_TYPE_DESCRIPTION:
len2 = ntohl(* ((int *) buffer));
buffer[len2 + sizeof(int)] = 0;
printf(" The name of type #%ld is \"%s\".\n", sender, buffer + sizeof(int));
break;
case vrpn_CONNECTION_UDP_DESCRIPTION:
buffer[len] = 0;
//printf(" UDP host is \"%s\", port %d.\n", buffer, sender);
break;
case vrpn_CONNECTION_LOG_DESCRIPTION:
buffer[len] = 0;
//printf(" Log to file \"%s\".\n", buffer);
break;
}
}
}
src/vrpn/client_src/midi_client.C deleted 100644 → 0
View file @ 4375e2bb
#include <unistd.h>
#include <stdio.h>
#include "vrpn_Sound.h"
char *SERVER = "Sound0@ioph100";
int main()
{
vrpn_Sound_Remote *remote;
remote = new vrpn_Sound_Remote(SERVER);
printf("Opened sound server %s\n",SERVER);
printf("Playing at level 0.24:\n");
remote->play_midi_sound(0.24);
remote->mainloop();
sleep (10);
printf("Playing at level 0.45:\n");
remote->play_midi_sound(0.45);
remote->mainloop();
sleep (10);
printf("Playing at level 0.74:\n");
remote->play_midi_sound(0.74);
remote->mainloop();
sleep (10);
printf("Playing at level 1.00:\n");
remote->play_midi_sound(1.00);
remote->mainloop();
sleep (10);
printf("...Done\n");
remote->play_stop(1);
remote->mainloop();
return 0;
}
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