src/vrpn/client_src/phan_client.C

-// 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

-#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

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