init

2021-10-14 13:47:35 +02:00
commit 6625a8dfaa
4026 changed files with 844291 additions and 0 deletions
@@ -0,0 +1,87 @@
+#include "GenericVRPNServer.h"
+
+#include <vrpn_Connection.h>
+#include <vrpn_Button.h>
+#include <vrpn_Analog.h>
+
+#include <cstdarg>
+
+CGenericVrpnServer* CGenericVrpnServer::m_serverInstance = nullptr;
+
+CGenericVrpnServer::CGenericVrpnServer(const int port) { m_connection = vrpn_create_server_connection(port); }
+
+CGenericVrpnServer::~CGenericVrpnServer() { deleteInstance(); }
+
+CGenericVrpnServer* CGenericVrpnServer::getInstance(const int port)
+{
+	if (m_serverInstance == nullptr) { m_serverInstance = new CGenericVrpnServer(port); }
+	return m_serverInstance;
+}
+
+void CGenericVrpnServer::deleteInstance()
+{
+	for (auto it = m_serverInstance->m_buttonServer.begin(); it != m_serverInstance->m_buttonServer.end(); ++it) { delete it->second.server; }
+	m_serverInstance->m_buttonServer.clear();
+
+	for (auto it = m_serverInstance->m_analogServer.begin(); it != m_serverInstance->m_analogServer.end(); ++it) { delete it->second.server; }
+	m_serverInstance->m_analogServer.clear();
+
+	delete m_serverInstance;
+	m_serverInstance = nullptr;
+}
+
+void CGenericVrpnServer::loop()
+{
+	for (auto it = m_buttonServer.begin(); it != m_buttonServer.end(); ++it) { it->second.server->mainloop(); }
+	for (auto it = m_analogServer.begin(); it != m_analogServer.end(); ++it) { it->second.server->mainloop(); }
+	m_connection->mainloop();
+}
+
+
+void CGenericVrpnServer::addButton(const std::string& name, const int buttonCount)
+{
+	SButtonServer serverObject;
+
+	serverObject.server  = new vrpn_Button_Server(name.c_str(), m_connection, buttonCount);
+	serverObject.nButton = buttonCount;
+
+	m_buttonServer.insert(std::pair<std::string, SButtonServer>(name, serverObject));
+	m_buttonServer[name].cache.clear();
+	m_buttonServer[name].cache.resize(buttonCount);
+}
+
+void CGenericVrpnServer::changeButtonState(const std::string& name, const int index, const int state)
+{
+	m_buttonServer[name].server->set_button(index, state);
+	m_buttonServer[name].cache[index] = state;
+}
+
+int CGenericVrpnServer::getButtonState(const std::string& name, const int index) { return m_buttonServer[name].cache[index]; }
+
+void CGenericVrpnServer::addAnalog(const std::string& name, const int nChannel)
+{
+	SAnalogServer serverObject;
+
+	serverObject.server   = new vrpn_Analog_Server(name.c_str(), m_connection, nChannel);
+	serverObject.nChannel = nChannel;
+
+	m_analogServer.insert(std::pair<std::string, SAnalogServer>(name, serverObject));
+}
+
+void CGenericVrpnServer::changeAnalogState(const std::string& name, ...)
+{
+	double* channels = m_analogServer[name].server->channels();
+
+	va_list list;
+	va_start(list, name);
+
+	for (int i = 0; i < m_analogServer[name].nChannel; ++i) { channels[i] = va_arg(list, double); }
+
+	va_end(list);
+
+	m_analogServer[name].server->report();
+}
+
+double* CGenericVrpnServer::getAnalogChannels(const std::string& name) { return m_analogServer[name].server->channels(); }
+
+void CGenericVrpnServer::reportAnalogChanges(const std::string& name) { m_analogServer[name].server->report(); }
@@ -0,0 +1,103 @@
+/**
+ * \file GenericVRPNServer.h
+ * \author Jozef Legény
+ *
+ * Copyright : Inria (2012)
+ * License : LGPLv2 -> AGPL3
+ */
+
+#pragma once
+
+#include <map>
+#include <vector>
+#include <string>
+
+class vrpn_Connection;
+class vrpn_Button_Server;
+class vrpn_Analog_Server;
+
+/**
+ * \class CGenericVrpnServer
+ * \brief A class providing a very simple generic VRPN server capable of creating Analog and Button controls.
+ */
+class CGenericVrpnServer
+{
+public:
+	struct SButtonServer
+	{
+		vrpn_Button_Server* server;
+		int nButton;
+		std::vector<int> cache;
+	};
+
+	struct SAnalogServer
+	{
+		vrpn_Analog_Server* server;
+		int nChannel;
+	};
+
+	/// Public singleton factory
+	static CGenericVrpnServer* getInstance(const int port);
+
+	static void deleteInstance();
+
+	/// Public destructor
+	~CGenericVrpnServer();
+
+	/// The loop() method has to be called periodically in order for vrpn to work
+	void loop();
+
+	/** Creates a new button object within the VRPN server
+	 * \param name name of the vrpn peripheral
+	 * \param buttonCount number of virtual buttons in the peripeheral
+	 */
+	void addButton(const std::string& name, const int buttonCount);
+
+	/** Change the button state of a button inside a created VRPN peripheral
+	 * \param name name of the vrpn peripheral containing the button
+	 * \param index index of the button (beginning by 0)
+	 * \param state new state of the button 0 = off, 1 = on
+	 */
+	void changeButtonState(const std::string& name, const int index, const int state);
+
+
+	/** Get the state of a button
+	 * \param name name of the vrpn peripheral containing the button
+	 * \param index index of the button (beginning by 0)
+	 * \return the state of the button
+	 */
+	int getButtonState(const std::string& name, const int index);
+
+	/** Creates a new analog object within the VRPN server
+	 * \param name name of the vrpn peripheral
+	 * \param nChannel number of channels in the peripeheral
+	 */
+	void addAnalog(const std::string& name, const int nChannel);
+
+	/** Change the state of channels of an analog VRPN peripheral
+	 * \param name name of the vrpn peripheral containing the analog control
+	 * \param ... :  list of the values (double)
+	 */
+	void changeAnalogState(const std::string& name, ...);
+
+
+	/** Gets a pointer to the channel array
+	 * \param name name of the vrpn peripheral containing the analog control
+	 * \return pointer to the array containing the channels
+	 */
+	double* getAnalogChannels(const std::string& name);
+
+	/** Marks the selected analog server channels as modified so the values are sent in the next loop
+	 * \param name name of the vrpn peripheral containing the analog control
+	 */
+	void reportAnalogChanges(const std::string& name);
+
+protected:
+	static CGenericVrpnServer* m_serverInstance;
+
+	explicit CGenericVrpnServer(const int port);
+
+	vrpn_Connection* m_connection = nullptr;
+	std::map<std::string, SButtonServer> m_buttonServer;
+	std::map<std::string, SAnalogServer> m_analogServer;
+};
@@ -0,0 +1,50 @@
+#if !defined(WIN32)
+
+#include "GenericVRPNServer.h"
+#include <iostream>
+#include <cmath>
+#include <unistd.h>
+
+#define DEFAULT_PORT 50555
+
+int main(int argc, char** argv)
+{
+	CGenericVrpnServer* vrpnServer = CGenericVrpnServer::getInstance(DEFAULT_PORT);
+
+	const char* buttonDevice = "button_test";
+	const char* analogDevice = "analog_test";
+	
+	std::cout << "Creating devices [" << buttonDevice << "] and [" << analogDevice << "] using port [" << DEFAULT_PORT << "]\n";
+
+	vrpnServer->addButton(buttonDevice, 1);
+	vrpnServer->addAnalog(analogDevice, 2);
+
+	double time = 0;
+	double period = 0;
+
+	while (true)
+	{
+		if (period >= 2 * M_PI)
+		{
+			vrpnServer->changeButtonState(buttonDevice, 0, 1 - vrpnServer->getButtonState(buttonDevice, 0));
+			period = 0;
+		}
+
+		vrpnServer->changeAnalogState(analogDevice, sin(time), cos(time));
+
+		time = time + 0.01;
+		period = period + 0.01;
+		
+		vrpnServer->loop();
+
+		// sleep for 10 miliseconds (on Unix)
+		usleep(10000);
+	}
+
+	CGenericVrpnServer::deleteInstance();
+	vrpnServer = nullptr;
+
+	return 0;
+}
+
+#endif // !WIN32
@@ -0,0 +1,51 @@
+#if defined(WIN32)
+
+#include "GenericVRPNServer.h"
+#include <iostream>
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include <windows.h>
+
+#define DEFAULT_PORT 50555
+
+int main(int /*argc*/, char** /*argv*/)
+{
+	CGenericVrpnServer* vrpnServer = CGenericVrpnServer::getInstance(DEFAULT_PORT);
+
+	const char* buttonDevice = "button_test";
+	const char* analogDevice = "analog_test";
+
+	std::cout << "Creating devices [" << buttonDevice << "] and [" << analogDevice << "] using port [" << DEFAULT_PORT << "]\n";
+
+	vrpnServer->addButton(buttonDevice, 1);
+	vrpnServer->addAnalog(analogDevice, 2);
+
+	double time   = 0;
+	double period = 0;
+
+	while (true)
+	{
+		if (period >= 2 * M_PI)
+		{
+			vrpnServer->changeButtonState(buttonDevice, 0, 1 - vrpnServer->getButtonState(buttonDevice, 0));
+			period = 0;
+		}
+
+		vrpnServer->changeAnalogState(analogDevice, sin(time), cos(time));
+
+		time   = time + 0.01;
+		period = period + 0.01;
+
+		vrpnServer->loop();
+
+		// sleep for 10 miliseconds
+		Sleep(10);
+	}
+
+	CGenericVrpnServer::deleteInstance();
+	vrpnServer = nullptr;
+
+	return 0;
+}
+
+#endif // WIN32