vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_Android.C
Go to the documentation of this file.
1#include "vrpn_Android.h"
2#include <sstream>
3#include <string>
4#include <bitset>
5
8{
9 fprintf(stderr, "Button_Server_Remote: button %i state %i\n", b.button, b.state);
10}
11
12void VRPN_CALLBACK handle_analog (void *userdata, const vrpn_ANALOGCB a)
13{
14 vrpn_int32 i;
15 const char *name = (const char *)userdata;
16
17 fprintf(stderr, "Analog:\n %5.2f", a.channel[0]);
18 for (i = 1; i < a.num_channel; i++) {
19 fprintf(stderr, ", %5.2f\n", a.channel[i]);
20 }
21 fprintf(stderr, " (%d chans)\n", a.num_channel);
22}
24
25
26vrpn_Android_Server::vrpn_Android_Server(vrpn_int32 num_analogs, vrpn_int32 * analog_sizes, vrpn_int32 num_buttons, vrpn_int32 port)
27{
28 fprintf(stderr, "C++: vrpn_Android_Server instantiated\n");
29 this->port = port;
30 this->initialize(num_analogs, analog_sizes, num_buttons);
31}
32
33void vrpn_Android_Server::initialize(vrpn_int32 num_analogs, vrpn_int32 * analog_sizes, vrpn_int32 num_buttons)
34{
35 ANALOG_SERVER_NAME = "Analog"; // Numbers added automatically
36 BUTTON_SERVER_NAME = "Button0";
37
38 this->num_analogs = num_analogs;
39 this->analog_sizes = analog_sizes;
40
41 fprintf(stderr, "vrpn_Android_Server: using port %i\n", port);
42
43 fprintf(stderr, "vrpn_Android_Server: getting server connection...\n");
44 connection = vrpn_create_server_connection(port);
45 fprintf(stderr, (connection == 0) ? "vrpn_Android_Server: Failed to get connection\n" : "vrpn_Android_Server: Got connection\n");
46
47 // Create analog servers
48 analog_server = new vrpn_Analog_Server*[num_analogs];
49
50 for (int i = 0; i < num_analogs; i++)
51 {
52 std::stringstream name;
53 name << ANALOG_SERVER_NAME << i;
54 analog_server[i] = new vrpn_Analog_Server(name.str().c_str(), connection, analog_sizes[i]);
55 analog_server[i]->setNumChannels(analog_sizes[i]);
56 fprintf(stderr, "vrpn_Android_Server: instantiated analog server %i\n", i);
57 }
58
59 // Create button server
60 button_server = new vrpn_Button_Server(BUTTON_SERVER_NAME, connection, num_buttons);
61 fprintf(stderr, "vrpn_Android_Server: instantiated button server\n");
62
63 // Create analog clients
64 analog_client = new vrpn_Analog_Remote*[num_analogs];
65
66 for (int i = 0; i < num_analogs; i++)
67 {
68 std::stringstream name;
69 name << ANALOG_SERVER_NAME << i;
70 analog_client[i] = new vrpn_Analog_Remote(name.str().c_str(), connection);
71 analog_client[i]->register_change_handler(const_cast <char*> (name.str().c_str()), handle_analog);
72
73 }
74
75 // Create button client
76 button_client = new vrpn_Button_Remote(BUTTON_SERVER_NAME, connection);
77 button_client->register_change_handler(const_cast <char*> (BUTTON_SERVER_NAME), button_press);
78
79 fprintf(stderr, "C++: vrpn_Android_Server initialized\n");
80}
81
83{
84 for (vrpn_int32 i = 0; i < num_analogs; i++)
85 {
86 analog_server[i]->mainloop();
87 analog_client[i]->mainloop();
88 }
89 button_server->mainloop();
90 button_client->mainloop();
91 connection->mainloop();
92}
93
94void vrpn_Android_Server::set_button(vrpn_int32 button_id, vrpn_int32 state)
95{
96 button_server->set_button(button_id, state);
97}
98
99void vrpn_Android_Server::set_analog(vrpn_int32 analog_id, vrpn_int32 channel, vrpn_float64 val)
100{
101 vrpn_float64 * channels = analog_server[analog_id]->channels();
102 channels[channel] = val;
103}
104
106{
107 analog_server[analog_id]->report();
108}
109
111{
112 for (vrpn_int32 i = 0; i < num_analogs; i++)
113 {
114 delete analog_server[i];
115 delete analog_client[i];
116 }
117 delete button_server;
118 delete button_client;
119 delete connection;
120 fprintf(stderr, "C++: vrpn_Android_Server destroyed\n");
121}
virtual void mainloop()
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
Definition: vrpn_Analog.C:327
virtual int register_change_handler(void *userdata, vrpn_ANALOGCHANGEHANDLER handler)
Definition: vrpn_Analog.h:192
vrpn_float64 * channels(void)
Exposes an array of values for the user to write into.
Definition: vrpn_Analog.h:117
virtual void report(vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
Makes public the protected base class function.
Definition: vrpn_Analog.C:188
virtual void mainloop()
For this server, the user must normally call report() or report_changes() directly....
Definition: vrpn_Analog.h:114
vrpn_int32 setNumChannels(vrpn_int32 sizeRequested)
Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This ...
Definition: vrpn_Analog.C:194
void mainloop()
Main loop to be called at every time step. Calls the mainloop() functions of the member servers.
Definition: vrpn_Android.C:82
void set_analog(vrpn_int32 analog_id, vrpn_int32 channel, vrpn_float64 val)
Set the value for the given channel of the given vrpn_Analog_Server.
Definition: vrpn_Android.C:99
vrpn_Android_Server(vrpn_int32 num_analogs, vrpn_int32 *analog_sizes, vrpn_int32 num_buttons, vrpn_int32 port)
Constructor. Takes an array of integers representing the number of channels for each analog server,...
Definition: vrpn_Android.C:26
void report_analog_chg(vrpn_int32 analog_id)
Called when changes are made to any of the analog values.
Definition: vrpn_Android.C:105
void set_button(vrpn_int32 button_id, vrpn_int32 state)
Set the value for the given button.
Definition: vrpn_Android.C:94
~vrpn_Android_Server()
Destructor.
Definition: vrpn_Android.C:110
virtual int register_change_handler(void *userdata, vrpn_BUTTONCHANGEHANDLER handler)
Definition: vrpn_Button.h:263
virtual void mainloop()
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
Definition: vrpn_Button.C:959
virtual void mainloop()
Called once each time through the server program's mainloop to handle various functions (like setting...
Definition: vrpn_Button.C:471
int set_button(int button, int new_value)
Allows the server program to set current button states (to 0 or 1)
Definition: vrpn_Button.C:477
virtual int mainloop(const struct timeval *timeout=NULL)=0
Call each time through program main loop to handle receiving any incoming messages and sending any pa...
vrpn_int32 num_channel
Definition: vrpn_Analog.h:170
vrpn_float64 channel[vrpn_CHANNEL_MAX]
Definition: vrpn_Analog.h:171
vrpn_int32 button
Definition: vrpn_Button.h:228
vrpn_int32 state
Definition: vrpn_Button.h:229
void VRPN_CALLBACK handle_analog(void *userdata, const vrpn_ANALOGCB a)
Definition: vrpn_Android.C:12
void VRPN_CALLBACK button_press(void *, const vrpn_BUTTONCB b)
Definition: vrpn_Android.C:7
#define VRPN_CALLBACK
vrpn_Connection * vrpn_create_server_connection(const char *cname, const char *local_in_logfile_name, const char *local_out_logfile_name)
Create a server connection of arbitrary type (VRPN UDP/TCP, TCP, File, Loopback, MPI).