vrpn_Oculus.h

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/** @file   vrpn_Oculus.h
    @brief  Header for various Oculus devices.  Initially, just the DK1 & DK2.
 
    @date   2015
  @copyright 2015 ReliaSolve.com
  @author ReliaSolve.com russ@reliasolve.com
  @license Standard VRPN license.
*/
 
// Based on the OSVR hacker dev kit driver by Kevin Godby.
// Based on Oliver Kreylos' OculusRiftHIDReports.cpp.
 
#pragma once
 
#include "vrpn_HumanInterface.h"
#include "vrpn_Analog.h"
 
#if defined(VRPN_USE_HID)
 
/// @brief Oculus Rift head-mounted display base class 
class VRPN_API vrpn_Oculus : public vrpn_Analog, protected vrpn_HidInterface {
public:
    /**
     * @brief Destructor.
     */
 virtual ~vrpn_Oculus();
 
 virtual void mainloop();
 
protected:
  /**
   * @brief Protected constructor so you can't instantiate this base class.
   *
   * @param product_id USB Device ID for this device.
   * @param num_channels Number of analog channels on the device.
   * @param name Name of the device.
   * @param c Optional vrpn_Connection pointer to use as our connection.
   * @param keepAliveSeconds How often to send keepalive message
   */
 vrpn_Oculus(vrpn_uint16 product_id, vrpn_uint8 num_channels, 
 const char *name, vrpn_Connection *c = NULL, double keepAliveSeconds = 9.0);
 
 vrpn_HidAcceptor *m_filter;
 
 //-------------------------------------------------------------
 // Parsers for different report types.  
 // Override to define more parsers
 virtual bool parse_message(std::size_t bytes, vrpn_uint8 *buffer);
 
  /// Parse and send reports for type-1 message
 void parse_message_type_1(std::size_t bytes, vrpn_uint8 *buffer);
 
  /// Extracts the sensor values from each report and calls the
  /// appropriate parser.
 void on_data_received(std::size_t bytes, vrpn_uint8 *buffer);
 
  /// Timestamp updated during mainloop()
 struct timeval d_timestamp;
 
  /// How often to send the keepAlive message to the Rift (triggers
  /// the LEDs if available)
 double d_keepAliveSeconds;
 struct timeval d_lastKeepAlive;
 
 // Send a KeepAlive feature report to the Rift.
 virtual void writeKeepAlive(
      vrpn_uint16 interval = 10000 //< KeepAlive time in milliseconds
      , vrpn_uint16 commandId = 0 //< Should always be zero
      ) = 0;
};
 
/// @brief Oculus Rift DK1 head-mounted display
class VRPN_API vrpn_Oculus_DK1 : public vrpn_Oculus {
public:
  /**
   * @brief Constructor
   *
   * @param name Name of this device.
   * @param c Optional vrpn_Connection pointer to use as our connection.
   * @param keepAliveSeconds How often to re-trigger the LED flashing
   */
 vrpn_Oculus_DK1(const char *name, vrpn_Connection *c = NULL,
 double keepAliveSeconds = 9.0);
 
protected:
 
 // Send a KeepAlive feature report to the Rift.
 virtual void writeKeepAlive(
      vrpn_uint16 interval = 10000 //< KeepAlive time in milliseconds
      , vrpn_uint16 commandId = 0 //< Should always be zero
      );
};
 
/// @brief Oculus Rift DK2 head-mounted display base class for both intertial-
/// only and LED-enabled version.
class VRPN_API vrpn_Oculus_DK2 : public vrpn_Oculus {
protected:
  /**
   * @brief Protected constructor so you can't instantiate this base class.
   *
   * @param name Name of this device.
   * @param c Optional vrpn_Connection pointer to use as our connection.
   * @param keepAliveSeconds How often to re-trigger the LED flashing
   */
 vrpn_Oculus_DK2(bool enableLEDs, const char *name, vrpn_Connection *c = NULL,
 double keepAliveSeconds = 9.0);
 
 //-------------------------------------------------------------
 // Parsers for different report types.  The DK2 sends type-1
 // reports in response to inertial-only keep-alive messages
 // and type-11 reports in response to LED-enabled keep-alive
 // messages.
 //
 bool parse_message(std::size_t bytes, vrpn_uint8 *buffer);
 
  /// Parse and send reports for type-11 message
 void parse_message_type_11(std::size_t bytes, vrpn_uint8 *buffer);
 
  /// Whether to trigger the LEDs
 bool d_enableLEDs;
 
 // Send a KeepAlive feature report to the Rift.
 virtual void writeKeepAlive(
      vrpn_uint16 interval = 10000 //< KeepAlive time in milliseconds
      , vrpn_uint16 commandId = 0 //< Should always be zero
      );
};
 
/// @brief Oculus Rift DK2 head-mounted display (inertial measurement unit only)
class VRPN_API vrpn_Oculus_DK2_inertial : public vrpn_Oculus_DK2 {
public:
  /**
  * @brief Constructor
  *
  * @param name Name of this device.
  * @param c Optional vrpn_Connection pointer to use as our connection.
  * @param keepAliveSeconds How often to re-trigger the LED flashing
  */
 vrpn_Oculus_DK2_inertial(const char *name, vrpn_Connection *c = NULL,
 double keepAliveSeconds = 9.0)
    : vrpn_Oculus_DK2(false, name, c, keepAliveSeconds) {};
};
 
/// @brief Oculus Rift DK2 head-mounted display (LEDs enabled)
class VRPN_API vrpn_Oculus_DK2_LEDs : public vrpn_Oculus_DK2 {
public:
  /**
  * @brief Constructor
  *
  * @param name Name of this device.
  * @param c Optional vrpn_Connection pointer to use as our connection.
  * @param keepAliveSeconds How often to re-trigger the LED flashing
  */
 vrpn_Oculus_DK2_LEDs(const char *name, vrpn_Connection *c = NULL,
 double keepAliveSeconds = 9.0)
    : vrpn_Oculus_DK2(true, name, c, keepAliveSeconds) {};
};
 
#endif // VRPN_USE_HID