vrpn_Tracker_RazerHydra.h

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/** @file
    @brief Header
 
    @date 2011
 
    @author
    Ryan Pavlik
    <rpavlik@iastate.edu> and <abiryan@ryand.net>
    http://academic.cleardefinition.com/
    Iowa State University Virtual Reality Applications Center
    Human-Computer Interaction Graduate Program
*/
 
//          Copyright Iowa State University 2011.
// Distributed under the Boost Software License, Version 1.0.
//    (See accompanying file LICENSE_1_0.txt or copy at
//          http://www.boost.org/LICENSE_1_0.txt)
 
#pragma once
 
// Internal Includes
#include "quat.h" // for q_vec_type
#include "vrpn_Analog.h" // for vrpn_Analog
#include "vrpn_Button.h" // for vrpn_Button_Filter
#include "vrpn_Tracker.h" // for vrpn_Tracker
 
// Library/third-party includes
// - none
 
// Standard includes
// - none
 
#ifdef VRPN_USE_HID
 
#include "vrpn_HumanInterface.h"
#include "vrpn_OwningPtr.h"
 
/** @brief Device supporting the Razer Hydra game controller as a tracker,
    analog device, and button device, using the USB HID protocol directly
 
    The left wand (the one with LB and LT on its "end" buttons - look from above)
    is sensor 0, and the right wand (with RB and RT on it) is sensor 1.
    The "front" of the base is the side opposite the cables: there's a small
    logo on it. You can have the base in any orientation you want, but the info
    that follows assumes you have the base sitting on a desk, with the front toward you.
    If you have the base in a different coordinate frame in the world, please make
    the appropriate mental transformations yourself. :)
 
    When starting the VRPN server, make sure that the left wand is somewhere to
    the left of the base, and the right wand somewhere right of the base -
    they do not need to be placed on the base or any more complicated homing/calibration
    procedure. This is for the hemisphere tracking: it needs to have an "initial state"
    that is roughly known, so it uses the sign of the X coordinate position.
 
    (If you can't do this for whatever reason, modification of the driver code for an
    alternate calibration procedure is possible.)
 
    If using the Hydra on Windows, the server will work with or without the official
    Razer Hydra drivers installed. If you are only using the device with VRPN, don't
    install the official drivers. However, if you do have them installed, make sure that
    the "Hydra Configurator" and the Hydra system tray icon are closed to avoid unexpected
    failure (their software can switch the device out of the mode that VRPN uses).
 
    Works great on Linux (regardless of endianness) - no drivers needed, thanks to USB HID.
 
    The base coordinate system is right-handed with the axes:
    * X - out the right of the base
    * Y - out the front of the base
    * Z - down
 
    The wand coordinates are also right-handed, with the tracked point somewhere near
    the cable entry to the controller. When held with the joystick vertical, the axes
    are:
    * X - to the right
    * Y - out the front of the controller (trigger buttons)
    * Z - Up, along the joystick
 
    Buttons are as follows, with the right controller's button channels starting
    at 7 instead of 0:
        * 0 - "middle" button below joystick
        * 1-4 - numbered buttons
        * 5 - "bumper" button (above trigger)
        * 6 - joystick button (if you push straight down on the joystick)
 
        Analog channels are as follows, with the right controller starting at 3
        instead of 0:
        * 0 - joystick left/right: centered at 0, right is positive, in [-1, 1]
        * 1 - joystick up/down: centered at 0, up is positive, in [-1, 1]
        * 2 - analog trigger, in range 0 (not pressed) to 1 (fully pressed).
*/
 
class VRPN_API vrpn_Tracker_RazerHydra: public vrpn_Analog, public vrpn_Button_Filter, public vrpn_Tracker
{
 public:
 vrpn_Tracker_RazerHydra(const char* name, vrpn_Connection* con = NULL);
 vrpn_Tracker_RazerHydra(const char* name, hid_device* ctrl_dev,
                                hid_device* data_dev,
 vrpn_Connection* con = NULL);
 vrpn_Tracker_RazerHydra(const char* name, const char* ctrl_dev_path,
 const char* data_dev_path,
 vrpn_Connection* con = NULL);
 ~vrpn_Tracker_RazerHydra();
 
 virtual void mainloop();
 
 virtual bool reconnect();
 
 private:
 void _shared_init();
 enum HydraStatus
        {
            HYDRA_WAITING_FOR_CONNECT,
            HYDRA_LISTENING_AFTER_CONNECT,
            HYDRA_LISTENING_AFTER_SET_FEATURE,
            HYDRA_REPORTING
        };
 
 enum
        {
            ANALOG_CHANNELS = 6,
            BUTTON_CHANNELS = 14,
            POSE_CHANNELS = 2
        };
 
 void _swap_channels();
 void _waiting_for_connect();
 void _listening_after_connect();
 void _listening_after_set_feature();
 
 void _enter_motion_controller_mode();
 
 void _report_for_sensor(int sensorNum, vrpn_uint8 * data, double dt);
 
        HydraStatus status;
 bool _wasInGamepadMode;
 int _attempt;
 struct timeval _timestamp;
 struct timeval _connected;
 struct timeval _set_feature;
 
 const float    _docking_distance;
 bool           _docked[POSE_CHANNELS];
 bool           _calibration_done[POSE_CHANNELS];
 int            _mirror[POSE_CHANNELS];
 int            _sign_x[POSE_CHANNELS];
        q_vec_type     _old_position[POSE_CHANNELS];
 
        q_type         _calibration_pose_conj[POSE_CHANNELS];
 
 // This device has both a control and a data interface.
 // On the mac, we may need to swap these because we can't tell which
 // is which when we open them.
 class MyInterface;
 
 vrpn::OwningPtr<MyInterface> _ctrl;
 vrpn::OwningPtr<MyInterface> _data;
};
 
#else
class VRPN_API vrpn_Tracker_RazerHydra;
#endif