vrpn_Tracker_RazerHydra.h

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//          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"
 
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