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