InputDeviceVRPNTracker.H

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//========================================================================
// MinVR
// Platform:    Any
// API version: 1.0
//------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2013 Regents of the University of Minnesota
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to
// use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
// the Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
// FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
// COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
// IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
// CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//========================================================================

#ifndef VRPNTRACKERDEVICE_H
#define VRPNTRACKERDEVICE_H

// Note: This include ordering is important, don't screw with it!
#include <glm/glm.hpp>
#include <glm/gtc/matrix_access.hpp>
#include <glm/gtx/orthonormalize.hpp>
#include <glm/gtc/quaternion.hpp>
#include <vector>
#include "MVRCore/AbstractInputDevice.H"
#include "MVRCore/ConfigMap.H"
#include "MVRCore/StringUtils.H"

#include <boost/log/trivial.hpp>
#define BOOST_ASSERT_MSG_OSTREAM std::cout
#include <boost/assert.hpp>

#ifdef USE_VRPN
class vrpn_Tracker_Remote;
class vrpn_Connection;
#endif

namespace MinVR {

class InputDeviceVRPNTracker : public AbstractInputDevice
{
public:
#ifdef USE_VRPN
        InputDeviceVRPNTracker(
                const std::string                                                          &vrpnTrackerDeviceName,
                const std::vector<std::string>                             &eventsToGenerate,
                const double                                                               &trackerUnitsToRoomUnitsScale,
                const glm::mat4                                                            &deviceToRoom,
                const std::vector<glm::mat4>                           &propToTracker,
                const std::vector<glm::mat4>                               &finalOffset,
                const bool                                                                         &waitForNewReportInPoll,
                const bool                                                                         &convertLHtoRH = false,
                const bool                                                                         &ignoreZeroes = false);

        InputDeviceVRPNTracker(const std::string name, const ConfigMapRef map);

        virtual ~InputDeviceVRPNTracker();

        void processEvent(const glm::mat4 &vrpnEvent, int sensorNum);
        std::string getEventName(int trackerNumber);
        void pollForInput(std::vector<EventRef> &events);
        void setPrintSensor0(bool b) { _printSensor0 = b; }

private:
        vrpn_Connection        *_vrpnConnection;
        vrpn_Tracker_Remote    *_vrpnDevice;
        std::vector<std::string>      _eventNames;
        double                  _trackerUnitsToRoomUnitsScale;
        glm::mat4         _deviceToRoom;
        std::vector<glm::mat4>  _propToTracker;
        std::vector<glm::mat4>  _finalOffset;
        bool                    _printSensor0;
        bool                    _waitForNewReport;
        bool                    _convertLHtoRH;
        bool                    _ignoreZeroes;
        bool                    _newReportFlag;
        std::vector<EventRef>         _pendingEvents;
#else
        InputDeviceVRPNTracker(
                const std::string                                                          &vrpnTrackerDeviceName,
                const std::vector<std::string>                     &eventsToGenerate,
                const double                                                               &trackerUnitsToRoomUnitsScale,
                const glm::mat4                            &deviceToRoom,
                const std::vector<glm::mat4> &propToTracker,
                const std::vector<glm::mat4> &finalOffset,
                const bool                                                                         &waitForNewReportInPoll,
                const bool                                                                         &convertLHtoRH = false,
                const bool                                                                         &ignoreZeroes = false)
        {
                BOOST_ASSERT_MSG(false, "VRPN is currently unsupported. Set cmake option USE_VRPN to ON and recompile.");
        }

        InputDeviceVRPNTracker(const std::string name, const ConfigMapRef map)
        {
                BOOST_ASSERT_MSG(false, "VRPN is currently unsupported. Set cmake option USE_VRPN to ON and recompile.");
        }

        virtual ~InputDeviceVRPNTracker() {}
        void pollForInput(std::vector<EventRef> &events) {}

#endif // USE_VRPN
};

} // end namespace

#endif