Initial Commit

Assets/Imstk/Scripts/Devices/OpenHapticsDevice.cs

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+/*=========================================================================
+
+   Library: iMSTK-Unity
+
+   Copyright (c) Kitware, Inc. 
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=========================================================================*/
+
+using UnityEngine;
+using System.Threading;
+
+namespace ImstkUnity
+{
+    // HS-2022-feb-02 Should be refactored to remove the "manager" functionality from the
+    // Device, see the VRPNDevice for the pattern. Remove `static` components
+    // from here
+
+#if IMSTK_USE_OPENHAPTICS
+    // If this is not defined iMSTK was not built with Open Haptics enabled
+    // to use build iMSTK with the flag iMSTK_USE_OpenHaptics set to ON
+    [AddComponentMenu("iMSTK/OpenHapticsDevice")]
+    public class OpenHapticsDevice : TrackingDevice
+    {
+        public string deviceName = "default";
+
+        public static Imstk.OpenHapticDeviceManager openHapticDeviceManager = null;
+        public static bool hapticsRunning = false;
+        public static Thread hapticThread = null;
+
+        public static void InitManager()
+        {
+            if (openHapticDeviceManager != null)
+            {
+                openHapticDeviceManager.init();
+            }
+        }
+
+        public void Start()
+        {
+            GetDevice();
+        }
+
+        public static void StartManager()
+        {
+            // Launch haptics on a separate thread if using
+            if (openHapticDeviceManager != null)
+            {
+                hapticsRunning = true;
+                Debug.Log("OpenHaptics Thread Starting");
+                hapticThread = new Thread(() =>
+                {
+                    while (hapticsRunning)
+                    {
+                        if (openHapticDeviceManager != null)
+                        {
+                            openHapticDeviceManager.update();
+                        }
+                    }
+                });
+                hapticThread.Start();
+            }
+        }
+        public static void StopManager()
+        {
+            if (openHapticDeviceManager != null)
+            {
+                hapticsRunning = false;
+                hapticThread.Join();
+
+                Debug.Log("OpenHaptics Thread Stopping");
+                openHapticDeviceManager.uninit();
+                openHapticDeviceManager = null;
+                hapticThread = null;
+            }
+        }
+
+        protected override Imstk.DeviceClient MakeDevice()
+        {
+            if (openHapticDeviceManager == null)
+            {
+                openHapticDeviceManager = new Imstk.OpenHapticDeviceManager();
+            }
+            Debug.Log("MakeDeviceClient <" + deviceName + ">");
+            // Creates the default device (specify name for specific one)
+            if (deviceName == "default")
+            {
+                return openHapticDeviceManager.makeDeviceClient();
+            }
+            else
+            {
+                return openHapticDeviceManager.makeDeviceClient(deviceName);
+            }
+        }
+    }
+#else
+    public class OpenHapticsDevice : TrackingDevice
+    {
+        public string deviceName = "default";
+
+        public static void InitManager()
+        {
+            Debug.LogError("OpenHaptics is not enable in this build");
+        }
+
+        public void Start() {}
+
+        public static void StartManager() {}
+        public static void StopManager() {}
+
+        protected override Imstk.DeviceClient MakeDevice() {
+            Debug.LogError("OpenHaptics is not enable in this build, " +
+                "see the documentation for more information ");
+            return null; 
+        }
+    }
+#endif
+}

Assets/Imstk/Scripts/Devices/OpenHapticsDevice.cs.meta

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Assets/Imstk/Scripts/Devices/TrackingDevice.cs

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+/*=========================================================================
+
+   Library: iMSTK-Unity
+
+   Copyright (c) Kitware, Inc. 
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=========================================================================*/
+
+using UnityEngine;
+
+namespace ImstkUnity
+{
+    enum ButtonState
+    {
+        // From Imstk
+        BUTTON_RELEASED = 0,
+        BUTTON_TOUCHED  = 1,
+        BUTTON_UNTOUCHED = 2,
+        BUTTON_PRESSED = 3
+    }
+
+
+    public abstract class TrackingDevice : MonoBehaviour
+    {
+        Imstk.DeviceClient trackingDevice = null;
+
+        public Vector3 GetPosition()
+        {
+            Imstk.Vec3d pos = trackingDevice.getPosition();
+            return pos.ToUnityVec();
+        }
+        public Quaternion GetOrientation()
+        {
+            Imstk.Quatd quat = trackingDevice.getOrientation();
+            return quat.ToUnityQuat();
+        }
+
+        public Vector3 GetForce()
+        {
+            Imstk.Vec3d vec = trackingDevice.getForce();
+            return vec.ToUnityVec();
+        }
+
+        public bool IsButtonDown(int id)
+        {
+            var val = trackingDevice.getButton(id);
+            if (val == (int)ButtonState.BUTTON_PRESSED || val == (int)ButtonState.BUTTON_TOUCHED) return true;
+            else return false;
+        }
+
+        public int[] GetButtons()
+        {
+            var result = new int[8];
+
+            for (int i = 0; i<8;++i)
+            {
+                result[i] = trackingDevice.getButton(i);
+            }
+            var b = trackingDevice.getButtons();
+            return result;
+        }
+
+        public float GetAnalog(int id)
+        {
+            var values = trackingDevice.getAnalog();
+            if (values.Count > id) return (float)values[id];
+            else
+            {
+                Debug.LogWarning("Id " + id.ToString() + " not found ");
+                return 0;
+            }
+        }
+
+        protected abstract Imstk.DeviceClient MakeDevice();
+
+        public void Update()
+        {
+            // This is not directly used, but displayed
+            Transform transform = gameObject.GetComponentFatal<Transform>();
+            transform.SetPositionAndRotation(GetPosition(), GetOrientation());
+        }
+
+        public Imstk.DeviceClient GetDevice()
+        {
+            if (trackingDevice == null)
+            {
+                trackingDevice = MakeDevice();
+                trackingDevice.setButtonsEnabled(true);
+            }
+            return trackingDevice;
+        }
+    }
+}

Assets/Imstk/Scripts/Devices/TrackingDevice.cs.meta

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Assets/Imstk/Scripts/Devices/VrpnDevice.cs

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+/*=========================================================================
+
+   Library: iMSTK-Unity
+
+   Copyright (c) Kitware, Inc. 
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=========================================================================*/
+
+using UnityEngine;
+
+namespace ImstkUnity
+{
+    [AddComponentMenu("iMSTK/VrpnDevice")]
+    public class VrpnDevice : TrackingDevice
+    {
+  
+        public string Name = "Tracker0";
+        private int _type = 0;
+        public int Type { get { return _type; } }
+
+        public bool TrackAnalog = false;
+        public bool TrackButtons = false;
+        public bool TrackPosition = true;
+
+        public ImstkUnity.VrpnDeviceManager manager;
+
+        public void Awake()
+        {
+            if (TrackAnalog) _type |= 0x1;
+            if (TrackButtons) _type |= 0x2;
+            if (TrackPosition) _type |= 0x4;
+
+        }
+
+        public void Start()
+        {
+            GetDevice();
+        }
+
+        protected override Imstk.DeviceClient MakeDevice()
+        {
+            return manager.MakeDeviceClient(this);
+        }
+    }
+}

Assets/Imstk/Scripts/Devices/VrpnDevice.cs.meta

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Assets/Imstk/Scripts/Devices/VrpnDeviceManager.cs

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+/*=========================================================================
+
+   Library: iMSTK-Unity
+
+   Copyright (c) Kitware, Inc. 
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+=========================================================================*/
+
+using System.Threading;
+using UnityEngine;
+
+namespace ImstkUnity
+{
+#if IMSTK_USE_VRPN
+    // If this is not defined iMSTK was not built with VRPN enabled
+    // to use build iMSTK with the flag iMSTK_USE_VRPN set to ON
+    [AddComponentMenu("iMSTK/VrpnDeviceManager")]
+    public class VrpnDeviceManager : MonoBehaviour
+    {
+        private static VrpnDeviceManager _instance;
+        
+        // Probably Refactor to Singleton base class
+        public static VrpnDeviceManager Instance
+        {
+            get { return _instance; }
+        }
+
+        public string host = "localhost";
+        public int port = 3883;
+
+        private Imstk.VRPNDeviceManager _manager;
+        private Thread thread;
+        private bool running = false;
+
+        public void Awake()
+        {
+            _instance = this;
+        }
+
+        public void InitManager()
+        {
+            if (_manager == null)
+            {
+                _manager = new Imstk.VRPNDeviceManager(host, port);
+                if (_manager == null) Debug.LogError("Could not create VRPNDevice Manager");
+                _manager.setSleepDelay(20);
+                _manager.init();
+            }
+        }
+
+        public Imstk.DeviceClient MakeDeviceClient(ImstkUnity.VrpnDevice device)
+        {
+            InitManager();
+            return _manager.makeDeviceClient(device.Name, device.Type);
+        }    
+
+        public void StartManager()
+        {
+            if (running) return;
+
+            InitManager();
+            running = true;
+            Debug.Log("VRPN Thread Starting");
+            thread = new Thread(() =>
+            {
+                while (running)
+                {
+                    _manager.update();
+                }
+            });
+            thread.Start();
+        }
+        public void StopManager()
+        {
+            if (_manager == null) return;
+            if (!running) return; 
+            running = false;
+            thread.Join();
+
+            Debug.Log("VRPN Thread Stopping");
+            _manager.uninit();
+            thread = null;
+        }
+    }
+#else
+    [AddComponentMenu("iMSTK/VrpnDeviceManager")]
+    public class VrpnDeviceManager : MonoBehaviour
+    {
+        // Probably Refactor to Singleton base class
+        public static VrpnDeviceManager Instance
+        {
+            get { 
+                Debug.LogError("VRPN is not enable in this build");
+                return null;
+            }
+        }
+
+
+        public void Awake()
+        {
+            var a = Instance;
+        }
+
+        public void InitManager() {}
+
+        public Imstk.DeviceClient MakeDeviceClient(ImstkUnity.VrpnDevice device) {
+            return null; 
+        }
+
+        public void StartManager() {}
+        public void StopManager() {}
+    }
+#endif
+}

Assets/Imstk/Scripts/Devices/VrpnDeviceManager.cs.meta

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