Initial Commit

Assets/Imstk/Scripts/Devices/OpenHapticsDevice.cs

@@ -0,0 +1,129 @@
+/*=========================================================================
+
+   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
+}