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