devices/devicecamera/ordevicecamera_hardware.cxx

/***************************************************************************************
 Autodesk(R) Open Reality(R) Samples
 
 (C) 2009 Autodesk, Inc. and/or its licensors
 All rights reserved.
 
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***************************************************************************************/

//--- Class declaration
#include "ordevicecamera_hardware.h"
#include <math.h>

#if defined( KARCH_ENV_WIN )
#include <winsock2.h>
#endif

#if defined( KARCH_ENV_UNIX )
#include <netinet/in.h>
#endif

/************************************************
 *  Constructor.
 ************************************************/
ORDeviceCamera_Template_Hardware::ORDeviceCamera_Template_Hardware()
{
    // Communications settings
    mSerialPort         = 1;
    mSerialBaudRate     = 38400;
    mNetworkAddress     = "127.0.0.1";
    mNetworkPort        = 3001;
    mNetworkProtocol    = kFBCommTypeNetworkTCP;
    mAmplitude          = 1.0;
    mFrequency          = 1.0;
    mFocus              = 0.0;
    mZoom               = 0.0;

    #ifdef KARCH_ENV_UNIX
        mHandleName         = "/usr/tmp/camera.arena";
        mHandleAddress      = 0x910000;
    #else
        mHandleName         = "HMC_SHM_V1";
        mHandleAddress      = 0x000000;
        mShmHandle          = NULL;
    #endif

    mCounter            = 0;
    mDevice             = NULL;
    mHardwareSetting    = 0.0;
}

/************************************************
 *  Destructor.
 ************************************************/
ORDeviceCamera_Template_Hardware::~ORDeviceCamera_Template_Hardware()
{
}

/************************************************
 *  Open device communications.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::Init()
{
    // TODO: Initialize device
    return true;
}

/************************************************
 *  Open device communications.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::Open()
{
    bool lSuccess = false;
    if( GetCommunicationType() == kFBCommTypeSerial )
    {
        // Configure
        mCommPort.PortNumber    = mSerialPort;
        mCommPort.BaudRate      = mSerialBaudRate;
        mCommPort.ByteSize      = 8;
        mCommPort.Parity        = kFBParityOdd;
        mCommPort.StopBits      = 1;

        mCommPort.Active = true;

        if( mCommPort.Active )
        {
            lSuccess = true;
        }
    }
    else if( GetCommunicationType() == kFBCommTypeSharedMemory )
    {
        #ifdef KARCH_ENV_WIN
            mShmHandle = OpenFileMapping( FILE_MAP_READ, FALSE, mHandleName );
            if( mShmHandle )
            {
                // TODO: Map memory to local object.
                //mShmMap = (MyCameraClass*) MapViewOfFile( mShmHandle, FILE_MAP_READ, 0, 0, 0 );
                /*
                mShmMap = NULL;
                if( mShmMap )
                {
                    lSuccess = true;
                }
                */
            }
        #elif defined(KARCH_ENV_UNIX)
            // TODO: Open IRIX shared memory!
        #endif
    }
    else if( GetCommunicationType() == kFBCommTypeSimulator )
    {
        mCounter = 0;
        lSuccess = true;
    }
    else if( GetCommunicationType() == kFBCommTypeNetworkUDP )
    {
        mTCPIP.CreateSocket ( mNetworkSocket, kFBTCPIP_DGRAM );
        mTCPIP.Bind         ( mNetworkSocket, INADDR_ANY, mNetworkPort );

        /*
        // open network connection
        // connect
        unsigned char   lMessage[12];
        int     lWritten = 0;
        memset( lMessage, 0, 12 );

        lMessage[0] = 0xff;
        lMessage[1] = 0x11; // reset
        lMessage[11]= 0xff;

        mTCPIP.WriteDatagram( mNetworkSocket, lMessage, 12, &lWritten, inet_addr(mNetworkAddress), mNetworkPort );
        */

        if( mTCPIP.Select( mNetworkSocket, true, false, false, 1000 ) )
        {
            lSuccess = true;
        }
        else
        {
            mTCPIP.CloseSocket( mNetworkSocket );
        }
    }
    else if( GetCommunicationType() == kFBCommTypeNetworkTCP )
    {
        mTCPIP.CreateSocket( mNetworkSocket, kFBTCPIP_Stream );
        mTCPIP.Connect( mNetworkSocket, mNetworkAddress, mNetworkPort );
        if( mTCPIP.Select( mNetworkSocket, true, false, false, 1000 ) )
        {
            lSuccess = true;
        }
        else
        {
            mTCPIP.CloseSocket( mNetworkSocket );
        }
    }
    else
    {
    }
    return lSuccess;
}

/************************************************
 *  Get device setup information.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::GetSetupInfo()
{
    // TODO: Get setup information from client
    return true;
}

/************************************************
 *  Start device data stream.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::StartDataStream()
{
    // TODO: ask server to start sending data
    mCounter = 0;
    return true;
}

/************************************************
 *  Fetch a data packet from the device.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::FetchDataPacket()
{
    bool lSuccess = false;
    if( GetCommunicationType() == kFBCommTypeSimulator )
    {
        lSuccess = RealTimeUpdate();
    }
    else if( GetCommunicationType() == kFBCommTypeSerial )
    {
        // TODO:
        // Some sort of real-time packet reading
        // Must take into account partial packets!!!
        // char lBuffer;
        //mCommPort.Read(lBuffer,1,&mBytesRead);
    }
    else if( GetCommunicationType() == kFBCommTypeSharedMemory )
    {
        // TODO:
        // Read data out of shared memory object.
    }
    else if( GetCommunicationType() == kFBCommTypeNetworkUDP )
    {
        // TODO:
        // Read data from network
        // With UDP, you probably will not need as much partial packet handling
        // As only complete packets make it through.
    }
    else if( GetCommunicationType() == kFBCommTypeNetworkTCP )
    {
        // TODO:
        // Read data from network
        // Must take into account partial packets (like serial)
        // due to TCP protocol.
    }
    return lSuccess;
}

/************************************************
 *  Stop device data stream.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::StopDataStream()
{
    // TODO: ask server to stop sending data
    return true;
}

/************************************************
 *  Close device communications.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::Close()
{
    if( GetCommunicationType() == kFBCommTypeSimulator )
    {
    }
    else if( GetCommunicationType() == kFBCommTypeSerial )
    {
        mCommPort.Active = false;
    }
    else if( GetCommunicationType() == kFBCommTypeSharedMemory )
    {
        #ifdef KARCH_ENV_WIN
            /*
            if( mShmMap )
            {
                UnmapViewOfFile( mShmMap );
                mShmMap = NULL;
            }
            */
            if( mShmHandle )
            {
                CloseHandle( mShmHandle );
                mShmHandle = NULL;
            }
        #elif defined(KARCH_ENV_UNIX)
            // TODO: Close IRIXS shared memory.
        #endif
    }
    else if( (GetCommunicationType() == kFBCommTypeNetworkUDP) || (GetCommunicationType() == kFBCommTypeNetworkTCP) )
    {
        mTCPIP.CloseSocket( mNetworkSocket );
    }
    return true;
}

/************************************************
 *  Shut down hardware.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::Done()
{
    // TODO: Close network connection to server
    return true;
}

/************************************************
 *  Simulator update.
 ************************************************/
bool ORDeviceCamera_Template_Hardware::RealTimeUpdate()
{
    //Returns true if a new data packet is ready
    // TODO: insert time stamp from data packet
    FBTime lTime    = mSystem.SystemTime;
    double lVal     = lTime.GetSecondDouble();

    double p        = 3.14;
    double a        = mAmplitude;
    double w        = mFrequency;

    double lSin     = a*sin( w*lVal + p );
    double lCos     = a*cos( w*lVal + p );

    double lFocus;
    double lZoom;
    double lData;

    lFocus  = mFocus;
    lZoom   = mZoom;
    lData   = lCos;

    mDefaultPacket.Position     = FBVector3d ( 40*lSin+20*lCos, 40*lSin+20*lCos, 40*lSin+20*lCos );
    mDefaultPacket.Rotation     = FBVector3d ( 4*lSin+4*lCos, 4*lSin+4*lCos, 4*lSin+4*lCos );
    mDefaultPacket.Focus        = lFocus;
    mDefaultPacket.Zoom         = lZoom;
    mDefaultPacket.Time         = lTime;
    mDefaultPacket.Data         = lData;

    mCounter++;

    if( mCounter % 2 == 0 )
    {
        return false;
    }
    return true;
}