ajout bibliothèque vrpn

+<!-- ALX File skeleton generated by ARCSLibMaker -->
+
+<library>
+     <!-- Headers section -->
+     <!-- Put here all the needed headers of your components/families/types -->
+     <headers>
+          <header name="vrpnanalog.h"/>
+	  <header name="vrpnbutton.h"/>
+     </headers>
+
+     <!-- Components section -->
+     <!-- Put here all the native components your library should export -->
+     <components>
+          <component name="VrpnAnalog"/>
+	  <component name="VrpnButton"/>
+     </components>
+
+     <!-- Families section -->
+     <!-- Put here all the exogeneous component families your library should export -->
+     <families>
+          <!--family name="MyComponent"/-->
+     </families>
+
+     <!-- Types section -->
+     <!-- Put here all the new types your library should export -->
+     <types>
+          <!--type name="MyType"/-->
+     </types>
+</library>

+unix: TEMPLATE = lib
+win32: TEMPLATE = vclib
+INCLUDEPATH += $$(ARCSDIR)/include
+LIBS += -L$$(ARCSDIR)/lib -larcs
+ CONFIG += dll
+QT = core
+
+HEADERS += vrpnanalog.h
+HEADERS += vrpnbutton.h
+HEADERS += vrpncommon.h
+HEADERS += vrpndial.h
+HEADERS += vrpnforcedevice.h
+HEADERS += vrpnsound.h
+HEADERS += vrpntext.h
+HEADERS += vrpntracker.h
+SOURCES += vrpnanalog.cpp
+SOURCES += vrpnbutton.cpp
+SOURCES += vrpndial.cpp
+SOURCES += vrpnforcedevice.cpp
+SOURCES += vrpnsound.cpp
+SOURCES += vrpntext.cpp
+SOURCES += vrpntracker.cpp
+
+
+ALXFILE = libvrpn.alx
+OTHER_FILES += libvrpn.alx
+arcslibrary.output = alm_${QMAKE_FILE_BASE}.cpp
+arcslibrary.input = ALXFILE
+arcslibrary.commands = arcslibmaker ${QMAKE_FILE_NAME}
+arcslibrary.variable_out = SOURCES
+QMAKE_EXTRA_COMPILERS += arcslibrary
+

+// Jonathann Jacobs : 11/06/2013
+#include "vrpnanalog.h"
+
+// Constructor
+VrpnAnalog::VrpnAnalog(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_Analog_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnAnalog::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnAnalog::callback(void* userData, const vrpn_ANALOGCB cb )
+{   int i;
+    float t[cb.num_channel];
+    VrpnAnalog* Me = static_cast <VrpnAnalog*>(userData);
+    std::cout << Me->getName().toStdString() << " | Analog : NumChannel : " << cb.num_channel << "  t = " << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) << " \t " ;
+
+    for ( i = 0 ; i < cb.num_channel ; i++)
+    {   t[i] = (float) cb.channel[i];
+        std::cout << t[i] << "\t";
+    }   std::cout << std::endl;
+
+    Me->sendChannel   (t);
+    Me->sendTime      (static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    Me->sendNumChannel(static_cast <int>    (cb.num_channel));
+}
+
+void VrpnAnalog::reset()
+{   reform();
+    delete device;
+    device = new vrpn_Analog_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnAnalog::callback);
+}

+// Jonathann Jacobs : 11/06/2013
+#ifndef VRPNANALOG_H
+#define VRPNANALOG_H
+
+#include "vrpncommon.h"
+#include "vrpn_Analog.h"
+
+class VrpnAnalog : public VrpnCommon
+{   Q_OBJECT
+    /// Constructor__________________________________________________
+        public:
+        explicit VrpnAnalog(QString name = "Analog0", QString host = "localhost" , QObject *parent = 0);
+
+    /// Signals______________________________________________________
+        signals:
+        void sendChannel(float*);
+        void sendTime(double);
+        void sendNumChannel(int);
+
+    /// Slots________________________________________________________
+        public slots:
+        inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+        inline void setName(QString newName = "Analog0")  {m_name = newName; reset();}
+        inline void setHost(QString newHost = "localhost"){m_host = newHost; reset();}
+
+    /// Attributes___________________________________________________
+        protected :
+        vrpn_Analog_Remote* device;                   // Vrpn client object for recovering data from the vrpn server
+
+    /// Methods______________________________________________________
+        void reset();
+        static void VRPN_CALLBACK callback(void* userData, const vrpn_ANALOGCB cb );  // Used by the device->mainloop for returning data
+};
+
+#endif // VRPNANALOG_H

+// Jonathann Jacobs : 11/06/2013
+#include "vrpnbutton.h"
+
+// Constructor
+VrpnButton::VrpnButton(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_Button_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnButton::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnButton::callback(void* userData, const vrpn_BUTTONCB cb )
+{   VrpnButton* Me = static_cast <VrpnButton*>(userData);
+    std::cout << Me->getName().toStdString() << " | Button : " << cb.button << " \t State : " << cb.state << " \t t = " << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) << std::endl;
+    Me->sendButton(static_cast <int>    (cb.button));
+    Me->sendTime  (static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    Me->sendState (static_cast <int>    (cb.state));
+}
+
+void VrpnButton::reset()
+{   reform();
+    delete device;
+    device = new vrpn_Button_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnButton::callback);
+}

+// Jonathann Jacobs : 11/06/2013
+#ifndef VRPNBUTTON_H
+#define VRPNBUTTON_H
+
+#include "vrpncommon.h"
+#include "vrpn_Button.h"
+
+class VrpnButton : public VrpnCommon
+{   Q_OBJECT
+    /// Constructor__________________________________________________
+        public:
+        explicit VrpnButton(QString name = "Button0", QString host = "localhost" , QObject *parent = 0);
+
+    /// Signals______________________________________________________
+        signals:
+        void sendButton(int);
+        void sendTime(double);
+        void sendState(int);
+
+    /// Slots________________________________________________________
+        public slots:
+        inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+        inline void setName(QString newName = "Button0")  {m_name = newName; reset();}
+        inline void setHost(QString newHost = "localhost"){m_host = newHost; reset();}
+
+    /// Attributes___________________________________________________
+        protected :
+        vrpn_Button_Remote* device;                   // Vrpn client object for recovering data from the vrpn server
+
+    /// Methods______________________________________________________
+        void reset();
+        static void VRPN_CALLBACK callback(void* userData, const vrpn_BUTTONCB cb );  // Used by the device->mainloop for returning data
+};
+
+#endif // VRPNBUTTON_H

+// Jonathann Jacobs : 11/06/2013
+#ifndef VRPNCOMMON_H
+#define VRPNCOMMON_H
+
+#include <iostream>
+#include <QObject>
+#include <QString>
+
+class VrpnCommon : public QObject
+{   Q_OBJECT
+
+/// Constructor__________________________________________________
+    public:
+    inline explicit VrpnCommon(QString name = "Device0", QString host = "localhost" , QObject *parent = 0) :
+        QObject(parent) , m_name(name) , m_host(host) {reform();}
+
+/// Getters______________________________________________________
+    inline QString getName() { return m_name; }
+    inline QString getHost() { return m_host; }
+
+/// Signals______________________________________________________
+    signals:
+    inline void sendName(QString m_name);
+    inline void sendHost(QString m_host);
+
+/// Attributes___________________________________________________
+    protected :
+    QString m_name;
+    QString m_host;
+    QString m_full;
+
+/// Methods______________________________________________________
+    inline void reform(){ m_full = QString(m_name+'@'+m_host);}
+
+};
+
+#endif // VRPNCOMMON_H

+// Jonathann Jacobs : 12/06/2013
+#include "vrpndial.h"
+
+// Constructor
+VrpnDial::VrpnDial(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_Dial_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnDial::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnDial::callback(void* userData, const vrpn_DIALCB cb )
+{   VrpnDial* Me = static_cast <VrpnDial*>(userData);
+    std::cout << Me->getName().toStdString() << " | Dial : " << cb.dial << "  Change : " << cb.change <<
+                 "\t t = " << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) << std::endl;
+    Me->sendTime   (static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    Me->sendDial   (static_cast <int>(cb.dial));
+    Me->sendChange (static_cast <float>(cb.change));
+}
+
+void VrpnDial::reset()
+{   reform();
+    delete device;
+    device = new vrpn_Dial_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnDial::callback);
+}

+// Jonathann Jacobs : 12/06/2013
+#ifndef VRPNDIAL_H
+#define VRPNDIAL_H
+
+#include "vrpncommon.h"
+#include "vrpn_Dial.h"
+
+class VrpnDial : public VrpnCommon
+{   Q_OBJECT
+    /// Constructor__________________________________________________
+        public:
+        explicit VrpnDial(QString name = "Dial0", QString host = "localhost" , QObject *parent = 0);
+
+    /// Signals______________________________________________________
+        signals:
+        void sendTime   (double);
+        void sendDial   (int);
+        void sendChange (float);
+
+    /// Slots________________________________________________________
+        public slots:
+        inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+        inline void setName(QString newName = "Dial0")      {m_name = newName; reset();}
+        inline void setHost(QString newHost = "localhost")  {m_host = newHost; reset();}
+
+    /// Attributes___________________________________________________
+        protected :
+        vrpn_Dial_Remote* device;                   // Vrpn client object for recovering data from the vrpn server
+
+    /// Methods______________________________________________________
+        void reset();
+        static void VRPN_CALLBACK callback(void* userData, const vrpn_DIALCB cb );  // Used by the device->mainloop for returning data
+};
+
+#endif // VRPNDIAL_H

+// Jonathann Jacobs : 12/06/2013
+#include "vrpnforcedevice.h"
+
+// Constructor
+VrpnForceDevice::VrpnForceDevice(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_ForceDevice_Remote(qPrintable(m_full));
+    device->register_force_change_handler(this,VrpnForceDevice::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnForceDevice::callback(void* userData, const vrpn_FORCECB cb )
+{   int i;
+    float p[3] = {static_cast <float>(cb.force[0]),static_cast <float>(cb.force[1]),static_cast <float>(cb.force[2])};
+    VrpnForceDevice* Me = static_cast <VrpnForceDevice*>(userData);
+
+    std::cout << Me->getName().toStdString() << " |  \t t = " << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) << " \t";
+    for( i = 0 ; i < 3 ; i++) std::cout << cb.force[i] << " "; std::cout << std::endl;
+
+    Me->sendTime  (static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    Me->sendForce (p);
+}
+
+void VrpnForceDevice::reset()
+{   reform();
+    delete device;
+    device = new vrpn_ForceDevice_Remote(qPrintable(m_full));
+    device->register_force_change_handler(this,VrpnForceDevice::callback);
+}

+// Jonathann Jacobs : 12/06/2013
+#ifndef VRPNFORCEDEVICE_H
+#define VRPNFORCEDEVICE_H
+
+#include "vrpncommon.h"
+#include "vrpn_ForceDevice.h"
+
+class VrpnForceDevice : public VrpnCommon
+{    Q_OBJECT
+     /// Constructor__________________________________________________
+         public:
+         explicit VrpnForceDevice(QString name = "ForceDevice0", QString host = "localhost" , QObject *parent = 0);
+
+     /// Signals______________________________________________________
+         signals:
+         void sendTime  (double);
+         void sendForce (const float*);
+
+     /// Slots________________________________________________________
+         public slots:
+         inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+         inline void setName(QString newName = "ForceDevice0")  {m_name = newName; reset();}
+         inline void setHost(QString newHost = "localhost")     {m_host = newHost; reset();}
+
+     /// Attributes___________________________________________________
+         protected :
+         vrpn_ForceDevice_Remote* device;                   // Vrpn client object for recovering data from the vrpn server
+
+     /// Methods______________________________________________________
+         void reset();
+         static void VRPN_CALLBACK callback(void* userData, const vrpn_FORCECB cb );  // Used by the device->mainloop for returning data
+};
+
+#endif // VRPNFORCEDEVICE_H

+// Jonathann Jacobs : 12/06/2013
+#include "vrpnsound.h"
+
+// MOST CHANCES IT JUST DOESN'T WORK AT ALL
+
+// Constructor
+VrpnSound::VrpnSound(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_Sound_Client(qPrintable(m_full),NULL);    // Probably incorrect about NULL
+    device->register_message_handler(this,VrpnSound::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnSound::callback(void* userData, const vrpn_TEXTCB cb )
+{   VrpnSound* Me = static_cast <VrpnSound*>(userData);
+    std::cout << Me->getName().toStdString() << " | \t t = " << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) <<
+        "  level : " << cb.level << "  type : " << cb.type << std::endl;
+
+    for (unsigned int i = 0 ; i < vrpn_MAX_TEXT_LEN ; i++)
+        std::cout << cb.message[i] << "\t"; std::cout << std::endl;
+
+    Me->sendLevel (static_cast <int>    (cb.level));
+    Me->sendTime  (static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    Me->sendType  (static_cast <int>    (cb.type));
+    Me->sendMessage                     (cb.message);
+}
+
+void VrpnSound::reset()
+{   reform();
+    delete device;
+    device = new vrpn_Sound_Client(qPrintable(m_full),NULL);    // Same here
+    device->register_message_handler(this,VrpnSound::callback);
+}

+// Jonathann Jacobs : 12/06/2013
+#ifndef VRPNSOUND_H
+#define VRPNSOUND_H
+
+#include "vrpncommon.h"
+#include "vrpn_Sound.h"
+
+class VrpnSound : public VrpnCommon
+{   Q_OBJECT
+    /// Constructor__________________________________________________
+        public:
+        explicit VrpnSound(QString name = "Sound0", QString host = "localhost" , QObject *parent = 0);
+
+    /// Signals______________________________________________________
+        signals:
+        void sendLevel   (int);
+        void sendTime    (double);
+        void sendType    (int);
+        void sendMessage (const char*);
+
+    /// Slots________________________________________________________
+        public slots:
+        inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+        inline void setName(QString newName = "Sound0")   {m_name = newName; reset();}
+        inline void setHost(QString newHost = "localhost"){m_host = newHost; reset();}
+
+    /// Attributes___________________________________________________
+        protected :
+        vrpn_Sound_Client* device;                   // Vrpn client object for recovering data from the vrpn server
+
+    /// Methods______________________________________________________
+        void reset();
+        static void VRPN_CALLBACK callback(void* userData, const vrpn_TEXTCB cb );  // Used by the device->mainloop for returning data
+};
+
+#endif // VRPNSOUND_H

+// Jonathann Jacobs : 12/06/2013
+#include "vrpntext.h"
+
+// Constructor
+VrpnText::VrpnText(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_Text_Receiver(qPrintable(m_full));
+    device->register_message_handler(this,VrpnText::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnText::callback(void* userData, const vrpn_TEXTCB cb )
+{   VrpnText* Me = static_cast <VrpnText*>(userData);
+    std::cout << Me->getName().toStdString() << " | \t t = " << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) <<
+        "  level : " << cb.level << "  type : " << cb.type << std::endl;
+
+    for (unsigned int i = 0 ; i < vrpn_MAX_TEXT_LEN ; i++)
+        std::cout << cb.message[i] << "\t"; std::cout << std::endl;
+
+    Me->sendLevel (static_cast <int>    (cb.level));
+    Me->sendTime  (static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    Me->sendType  (static_cast <int>    (cb.type));
+    Me->sendMessage                     (cb.message);
+}
+
+void VrpnText::reset()
+{   reform();
+    delete device;
+    device = new vrpn_Text_Receiver(qPrintable(m_full));
+    device->register_message_handler(this,VrpnText::callback);
+}

+// Jonathann Jacobs : 12/06/2013
+#ifndef VRPNTEXT_H
+#define VRPNTEXT_H
+
+#include "vrpncommon.h"
+#include "vrpn_Text.h"
+
+class VrpnText : public VrpnCommon
+{   Q_OBJECT
+    /// Constructor__________________________________________________
+        public:
+        explicit VrpnText(QString name = "Text0", QString host = "localhost" , QObject *parent = 0);
+
+    /// Signals______________________________________________________
+        signals:
+        void sendLevel   (int);
+        void sendTime    (double);
+        void sendType    (int);
+        void sendMessage (const char*);
+
+    /// Slots________________________________________________________
+        public slots:
+        inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+        inline void setName(QString newName = "Text0")    {m_name = newName; reset();}
+        inline void setHost(QString newHost = "localhost"){m_host = newHost; reset();}
+
+    /// Attributes___________________________________________________
+        protected :
+        vrpn_Text_Receiver* device;                   // Vrpn client object for recovering data from the vrpn server
+
+    /// Methods______________________________________________________
+        void reset();
+        static void VRPN_CALLBACK callback(void* userData, const vrpn_TEXTCB cb );  // Used by the device->mainloop for returning data
+};
+
+#endif // VRPNTEXT_H

+// Jonathann Jacobs : 10/06/2013
+#include "vrpntracker.h"
+
+// Constructor
+VrpnTracker::VrpnTracker(QString name,QString host,QObject *parent ) :
+    VrpnCommon(name,host,parent)
+{   device = new vrpn_Tracker_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnTracker::callback);
+}
+
+// Protected methods
+void VRPN_CALLBACK VrpnTracker::callback(void* userData, const vrpn_TRACKERCB cb )
+{   VrpnTracker* Me = static_cast <VrpnTracker*>(userData);
+    std::cout << Me->getName().toStdString() << " | Tracker x:" << cb.pos[0] << " y:" << cb.pos[1] << " z:" << cb.pos[2]
+              << "\t xq:" << cb.quat[0] << " yq:" << cb.quat[1] << " zq:" << cb.quat[2] << " wq:" << cb.quat[3]
+              << "\t  s:" << static_cast <int>(cb.sensor) << "  t:" << static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0) <<  std::endl;
+    Me->sendSensor(static_cast <int>(cb.sensor));
+    Me->sendTime(static_cast <double> (cb.msg_time.tv_sec + cb.msg_time.tv_usec/1000000.0));
+    float p[3] = {static_cast <float>(cb.pos[0]),static_cast <float>(cb.pos[1]),static_cast <float>(cb.pos[2])};
+    float q[4] = {static_cast <float>(cb.quat[0]),static_cast <float>(cb.quat[1]),static_cast <float>(cb.quat[2]),static_cast <float>(cb.quat[3])};
+    Me->sendPosition(p);
+    Me->sendQuat(q);
+}
+
+void VrpnTracker::reset()
+{   reform();
+    delete device;
+    device = new vrpn_Tracker_Remote(qPrintable(m_full));
+    device->register_change_handler(this,VrpnTracker::callback);
+}

+// Jonathann Jacobs : 10/06/2013
+#ifndef VRPNTRACKER_H
+#define VRPNTRACKER_H
+
+#include "vrpncommon.h"
+#include "vrpn_Tracker.h"
+
+class VrpnTracker : public VrpnCommon
+{   Q_OBJECT
+/// Constructor__________________________________________________
+    public:
+    explicit VrpnTracker(QString name = "Tracker0", QString host = "localhost" , QObject *parent = 0);
+
+/// Signals______________________________________________________
+    signals:
+    void sendPosition(float* t);                // Send three 64-bits float about coordinates of the tracker
+    void sendQuat(float* t);                    // Send four 64-bits float about orientation of the tracker
+    void sendSensor(int);                       // Send Id code of the device sending data
+    void sendTime(double);                      // Send time value of when data were recorded by the device
+
+/// Slots________________________________________________________
+    public slots:
+    inline void refresh() {device->mainloop();}    // Update data from the server then activate signals
+    inline void setName(QString newName = "Tracker0") {m_name = newName; reset();}
+    inline void setHost(QString newHost = "localhost"){m_host = newHost; reset();}
+
+/// Attributes___________________________________________________
+    protected :
+    vrpn_Tracker_Remote* device;                   // Vrpn client object for recovering data from the vrpn server
+
+/// Methods______________________________________________________
+    void reset();
+    static void VRPN_CALLBACK callback(void* userData, const vrpn_TRACKERCB cb );  // Used by the device->mainloop for returning data
+    
+};
+
+#endif // VRPNTRACKER_H