imstk::HaplyDeviceManager Class Reference

Devices manager using Haply, only supports Inverse3 right now Warning: This code is based off an early version of the Haply Hardware API. More...

#include <imstkHaplyDeviceManager.h>

Inheritance diagram for imstk::HaplyDeviceManager:

Collaboration diagram for imstk::HaplyDeviceManager:

Public Member Functions
std::shared_ptr< DeviceClient >	makeDeviceClient (std::string portName="") override
	Create a haptic device client and add it to the internal list. More...
std::shared_ptr< DeviceClient >	makeDeviceClient (std::string portName, std::string handlePortName)
	Create a haptic device client and add it to the internal list. More...
Public Member Functions inherited from imstk::Module
virtual const std::string	getTypeName () const =0
	Returns collision detection type string name.
	SIGNAL (Module, preUpdate)
	Posted before updateModule is called.
	SIGNAL (Module, postUpdate)
	Posted after updateModule is called.
	SIGNAL (Module, end)
	Posted when module wants to end.
double	getDt () const
	Get/Set the time step.
void	setDt (const double dt)
bool	getInit () const
	Get whether the module is initialized yet.
bool	getPaused () const
	Set/Get whether the module is currently paused.
void	setPaused (const bool paused)
void	setMuteUpdateEvents (const bool mute)
	Set/Get whether the module should post pre/post update events.
bool	getMuteUpdateEvents () const
ExecutionType	getExecutionType () const
	Set/Get the execution type (see imstk::ExecutionType)
void	setExecutionType (const ExecutionType type)
void	setSleepDelay (const double ms)
double	getSleepDelay () const
void	pause ()
void	resume ()
void	init ()
void	update ()
void	uninit ()
Public Member Functions inherited from imstk::EventObject
template<typename T >
void	postEvent (const T &e)
	Emits the event Direct observers will be immediately called, in sync Queued observers will receive the Command in their queue for later execution, reciever must implement doEvent.
template<typename T >
void	queueEvent (const T &e)
	Queues event directly to this.
void	doEvent ()
	Do an event, if none exists return.
void	doAllEvents ()
	Do all the events in the event queue.
void	foreachEvent (std::function< void(Command cmd)> func)
	Thread safe loop over all event commands, one can implement a custom handler.
void	rforeachEvent (std::function< void(Command cmd)> func)
	thread safe reverse loop over all event commands, one can implement a custom handler
void	clearEvents ()
	Removes all events from queue cleans up copies of the event.

Static Public Member Functions
static std::vector< std::string >	getInverse3PortNames ()
	Autodetect and get all Inverse3 device port names.
static std::vector< std::string >	getHandlePortNames ()
	Autodetect and get all the Haply handle port names.
static bool	isDevicePresent ()

Protected Member Functions
bool	initModule () override
void	updateModule () override
void	uninitModule () override

Additional Inherited Members
Public Types inherited from imstk::Module
enum	ExecutionType { SEQUENTIAL, PARALLEL, ADAPTIVE }
	Currently 3 execution types are provided. These inform the driver on how it should run.
Public Types inherited from imstk::EventObject
using	Observer = std::tuple< bool, std::weak_ptr< EventObject >, std::function< void(Event *)> >
Protected Attributes inherited from imstk::Module
std::atomic< bool >	m_init = ATOMIC_VAR_INIT(false)
std::atomic< bool >	m_paused = ATOMIC_VAR_INIT(false)
double	m_dt = 0.0
ExecutionType	m_executionType = ExecutionType::PARALLEL
bool	m_muteUpdateEvents = false
double	m_sleepDelay = 0.0
Protected Attributes inherited from imstk::EventObject
ParallelUtils::SpinLock	eventQueueLock
std::deque< Command >	eventQueue
std::vector< std::pair< std::string, std::vector< Observer > > >	queuedObservers
std::vector< std::pair< std::string, std::vector< Observer > > >	directObservers

Detailed Description

Devices manager using Haply, only supports Inverse3 right now Warning: This code is based off an early version of the Haply Hardware API.

Definition at line 24 of file imstkHaplyDeviceManager.h.

Member Function Documentation

makeDeviceClient() [1/2]

std::shared_ptr<DeviceClient> imstk::HaplyDeviceManager::makeDeviceClient ( std::string  portName = "" )

inlineoverridevirtual

Create a haptic device client and add it to the internal list.

Parameters

portName

COM port name of device

Implements imstk::DeviceManager.

Definition at line 36 of file imstkHaplyDeviceManager.h.

makeDeviceClient() [2/2]

std::shared_ptr< DeviceClient > imstk::HaplyDeviceManager::makeDeviceClient	(	std::string	portName = "",
		std::string	handlePortName = ""
	)

Create a haptic device client and add it to the internal list.

Parameters

portName	COM port name of device
handlePortName	Bluetooth port name for the device handle

Definition at line 51 of file imstkHaplyDeviceManager.cpp.

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The documentation for this class was generated from the following files:

• Source/Devices/imstkHaplyDeviceManager.h
• Source/Devices/imstkHaplyDeviceManager.cpp