ovrheadset: Device that manages the Oculus Rift Headset. More...

#include <ovrheadset/OVRHeadset.h>

Inheritance diagram for yarp::dev::OVRHeadset:

Public Member Functions
	OVRHeadset ()

virtual	~OVRHeadset ()

virtual bool	open (yarp::os::Searchable &cfg)
	Open the DeviceDriver. More...

virtual bool	close ()
	Close the DeviceDriver. More...

virtual bool	threadInit ()
	Initialization method. More...

virtual void	threadRelease ()
	Release method. More...

virtual void	run ()
	Loop function. More...

virtual bool	startService ()
	Initiate the service, whatever it is. More...

virtual bool	updateService ()
	Give the service the chance to run for a while. More...

virtual bool	stopService ()
	Shut down the service, whatever it is. More...

bool	getAxisCount (unsigned int &axis_count) override
	Get number of Axes. More...

bool	getButtonCount (unsigned int &button_count) override
	Get number of Buttons. More...

bool	getTrackballCount (unsigned int &Trackball_count) override
	Get number of trackballs. More...

bool	getHatCount (unsigned int &Hat_count) override
	Get number of Hats. More...

bool	getTouchSurfaceCount (unsigned int &touch_count) override
	get the number of touch surface. More...

bool	getStickCount (unsigned int &stick_count) override
	get the number of the sticks More...

bool	getStickDoF (unsigned int stick_id, unsigned int &DoF) override
	Get the Degree Of Freedom count for desired stick. More...

bool	getButton (unsigned int button_id, float &value) override
	Get the value of a button. More...

bool	getTrackball (unsigned int trackball_id, yarp::sig::Vector &value) override
	Get the axes change of a Trackball. More...

bool	getHat (unsigned int hat_id, unsigned char &value) override
	Get the value of an Hat. More...

bool	getAxis (unsigned int axis_id, double &value) override
	Get the value of an axis if present, return false otherwise. More...

bool	getStick (unsigned int stick_id, yarp::sig::Vector &value, JoypadCtrl_coordinateMode coordinate_mode) override
	Get the value of a stick if present, return false otherwise. More...

bool	getTouch (unsigned int touch_id, yarp::sig::Vector &value) override
	Get the value of a touch if present, return false otherwise. More...

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

template<class T >
bool	view (T *&x)
	Get an interface to the device driver. More...

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others. More...

Public Member Functions inherited from yarp::os::IConfig
virtual	~IConfig ()
	Destructor. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	Constructor. More...

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread. More...

void	step ()
	Call this to "step" the thread rather than starting it. More...

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...

void	askToStop ()
	Stop the thread. More...

bool	isRunning () const
	Returns true when the thread is started, false otherwise. More...

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise. More...

bool	setPeriod (double period)
	Set the (new) period of the thread. More...

double	getPeriod () const
	Return the current period of the thread. More...

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed. More...

void	resume ()
	Resume the thread if previously suspended. More...

void	resetStat ()
	Reset thread statistics. More...

double	getEstimatedPeriod () const
	Return estimated period since last reset. More...

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset. More...

unsigned int	getIterations () const
	Return the number of iterations performed since last reset. More...

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset. More...

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset. More...

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that. More...

int	getPriority () const
	Query the current priority of the thread, if the OS supports that. More...

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that. More...

Public Member Functions inherited from yarp::dev::IService
virtual	~IService ()

Public Member Functions inherited from yarp::dev::IJoypadController
virtual	~IJoypadController ()
	Destructor. More...

virtual bool	eventDriven (bool enable, yarp::dev::IJoypadEvent *event=nullptr)
	Activate event Driven mode. More...

virtual bool	isEventDriven ()

Additional Inherited Members
Public Types inherited from yarp::dev::IJoypadController
enum	JoypadCtrl_coordinateMode { JypCtrlcoord_POLAR = 0, JypCtrlcoord_CARTESIAN = 1 }

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts. More...

virtual void	afterStart (bool success)
	Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...

Protected Member Functions inherited from yarp::dev::IJoypadController
virtual bool	parseActions (const yarp::os::Searchable &cfg, int *count=nullptr)

virtual bool	executeAction (int action_id)

Protected Attributes inherited from yarp::dev::IJoypadController
std::map< int, std::string >	m_actions

Detailed Description

ovrheadset: Device that manages the Oculus Rift Headset.

Description of input parameters

Parameters accepted in the config argument of the open method:

Parameter name	Type	Default Value	Required	Description
tfLocal	string		yes	local port name receiving and posting tf
tfRemote	string		yes	name of the transformServer port
tf_left_hand_frame	string		Yes	name of the left hand frame
tf_right_hand_frame	string		yes	name of the right hand frame
tf_root_frame	string		yes	name of the root frame
stick_as_axis	bool		yes	if axes shoud be published as sticks
gui_elements	int		yes	number of the gui element to visualize
hands_relative	bool	false	no	if the hand pose should be w.r.t. head

Definition at line 80 of file OVRHeadset.h.

Constructor & Destructor Documentation

◆ OVRHeadset()

yarp::dev::OVRHeadset::OVRHeadset ( )

explicit

Definition at line 263 of file OVRHeadset.cpp.

◆ ~OVRHeadset()

yarp::dev::OVRHeadset::~OVRHeadset ( )

virtual

Definition at line 269 of file OVRHeadset.cpp.

Member Function Documentation

◆ close()

bool yarp::dev::OVRHeadset::close ( )

virtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 828 of file OVRHeadset.cpp.

◆ getAxis()

bool yarp::dev::OVRHeadset::getAxis	(	unsigned int	axis_id,
		double &	value
	)

overridevirtual

Get the value of an axis if present, return false otherwise.

getAxis

Parameters

axis_id	Id of the axis to get. must be > -1 && < getAxisCount(), return false otherwise
value	reference to be valued. the absolute boundaries for the values should be -1.0 and 1.0 However the actual range depends on the physical device (example: analog trigger does not have a central position thus can give a value from 0.0 to 0.1)

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1616 of file OVRHeadset.cpp.

◆ getAxisCount()

bool yarp::dev::OVRHeadset::getAxisCount ( unsigned int & axis_count )

overridevirtual

Get number of Axes.

getAxisCount

Parameters

axes_count unsigned int reference that will contain the result

Returns: true if succeeded. false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1534 of file OVRHeadset.cpp.

◆ getButton()

bool yarp::dev::OVRHeadset::getButton	(	unsigned int	button_id,
		float &	value
	)

overridevirtual

Get the value of a button.

from 0-unpressed to 1-fullpressed and values in the middle in the analog-face-button case

getButton

Parameters

button_id	Id of the button to get. Must be > -1 && < getButtonCount(), return false otherwise
value	reference to be valued. The value will be from 0.0 (not even touched) to 1.0 (fully pressed)

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1582 of file OVRHeadset.cpp.

◆ getButtonCount()

bool yarp::dev::OVRHeadset::getButtonCount ( unsigned int & button_count )

overridevirtual

Get number of Buttons.

getButtonCount

Parameters

button_count unsigned int reference that will contain the result

Returns: true if succeeded. false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1541 of file OVRHeadset.cpp.

◆ getHat()

bool yarp::dev::OVRHeadset::getHat	(	unsigned int	hat_id,
		unsigned char &	value
	)

overridevirtual

Get the value of an Hat.

getHat

Parameters

hat_id	Id of the POV hat to get. Must be > -1 && < getHatCount(), return false otherwise
value	reference to be valued. use the YRPJOY_HAT_ macro series to get the currently pressed directions

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1600 of file OVRHeadset.cpp.

◆ getHatCount()

bool yarp::dev::OVRHeadset::getHatCount ( unsigned int & Hat_count )

overridevirtual

Get number of Hats.

getHatsCount

Parameters

Hat_count unsigned int reference that will contain the result

Returns: true if succeeded. false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1555 of file OVRHeadset.cpp.

◆ getStick()

bool yarp::dev::OVRHeadset::getStick	(	unsigned int	stick_id,
		yarp::sig::Vector &	value,
		JoypadCtrl_coordinateMode	coordinate_mode
	)

overridevirtual

Get the value of a stick if present, return false otherwise.

getStick

Parameters

stick_id	Id of the stick to get. must be > -1 && < getStickCount(), return false otherwise
value	a vector that will contain the joystick position. the size of the vector will give you the Number of degrees of freedom and the value will be from -1.0 to 1.0
coordinate_mode	to get data in cartesian mode or polar (spheric in 3 dof position cases) mode

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1629 of file OVRHeadset.cpp.

◆ getStickCount()

bool yarp::dev::OVRHeadset::getStickCount ( unsigned int & stick_count )

overridevirtual

get the number of the sticks

getStickCount

Parameters

stick_count unsigned int reference that will contain the result

Returns: bool if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1569 of file OVRHeadset.cpp.

◆ getStickDoF()

bool yarp::dev::OVRHeadset::getStickDoF	(	unsigned int	stick_id,
		unsigned int &	DoF
	)

overridevirtual

Get the Degree Of Freedom count for desired stick.

getStickDoF

Parameters

stick_id	Id of the stick. must be > -1 && < getStickCount(), return false otherwise
DoF	an unsigned int reference that will contain the value.

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1576 of file OVRHeadset.cpp.

◆ getTouch()

bool yarp::dev::OVRHeadset::getTouch	(	unsigned int	touch_id,
		yarp::sig::Vector &	value
	)

overridevirtual

Get the value of a touch if present, return false otherwise.

getTouch

Parameters

value a vector that will contain the touch values normalized from 0.0 to 1.0.

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1656 of file OVRHeadset.cpp.

◆ getTouchSurfaceCount()

bool yarp::dev::OVRHeadset::getTouchSurfaceCount ( unsigned int & touch_count )

overridevirtual

get the number of touch surface.

multiple touch surface can rappresent either multiple physical monotouch surface or a multitouch surface or a combination of the two

hasTouchSurface

Parameters

touch_count unsigned int reference that will contain the result

Returns: true if succeeded. false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1562 of file OVRHeadset.cpp.

◆ getTrackball()

bool yarp::dev::OVRHeadset::getTrackball	(	unsigned int	trackball_id,
		yarp::sig::Vector &	value
	)

overridevirtual

Get the axes change of a Trackball.

getTrackball

Parameters

trackball_id	Id of the Trackball to get. Must be > -1 && < getTrackballCount(), return false otherwise
value	reference to be valued. the value will be from 0.0 (not moving) to 1.0 (full velocity)

Returns: true if succeeded, false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1595 of file OVRHeadset.cpp.

◆ getTrackballCount()

bool yarp::dev::OVRHeadset::getTrackballCount ( unsigned int & Trackball_count )

overridevirtual

Get number of trackballs.

getTrackballCount

Parameters

Trackball_count unsigned int reference that will contain the result

Returns: true if succeeded. false otherwise

Implements yarp::dev::IJoypadController.

Definition at line 1548 of file OVRHeadset.cpp.

◆ open()

bool yarp::dev::OVRHeadset::open ( yarp::os::Searchable & config )

virtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 375 of file OVRHeadset.cpp.

◆ run()

void yarp::dev::OVRHeadset::run ( )

virtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 897 of file OVRHeadset.cpp.

◆ startService()

bool yarp::dev::OVRHeadset::startService ( )

virtual

Initiate the service, whatever it is.

The service should then run by itself, without any further interaction with its creator until stopService() is called.

Returns: true if the service started and needs no help running. If false is returned, the service expects updateService() to be called repeatedly until that function too returns false. This is useful for devices that don't want to manage their own service threads.

Reimplemented from yarp::dev::IService.

Definition at line 835 of file OVRHeadset.cpp.

◆ stopService()

bool yarp::dev::OVRHeadset::stopService ( )

virtual

Shut down the service, whatever it is.

Returns: true iff the service shut down ok.

Reimplemented from yarp::dev::IService.

Definition at line 876 of file OVRHeadset.cpp.

◆ threadInit()

bool yarp::dev::OVRHeadset::threadInit ( )

virtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 612 of file OVRHeadset.cpp.

◆ threadRelease()

void yarp::dev::OVRHeadset::threadRelease ( )

virtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 737 of file OVRHeadset.cpp.

◆ updateService()

bool yarp::dev::OVRHeadset::updateService ( )

virtual

Give the service the chance to run for a while.

This is an alternative to calling startService(). It is more appropriate in a single-threaded environment.

Returns: true iff the service is willing to run some more. A return value of false means that the service would like to stop.

Reimplemented from yarp::dev::IService.

Definition at line 841 of file OVRHeadset.cpp.

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

src/devices/ovrheadset/OVRHeadset.h
src/devices/ovrheadset/OVRHeadset.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Description of input parameters

Constructor & Destructor Documentation

◆ OVRHeadset()

◆ ~OVRHeadset()

Member Function Documentation

◆ close()

◆ getAxis()

◆ getAxisCount()

◆ getButton()

◆ getButtonCount()

◆ getHat()

◆ getHatCount()

◆ getStick()

◆ getStickCount()

◆ getStickDoF()

◆ getTouch()

◆ getTouchSurfaceCount()

◆ getTrackball()

◆ getTrackballCount()

◆ open()

◆ run()

◆ startService()

◆ stopService()

◆ threadInit()

◆ threadRelease()

◆ updateService()