vrpn 07.35
Virtual Reality Peripheral Network
 
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vrpn_Tracker_RazerHydra Class Reference

Device supporting the Razer Hydra game controller as a tracker, analog device, and button device, using the USB HID protocol directly. More...

#include <vrpn_Tracker_RazerHydra.h>

Inheritance diagram for vrpn_Tracker_RazerHydra:
Collaboration diagram for vrpn_Tracker_RazerHydra:

Public Member Functions

 vrpn_Tracker_RazerHydra (const char *name, vrpn_Connection *con=NULL)
 
 vrpn_Tracker_RazerHydra (const char *name, hid_device *ctrl_dev, hid_device *data_dev, vrpn_Connection *con=NULL)
 
 vrpn_Tracker_RazerHydra (const char *name, const char *ctrl_dev_path, const char *data_dev_path, vrpn_Connection *con=NULL)
 
 ~vrpn_Tracker_RazerHydra ()
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().
 
virtual bool reconnect ()
 
- Public Member Functions inherited from vrpn_Analog
 vrpn_Analog (const char *name, vrpn_Connection *c=NULL)
 
void print (void)
 
vrpn_int32 getNumChannels (void) const
 
- Public Member Functions inherited from vrpn_BaseClass
 vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL)
 Names the device and assigns or opens connection, calls registration methods.
 
virtual ~vrpn_BaseClass ()
 
- Public Member Functions inherited from vrpn_BaseClassUnique
 vrpn_BaseClassUnique ()
 
virtual ~vrpn_BaseClassUnique ()
 Unregister all of the message handlers that were to be autodeleted.
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using.
 
- Public Member Functions inherited from vrpn_Button_Filter
virtual void set_momentary (vrpn_int32 which_button)
 
virtual void set_toggle (vrpn_int32 which_button, vrpn_int32 current_state)
 
virtual void set_all_momentary (void)
 
virtual void set_all_toggle (vrpn_int32 default_state)
 
void set_alerts (vrpn_int32)
 
- Public Member Functions inherited from vrpn_Button
 vrpn_Button (const char *name, vrpn_Connection *c=NULL)
 
virtual ~vrpn_Button (void)
 
void print (void)
 
- Public Member Functions inherited from vrpn_Tracker
 vrpn_Tracker (const char *name, vrpn_Connection *c=NULL, const char *tracker_cfg_file_name=NULL)
 
virtual ~vrpn_Tracker (void)
 
int read_config_file (FILE *config_file, const char *tracker_name)
 
void print_latest_report (void)
 
int register_server_handlers (void)
 
void get_local_t2r (vrpn_float64 *vec, vrpn_float64 *quat)
 
void get_local_u2s (vrpn_int32 sensor, vrpn_float64 *vec, vrpn_float64 *quat)
 

Additional Inherited Members

- Static Public Member Functions inherited from vrpn_Tracker
static int VRPN_CALLBACK handle_t2r_request (void *userdata, vrpn_HANDLERPARAM p)
 
static int VRPN_CALLBACK handle_u2s_request (void *userdata, vrpn_HANDLERPARAM p)
 
static int VRPN_CALLBACK handle_workspace_request (void *userdata, vrpn_HANDLERPARAM p)
 
- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
- Public Attributes inherited from vrpn_Button_Filter
vrpn_int32 buttonstate [vrpn_BUTTON_MAX_BUTTONS]
 
- Protected Member Functions inherited from vrpn_Analog
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
virtual vrpn_int32 encode_to (char *buf)
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Send a report only if something has changed (for servers) Optionally, tell what time to stamp the value with.
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY, const struct timeval time=vrpn_ANALOG_NOW)
 Send a report whether something has changed or not (for servers) Optionally, tell what time to stamp the value with.
 
- Protected Member Functions inherited from vrpn_BaseClass
virtual int init (void)
 Initialize things that the constructor can't. Returns 0 on success, -1 on failure.
 
virtual int register_senders (void)
 Register the sender for this device (by default, the name of the device). Return 0 on success, -1 on fail.
 
- Protected Member Functions inherited from vrpn_BaseClassUnique
int register_autodeleted_handler (vrpn_int32 type, vrpn_MESSAGEHANDLER handler, void *userdata, vrpn_int32 sender=vrpn_ANY_SENDER)
 Registers a handler with the connection, and remembers to delete at destruction.
 
int send_text_message (const char *msg, struct timeval timestamp, vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL, vrpn_uint32 level=0)
 Sends a NULL-terminated text message from the device d_sender_id.
 
SendTextMessageBoundCall send_text_message (vrpn_TEXT_SEVERITY type=vrpn_TEXT_NORMAL)
 Returns an object you can stream into to send a text message from the device like send_text_message(vrpn_TEXT_WARNING) << "Value of i is: " << i; This use requires including vrpn_SendTextMessageStreamProxy.h.
 
void server_mainloop (void)
 Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should be called by all servers in their mainloop()
 
void client_mainloop (void)
 Handles functions that all clients should provide in their mainloop() (warning of no server, for example) Should be called by all clients in their mainloop()
 
- Protected Member Functions inherited from vrpn_Button_Filter
 vrpn_Button_Filter (const char *, vrpn_Connection *c=NULL)
 
virtual vrpn_int32 encode_states_to (char *buf)
 Encode a message describing the state of all buttons.
 
virtual void report_changes (void)
 
- Protected Member Functions inherited from vrpn_Button
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
virtual void report_states (void)
 
virtual vrpn_int32 encode_to (char *buf, vrpn_int32 button, vrpn_int32 state)
 Encode a message describing the new state of a button.
 
- Protected Member Functions inherited from vrpn_Tracker
bool ensure_enough_unit2sensors (unsigned num)
 
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
virtual int encode_to (char *buf)
 
virtual int encode_vel_to (char *buf)
 
virtual int encode_acc_to (char *buf)
 
virtual int encode_tracker2room_to (char *buf)
 Encodes the "Tracker to Room" transformation into the buffer specified.
 
virtual int encode_unit2sensor_to (char *buf)
 Encodes the "Unit to Sensor" transformation into the buffer specified.
 
virtual int encode_workspace_to (char *buf)
 
- Static Protected Member Functions inherited from vrpn_BaseClassUnique
static int encode_text_message_to_buffer (char *buf, vrpn_TEXT_SEVERITY severity, vrpn_uint32 level, const char *msg)
 Encodes the body of the text message into a buffer, preparing for sending.
 
static int decode_text_message_from_buffer (char *msg, vrpn_TEXT_SEVERITY *severity, vrpn_uint32 *level, const char *buf)
 Decodes the body of the text message from a buffer from the connection.
 
- Static Protected Member Functions inherited from vrpn_Button_Filter
static int VRPN_CALLBACK handle_ping_message (void *userdata, vrpn_HANDLERPARAM p)
 
- Protected Attributes inherited from vrpn_Analog
vrpn_float64 channel [vrpn_CHANNEL_MAX]
 
vrpn_float64 last [vrpn_CHANNEL_MAX]
 
vrpn_int32 num_channel
 
struct timeval timestamp
 
vrpn_int32 channel_m_id
 
int status
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_connection
 Connection that this object talks to.
 
char * d_servicename
 Name of this device, not including the connection part.
 
vrpn_int32 d_sender_id
 Sender ID registered with the connection.
 
vrpn_int32 d_text_message_id
 ID for text messages.
 
vrpn_int32 d_ping_message_id
 Ask the server if they are there.
 
vrpn_int32 d_pong_message_id
 Server telling that it is there.
 
- Protected Attributes inherited from vrpn_Button_Filter
int send_alerts
 
vrpn_int32 alert_message_id
 
- Protected Attributes inherited from vrpn_Button
unsigned char buttons [vrpn_BUTTON_MAX_BUTTONS]
 
unsigned char lastbuttons [vrpn_BUTTON_MAX_BUTTONS]
 
vrpn_int32 minrate [vrpn_BUTTON_MAX_BUTTONS]
 
vrpn_int32 num_buttons
 
struct timeval timestamp
 
vrpn_int32 change_message_id
 
vrpn_int32 states_message_id
 
vrpn_int32 admin_message_id
 
- Protected Attributes inherited from vrpn_Tracker
vrpn_int32 position_m_id
 
vrpn_int32 velocity_m_id
 
vrpn_int32 accel_m_id
 
vrpn_int32 tracker2room_m_id
 
vrpn_int32 unit2sensor_m_id
 
vrpn_int32 request_t2r_m_id
 
vrpn_int32 request_u2s_m_id
 
vrpn_int32 request_workspace_m_id
 
vrpn_int32 workspace_m_id
 
vrpn_int32 update_rate_id
 
vrpn_int32 connection_dropped_m_id
 
vrpn_int32 reset_origin_m_id
 
vrpn_int32 d_sensor
 
vrpn_float64 pos [3]
 
vrpn_float64 d_quat [4]
 
vrpn_float64 vel [3]
 
vrpn_float64 vel_quat [4]
 
vrpn_float64 vel_quat_dt
 
vrpn_float64 acc [3]
 
vrpn_float64 acc_quat [4]
 
vrpn_float64 acc_quat_dt
 
struct timeval timestamp
 
vrpn_int32 frame_count
 
struct timeval watchdog_timestamp
 
vrpn_float64 tracker2room [3]
 
vrpn_float64 tracker2room_quat [4]
 
vrpn_int32 num_sensors
 
vrpn_Tracker_Posunit2sensor
 
vrpn_Tracker_Quatunit2sensor_quat
 
unsigned num_unit2sensors
 
vrpn_float64 workspace_min [3]
 
vrpn_float64 workspace_max [3]
 
int status
 

Detailed Description

Device supporting the Razer Hydra game controller as a tracker, analog device, and button device, using the USB HID protocol directly.

The left wand (the one with LB and LT on its "end" buttons - look from above) is sensor 0, and the right wand (with RB and RT on it) is sensor 1. The "front" of the base is the side opposite the cables: there's a small logo on it. You can have the base in any orientation you want, but the info that follows assumes you have the base sitting on a desk, with the front toward you. If you have the base in a different coordinate frame in the world, please make the appropriate mental transformations yourself. :)

When starting the VRPN server, make sure that the left wand is somewhere to the left of the base, and the right wand somewhere right of the base - they do not need to be placed on the base or any more complicated homing/calibration procedure. This is for the hemisphere tracking: it needs to have an "initial state" that is roughly known, so it uses the sign of the X coordinate position.

(If you can't do this for whatever reason, modification of the driver code for an alternate calibration procedure is possible.)

If using the Hydra on Windows, the server will work with or without the official Razer Hydra drivers installed. If you are only using the device with VRPN, don't install the official drivers. However, if you do have them installed, make sure that the "Hydra Configurator" and the Hydra system tray icon are closed to avoid unexpected failure (their software can switch the device out of the mode that VRPN uses).

Works great on Linux (regardless of endianness) - no drivers needed, thanks to USB HID.

The base coordinate system is right-handed with the axes: X - out the right of the base Y - out the front of the base Z - down

The wand coordinates are also right-handed, with the tracked point somewhere near the cable entry to the controller. When held with the joystick vertical, the axes are: X - to the right Y - out the front of the controller (trigger buttons) Z - Up, along the joystick

Buttons are as follows, with the right controller's button channels starting at 7 instead of 0: 0 - "middle" button below joystick 1-4 - numbered buttons 5 - "bumper" button (above trigger) 6 - joystick button (if you push straight down on the joystick)

Analog channels are as follows, with the right controller starting at 3 instead of 0: 0 - joystick left/right: centered at 0, right is positive, in [-1, 1] 1 - joystick up/down: centered at 0, up is positive, in [-1, 1] 2 - analog trigger, in range 0 (not pressed) to 1 (fully pressed).

Definition at line 92 of file vrpn_Tracker_RazerHydra.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_RazerHydra() [1/3]

vrpn_Tracker_RazerHydra::vrpn_Tracker_RazerHydra ( const char * name,
vrpn_Connection * con = NULL )

◆ vrpn_Tracker_RazerHydra() [2/3]

vrpn_Tracker_RazerHydra::vrpn_Tracker_RazerHydra ( const char * name,
hid_device * ctrl_dev,
hid_device * data_dev,
vrpn_Connection * con = NULL )

◆ vrpn_Tracker_RazerHydra() [3/3]

vrpn_Tracker_RazerHydra::vrpn_Tracker_RazerHydra ( const char * name,
const char * ctrl_dev_path,
const char * data_dev_path,
vrpn_Connection * con = NULL )

◆ ~vrpn_Tracker_RazerHydra()

vrpn_Tracker_RazerHydra::~vrpn_Tracker_RazerHydra ( )

Definition at line 359 of file vrpn_Tracker_RazerHydra.C.

References vrpn_BaseClassUnique::send_text_message(), vrpn_SleepMsecs(), and vrpn_TEXT_WARNING.

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Member Function Documentation

◆ mainloop()

void vrpn_Tracker_RazerHydra::mainloop ( )
virtual

Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().

Implements vrpn_BaseClass.

Definition at line 372 of file vrpn_Tracker_RazerHydra.C.

References reconnect(), and vrpn_BaseClassUnique::server_mainloop().

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◆ reconnect()

bool vrpn_Tracker_RazerHydra::reconnect ( )
virtual

Definition at line 408 of file vrpn_Tracker_RazerHydra.C.

References vrpn_Tracker::num_sensors.

Referenced by mainloop().


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