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>
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 () |
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vrpn_Analog (const char *name, vrpn_Connection *c=NULL) | |
void | print (void) |
vrpn_int32 | getNumChannels (void) const |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. | |
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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) |
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vrpn_Button (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Button (void) |
void | print (void) |
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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 | |
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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) |
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bool | shutup |
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vrpn_int32 | buttonstate [vrpn_BUTTON_MAX_BUTTONS] |
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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. | |
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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. | |
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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() | |
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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) |
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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. | |
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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) |
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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. | |
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static int VRPN_CALLBACK | handle_ping_message (void *userdata, vrpn_HANDLERPARAM p) |
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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 |
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vrpn_Connection * | d_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. | |
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int | send_alerts |
vrpn_int32 | alert_message_id |
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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 |
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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_Pos * | unit2sensor |
vrpn_Tracker_Quat * | unit2sensor_quat |
unsigned | num_unit2sensors |
vrpn_float64 | workspace_min [3] |
vrpn_float64 | workspace_max [3] |
int | status |
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.
vrpn_Tracker_RazerHydra::vrpn_Tracker_RazerHydra | ( | const char * | name, |
vrpn_Connection * | con = NULL ) |
Definition at line 277 of file vrpn_Tracker_RazerHydra.C.
References HYDRA_CONTROL_INTERFACE, HYDRA_INTERFACE, vrpn_Analog::vrpn_Analog(), vrpn_Button_Filter::vrpn_Button_Filter(), and vrpn_Tracker::vrpn_Tracker().
vrpn_Tracker_RazerHydra::vrpn_Tracker_RazerHydra | ( | const char * | name, |
hid_device * | ctrl_dev, | ||
hid_device * | data_dev, | ||
vrpn_Connection * | con = NULL ) |
Definition at line 294 of file vrpn_Tracker_RazerHydra.C.
References HYDRA_CONTROL_INTERFACE, HYDRA_INTERFACE, vrpn_Analog::vrpn_Analog(), vrpn_Button_Filter::vrpn_Button_Filter(), and vrpn_Tracker::vrpn_Tracker().
vrpn_Tracker_RazerHydra::vrpn_Tracker_RazerHydra | ( | const char * | name, |
const char * | ctrl_dev_path, | ||
const char * | data_dev_path, | ||
vrpn_Connection * | con = NULL ) |
Definition at line 313 of file vrpn_Tracker_RazerHydra.C.
References HYDRA_CONTROL_INTERFACE, HYDRA_INTERFACE, vrpn_Analog::vrpn_Analog(), vrpn_Button_Filter::vrpn_Button_Filter(), and vrpn_Tracker::vrpn_Tracker().
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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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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virtual |
Definition at line 408 of file vrpn_Tracker_RazerHydra.C.
References vrpn_Tracker::num_sensors.
Referenced by mainloop().