Mercurial > hg > haptic-xypad
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.classpath Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,7 @@ +<?xml version="1.0" encoding="UTF-8"?> +<classpath> + <classpathentry kind="src" path="src"/> + <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/jre7_64"/> + <classpathentry kind="lib" path="lib/jhapticgui-0.1.jar"/> + <classpathentry kind="output" path="bin"/> +</classpath>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.project Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,17 @@ +<?xml version="1.0" encoding="UTF-8"?> +<projectDescription> + <name>XYPad</name> + <comment></comment> + <projects> + </projects> + <buildSpec> + <buildCommand> + <name>org.eclipse.jdt.core.javabuilder</name> + <arguments> + </arguments> + </buildCommand> + </buildSpec> + <natures> + <nature>org.eclipse.jdt.core.javanature</nature> + </natures> +</projectDescription>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/license.txt Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. By contrast, +the GNU General Public License is intended to guarantee your freedom to +share and change all versions of a program--to make sure it remains free +software for all its users. We, the Free Software Foundation, use the +GNU General Public License for most of our software; it applies also to +any other work released this way by its authors. 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If not, see <http://www.gnu.org/licenses/>. + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + <program> Copyright (C) <year> <name of author> + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +<http://www.gnu.org/licenses/>. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +<http://www.gnu.org/philosophy/why-not-lgpl.html>. \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/HapticScene.h Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,118 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +#pragma once + + +#include "Message.h" + + +namespace jhapticgui { + + class HapticScene { + + int mWidth; + int mHeight; + + protected: + void (*send) (const Message &m); + + public: + + /** + * Returns the width of the openGL window where the scene is displayed + */ + inline int getWidth() { + return mWidth; + } + + /** + * Returns the height of the openGL window where the scene is displayed + */ + inline int getHeight() { + return mHeight; + } + + /** + * The constructor takes as argument a pointer to a function that must + * be invoked to send a message to the Java thread from the this haptic + * scene. + */ + HapticScene(void (*messageCallback) (const Message & m) ) : send(messageCallback) {} + + virtual ~HapticScene(void){} + + /** + * Sets the size of the openGL window where the scene is displayed + */ + inline virtual void setSize(int w, int h){ + mWidth = w; + mHeight = h; + } + + /** Try and initializes the haptic device, return false if the initialization fails */ + virtual bool initHaptics(void) = 0; + + /** Initializes the openGL windows after the haptics has been successfully initialized */ + virtual void initGL(void) = 0; + + /** handles an incoming message from the Java thread. + * + * Returns an update code if the message changes the + * scene. The code is passed to drawScene() for updating + * the scene accordingly. + */ + virtual unsigned int processMessage(const Message & m) = 0; + + /** called at the beginning of each frame */ + virtual void beginFrame(void) = 0; + + /** called at the end of each frame */ + virtual void endFrame(void) = 0; + + /** draws the haptic cursor, namely the haptic device proxy */ + virtual void drawCursor(void) = 0; + + /** + * Draws one frame both graphic and haptic. + * + * messageUpdate and callbacksUpdate are integer codes specifying what + * needs to be updated in the haptic and graphic scenes. messageUpdate + * is the value returned by processMessage and flags that a message from the + * Java thread affects the scene which must therefore be updated. + * + * callbacksUpdate is the value returned by checkCallbacks + * and flags that a haptic event happened that affects the scene, + * which must therefore be updated. + */ + virtual void drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate) = 0; + + /** Checks for haptic callbacks, namely functions that are called when + * a haptic events occurs. Typical haptic events are proxy touching an + * object, proxy moving, button pressed etc. + * + * Returns an update code if any event changes the + * scene. The code is passed in the next frame to drawScene(), + * for updating the scene accordingly. + * + */ + virtual unsigned int checkCallbacks(void) = 0; + + }; + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/HapticSceneFactory.h Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,37 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +#include <memory> +#include "HapticScene.h" +#include "XYScene.h" + +namespace jhapticgui{ + + /** + * The factory function is invoked when the haptic scene is created. + * If nullptr is returned the haptic initialization fails. + */ + std::unique_ptr<HapticScene> makeHapticScene(void(*messageCallback) (const Message & m)){ + + /* create your scene here */ + HapticScene *scene = new XYScene(messageCallback); + return std::unique_ptr<HapticScene>(scene); + } + +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/Message.cpp Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,43 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +#include "Message.h" +#include <iostream> + +jhapticgui::Message::Message(){ + ID = 0; + std::fill(command, command + MAX_CMD_LEN, 0); + std::fill(args, args + MAX_ARGS_LEN, 0); +} + +jhapticgui::Message::Message(const char* c, const char* a, jint id){ + ID = id; + for(int i = 0; i<MAX_CMD_LEN ;i++){ + command[i] = c[i]; + if(c[i] == '\0') + break; + } + + for(int i = 0; i<MAX_ARGS_LEN ;i++){ + args[i] = a[i]; + if(a[i] == '\0') + break; + } +} + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/Message.h Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,55 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +#pragma once + +#include <jni.h> + +namespace jhapticgui { + + struct Message { + static const int MAX_CMD_LEN = 32; + static const int MAX_ARGS_LEN = 64; + + /** + * The id identifies the haptic object the command refers to + */ + jint ID; + /** + * the command identifier + */ + char command[MAX_CMD_LEN]; + /** + * The command arguments. It's the string encoding of any type of + * value, e.g. integers, floats, string itself etc. + */ + char args[MAX_ARGS_LEN]; + + /** + * Empty message constructor. Used for a message from the java thread. + * The fields of the messae are filled with the value sent by the java + * thread + */ + Message(); + + /** + */ + Message(const char* c, const char* a, jint id); + }; + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/XYPad.sln Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,28 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Express 2013 for Windows Desktop +VisualStudioVersion = 12.0.21005.1 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "XYPad", "XYPad.vcxproj", "{763A0961-BD02-4501-93DA-D828B398EF61}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Win32 = Debug|Win32 + Debug|x64 = Debug|x64 + Release|Win32 = Release|Win32 + Release|x64 = Release|x64 + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {763A0961-BD02-4501-93DA-D828B398EF61}.Debug|Win32.ActiveCfg = Debug|Win32 + {763A0961-BD02-4501-93DA-D828B398EF61}.Debug|Win32.Build.0 = Debug|Win32 + {763A0961-BD02-4501-93DA-D828B398EF61}.Debug|x64.ActiveCfg = Debug|x64 + {763A0961-BD02-4501-93DA-D828B398EF61}.Debug|x64.Build.0 = Debug|x64 + {763A0961-BD02-4501-93DA-D828B398EF61}.Release|Win32.ActiveCfg = Release|Win32 + {763A0961-BD02-4501-93DA-D828B398EF61}.Release|Win32.Build.0 = Release|Win32 + {763A0961-BD02-4501-93DA-D828B398EF61}.Release|x64.ActiveCfg = Release|x64 + {763A0961-BD02-4501-93DA-D828B398EF61}.Release|x64.Build.0 = Release|x64 + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/XYScene.cpp Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,179 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +#include "XYScene.h" + +#include <HL/hl.h> +#include <HDU/hduError.h> + +#include <GL/gl.h> +#include <GL/glu.h> +#include <GL/glut.h> + +#include <iostream> + +jhapticgui::XYScene::XYScene(void(*messageCallback) (const Message & m)) : HapticScene(messageCallback) {} + +jhapticgui::XYScene::~XYScene() {} + +bool jhapticgui::XYScene::initHaptics(void){ + /* init haptic device */ + HHD hHD = hdInitDevice(HD_DEFAULT_DEVICE); + if (HD_DEVICE_ERROR(hdGetError())) { + /* if unsuccessful return false */ + return false; + } + + /* create haptic context */ + HHLRC hHLRC = hlCreateContext(hHD); + hlMakeCurrent(hHLRC); + + /* Reserve an id for the shape */ + shapeID = hlGenShapes(1); + + + /* initialize the haptic space */ + hlMatrixMode(HL_TOUCHWORKSPACE); + hlLoadIdentity(); + hlOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0); + + /* install event callbacks for touch and motion */ + hlAddEventCallback(HL_EVENT_TOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD, checkContact, this); + hlAddEventCallback(HL_EVENT_UNTOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD, checkContact, this); + hlAddEventCallback(HL_EVENT_MOTION, HL_OBJECT_ANY, HL_CLIENT_THREAD, checkMotion, this); + + /* initialization successful */ + return true; +} + +void jhapticgui::XYScene::initGL(void){ + glClearColor(0.0, 0.0, 0.0, 0.0); + glMatrixMode(GL_PROJECTION); + glLoadIdentity(); + glOrtho(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0); + + glDepthFunc(GL_LEQUAL); + glEnable(GL_DEPTH_TEST); +} + + +unsigned int jhapticgui::XYScene::processMessage(const Message & m){ + /* there is only one type of message coming from the java * + * but the check is performed nevertheless for clarity */ + if (!strcmp(m.command, "change")) { + + /* the command selects the shape to display here all is done * + * is just a variable update. The variable new value will be * + * read in the next cycle of drawScene */ + if (!strcmp(m.args, "circle")){ + shape = Shape::CIRCLE; + } + else if(!strcmp(m.args, "square")){ + shape = Shape::SQUARE; + } + } + + /* message updates not used, just return any value */ + return 0; +} + +void jhapticgui::XYScene::beginFrame(void){ + hlBeginFrame(); +} + +void jhapticgui::XYScene::endFrame(void){ + hlEndFrame(); +} + +void jhapticgui::XYScene::drawCursor(void){ + /* no cursor drawn */ +} + +void jhapticgui::XYScene::drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate){ + + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + glColor3f(1.0, 200.0/255.0, 0.0); + + hlBeginShape(HL_SHAPE_DEPTH_BUFFER, shapeID); + + /* use shape variable to determine which shape to draw */ + if (shape == Shape::SQUARE){ + glBegin(GL_POLYGON); + glVertex3f(-RADIUS, -RADIUS, 0.0); + glVertex3f(RADIUS, -RADIUS, 0.0); + glVertex3f(RADIUS, RADIUS, 0.0); + glVertex3f(-RADIUS, RADIUS, 0.0); + glEnd(); + } + else { // CIRCLE + glutSolidSphere(RADIUS, 64, 64); + } + + hlEndShape(); +} + +unsigned int jhapticgui::XYScene::checkCallbacks(void){ + /* openhaptics call to check all the events */ + hlCheckEvents(); + /* no callback update used, return any value */ + return 0; +} + +/* contact callback */ +void jhapticgui::XYScene::checkContact(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata){ + XYScene *pThis = static_cast<XYScene*>(userdata); + + /* update a status variable and send a message to the java thread */ + if (event == HL_EVENT_TOUCH){ + pThis->isTouching = true; + pThis->send(Message("touch", "yes", object)); + } + else{ + pThis->isTouching = false; + pThis->send(Message("touch", "no", object)); + } +} + +/* motion callback */ +void jhapticgui::XYScene::checkMotion(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata){ + /* pointer to this scene */ + XYScene *pThis = static_cast<XYScene*>(userdata); + + /* get the proxy position */ + HLdouble proxyPosition[3]; + hlGetDoublev(HL_DEVICE_POSITION, proxyPosition); + + /* only send position data if the haptic object is being touched */ + if (pThis->isTouching){ + /* the proxy position ranges from -RADIUS to +RADIUS * + * so the formula to get a normalized position (0 to 1)* + * is: ( proxyPos - (-RADIUS) / (RADIUS) - (-RADIUS) ),* + * let RADIUS be 0.5, the above formula is reduced to * + * proxyPos + RADIUS */ + double x = proxyPosition[0] + RADIUS; + double y = proxyPosition[1] + RADIUS; + + /* send position message */ + char msgArgs[Message::MAX_ARGS_LEN]; + sprintf_s(msgArgs, "%f %f", x, y); + pThis->send(Message("position", msgArgs, object)); + } +} + + +const double jhapticgui::XYScene::RADIUS = 0.5; \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/XYScene.h Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,57 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +#pragma once +#include "HapticScene.h" +#include <HL/hl.h> + +namespace jhapticgui { + class XYScene : public HapticScene + { + enum class Shape { SQUARE, CIRCLE }; + static const double RADIUS; + + HLuint shapeID; + bool isTouching = false; + Shape shape = Shape::CIRCLE; + + public: + XYScene(void(*messageCallback) (const Message & m)); + ~XYScene(); + + bool initHaptics(void); + + void initGL(void); + + unsigned int processMessage(const Message & m); + + void beginFrame(void); + + void endFrame(void); + + void drawCursor(void); + + void drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate); + + unsigned int checkCallbacks(void); + + static void HLCALLBACK checkContact(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata); + static void HLCALLBACK checkMotion(HLenum event, HLuint object, HLenum thread, HLcache *cache, void *userdata); + + }; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.cpp Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,391 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +#include "uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h" +#include "HapticScene.h" +#include "HapticSceneFactory.h" + +#define WIN32_LEAN_AND_MEAN // Exclude rarely-used stuff from Windows headers +// Windows Header Files: +#include <windows.h> + +#include <iostream> + +#include <GL/gl.h> +#include <GL/glu.h> +#include <GL/glut.h> + + +using namespace jhapticgui; + + +/* Function declarations */ +void display(void); +void reshape(int width, int height); +void idle(void); + +void send(const Message &m); // haptic scene callback function + +void checkExceptions(JNIEnv *env, char* what); +void initJniVariables(void); +void die(char* msg); + +void Notify(jobject *monitor); // macro for the java object.notify() +void MonitorEnter(jobject *monitor); // macro for the entering a syncrhronized block in java +void MonitorExit(jobject *monitor); // macro for the exiting a syncrhronized block in java + +/* Variables */ +static JNIEnv *env; +static jobject *thisObj; +static jobject hapticListener; +static std::unique_ptr<HapticScene> scene; +static Message message; + +/* JNI Variables */ + +static jfieldID disposeFieldID; +static jfieldID deviceInitFailedFieldID; +static jfieldID deviceInitDoneFieldID; +static jfieldID messageReadyFieldID; +static jfieldID commandFieldID; +static jfieldID argsFieldID; +static jfieldID IDFieldID; + +/* synchronization methods ids */ +static jmethodID notifyMethodID; +static jmethodID waitListenerMethodID; +static jmethodID messageToListenerMethodID; + + + +JNIEXPORT void JNICALL Java_uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice_init + (JNIEnv *environment, jobject obj, jint w, jint h){ + + env = environment; + thisObj = &obj; + + /* JNI stuff */ + initJniVariables(); + + scene = makeHapticScene(send); + + /* try to initialize the haptic, tell the java thread about the success/failure. The endeavour * + * takes the thisObj on the haptics java object in order to access the nodes and edges concurrently */ + MonitorEnter(thisObj); + + bool mustSayGoodbye = false; + + if(!scene->initHaptics()){ + /* set the field in the java class to comunicate the main thread (waiting * + * for the initialization to complete) that the initialization failed */ + env->SetBooleanField(*thisObj, deviceInitFailedFieldID, JNI_TRUE); + mustSayGoodbye = true; + } + + if(mustSayGoodbye) + std::cout << "Failed to initialize haptic device" << std::endl; + else + std::cout << "Haptic device successfully initialized" << std::endl; + + /* initialization is done, set the flag for the java thread*/ + env->SetBooleanField(*thisObj, deviceInitDoneFieldID, JNI_TRUE); + + /* notify the java thread */ + Notify(thisObj); + + /* release the lock */ + MonitorExit(thisObj); + + if(mustSayGoodbye){ + /* stops the haptic listener */ + send(Message("stop","",0)); + /* initialization failed: return */ + return; + } + + /* haptic device is initialized, now build the openGL window */ + + /* fake main argv and argc as this is a dll */ + char *argv[1] = {"Haptics"}; + int argc = 1; + + /* glut initialization */ + glutInit(&argc, argv); + + glutInitWindowSize( w, h ); + glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_DEPTH); + glutCreateWindow( "Haptic Device Window" ); + + /* set up GLUT callback functions */ + glutDisplayFunc ( display ); + glutReshapeFunc ( reshape ); + glutIdleFunc( idle ); + + scene->initGL(); + +#ifdef FREEGLUT + /* with this option set freeglut allows to stop the main + loop without teminating the whole application */ + glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION); +#endif + glutMainLoop(); + + return; +} + +/* GLUT display callback */ +void display(){ + + /* takes the lock on thisObj */ + MonitorEnter(thisObj); + + /* check if there is a dispose request */ + if( env->GetBooleanField(*thisObj,disposeFieldID) == JNI_TRUE ){ + /* set back to false to prevent the java thread from waiting again */ + env->SetBooleanField(*thisObj,disposeFieldID,JNI_FALSE); + /* stops the haptic listener */ + send(Message("stop","",0)); + /* notify the java thread that this thread is about to die */ + Notify(thisObj); + + /* release the lock on this object */ + MonitorExit(thisObj); +#ifdef FREEGLUT + /* onlu FREEGLUT allows to exit the main loop */ + glutLeaveMainLoop (); + return; +#else + /* if freeglut is not used, the whole application must be terminated */ + die("Haptic device disposed"); +#endif + + } + + static bool once = false; + if (!once){ + once = true; + send(Message("window.display", "", 0)); + } + + /* check if there is a message ready for the java thread */ + bool messageReady = (env->GetBooleanField(*thisObj,messageReadyFieldID) == JNI_TRUE); + if(messageReady){ + /* get the id of the field */ + jint ID = env->GetIntField(*thisObj, IDFieldID); + jstring command = static_cast<jstring>(env->GetObjectField(*thisObj, commandFieldID)); + jstring args = static_cast<jstring>(env->GetObjectField(*thisObj, argsFieldID)); + + /* get lenght of the strings */ + int commandLen = env->GetStringLength(command); + int argsLen = env->GetStringLength(args); + + /* read the command fields into the command struct */ + env->GetStringUTFRegion(command, 0, commandLen, message.command); + env->GetStringUTFRegion(args, 0, argsLen, message.args); + message.ID = ID; + + /* set the flag back to false */ + env->SetBooleanField(*thisObj, messageReadyFieldID, JNI_FALSE); + + /* clean up references */ + env->DeleteLocalRef(command); + env->DeleteLocalRef(args); + /* notify the java thread, waiting for the command to be read */ + Notify(thisObj); + } + + /* release the lock. HapticScene methods from now on can execute commands without deadlock risk */ + MonitorExit(thisObj); + + unsigned int messageUpdate = 0; + if(messageReady) + messageUpdate = scene->processMessage(message); + + /* --- start drawing --- */ + scene->beginFrame(); + + /* draw the diagram graphicly and, if the collection has changed, haptically too */ + scene->drawCursor(); + + /* the drawing can be affected by a message from the Java thread but also + by the user actions (move, push button etc.). That's why callbacksUpdate + value from the previous loop is passed as an arg as well */ + static unsigned int callbacksUpdate = 0; + scene->drawScene(messageUpdate, callbacksUpdate); + + scene->endFrame(); + + /* check if any callback has been issued : */ + callbacksUpdate = scene->checkCallbacks(); + + /* swap graphic buffers. */ + glutSwapBuffers(); +} + +/* GLUT reshape callback */ +void reshape (int w, int h){ + scene->setSize(w, h); +} + +/* GLUT idle callback */ +void idle(){ + glutPostRedisplay(); +} + + +/* initialize all the variables needed for the jni access to java fields */ +void initJniVariables(void){ + /* --- CLASSES --- */ + /* this class */ + + jclass hapticDeviceClass = env->GetObjectClass(*thisObj); + if(hapticDeviceClass == NULL){ + die("Could not find the Haptics class"); + } + /* the haptic listener, member of this class */ + jclass hapticListenerClass = env->FindClass("Luk/ac/qmul/eecs/depic/jhapticgui/HapticListener;"); + if(hapticListenerClass == NULL){ + die("Could not find the haptic listener class"); + } + + /* the Object class for wait and notify methods */ + jclass objectClass = env->FindClass("Ljava/lang/Object;"); + if(objectClass == NULL ){ + die("Could not find te Object class"); + } + + /* --- FIELD ID's --- */ + + /* boolean set by this thread to notify the java thread the unsuccessful initialization of haptic device */ + deviceInitFailedFieldID = env->GetFieldID(hapticDeviceClass,"initFailed", "Z"); + if(deviceInitFailedFieldID == NULL){ + die("failed to find the initFailed field id"); + } + + /* boolean set by this thread to notify the java thread the initialization of haptic device is done */ + deviceInitDoneFieldID = env->GetFieldID(hapticDeviceClass,"initDone", "Z"); + if(deviceInitDoneFieldID == NULL){ + die("failed to find initDone field id"); + } + + /* boolean set by the java thread to notify this thread the program has been shut down */ + disposeFieldID = env->GetFieldID(hapticDeviceClass, "dispose", "Z"); + if(disposeFieldID == NULL){ + die("failed to find the disposeFieldID field id"); + } + + messageReadyFieldID = env->GetFieldID(hapticDeviceClass,"messageReady","Z"); + if(messageReadyFieldID == NULL){ + die("failed to find the messageReadyFieldID field id"); + } + + commandFieldID = env->GetFieldID(hapticDeviceClass,"command","Ljava/lang/String;"); + if(commandFieldID == NULL){ + die("failed to find the commandFieldID field id"); + } + + argsFieldID = env->GetFieldID(hapticDeviceClass,"args","Ljava/lang/String;"); + if(argsFieldID == NULL){ + die("failed to find the argsFieldID field id"); + } + + IDFieldID = env->GetFieldID(hapticDeviceClass,"ID","I"); + if(IDFieldID == NULL){ + die("failed to find the IDFieldID field id"); + } + + jfieldID hapticListenerFieldID = env->GetFieldID(hapticDeviceClass,"hapticListener","Luk/ac/qmul/eecs/depic/jhapticgui/HapticListener;"); + hapticListener = env->GetObjectField(*thisObj,hapticListenerFieldID); + if(hapticListener == NULL){ + die("failed to find hapticListener field id"); + } + + /* --- SYNCHRONIZATION METHODS ID --- */ + /* this.notify() */ + notifyMethodID = env->GetMethodID(objectClass,"notify","()V"); + if(notifyMethodID == NULL){ + die("failed to find the notify method id"); + } + + /* listener.wait() */ + waitListenerMethodID = env->GetMethodID(objectClass,"wait","()V"); + if(waitListenerMethodID == NULL){ + die("failed to find the wait method id"); + } + + messageToListenerMethodID = env->GetMethodID(hapticListenerClass,"addMessage","(Ljava/lang/String;Ljava/lang/String;I)V"); + if(messageToListenerMethodID == NULL){ + die("failed to find the addMessage method id"); + } + + /* clean up local references */ + env->DeleteLocalRef(hapticDeviceClass); + env->DeleteLocalRef(hapticListenerClass); + env->DeleteLocalRef(objectClass); +} + +/* sends a message to the java thread */ +void send(const Message &m){ + + jstring jstrCommand = env->NewStringUTF(m.command); + jstring jstrArgs = env->NewStringUTF(m.args); + + env->CallVoidMethod(hapticListener,messageToListenerMethodID,jstrCommand,jstrArgs,m.ID); + checkExceptions(env,"Could not call hapticListener.send()"); + + env->DeleteLocalRef(jstrCommand); + env->DeleteLocalRef(jstrArgs); +} + +void checkExceptions(JNIEnv *env, char* what){ + if(env->ExceptionOccurred()){ + std::cerr << "Exception occurred!!!" << std::endl; + std::cerr << what << std::endl; + env->ExceptionDescribe(); + exit(-1); + } +} + + +void die(char* msg){ + std::cerr << msg << std::endl; + exit(-1); +} + + +void Notify(jobject *monitor){ + env->CallVoidMethod(*monitor,notifyMethodID); + checkExceptions(env, "Could not call notify()"); +} + + +void MonitorEnter(jobject *monitor){ + if(env->MonitorEnter(*monitor) != JNI_OK){ + die("Could not allocate memory for monitor enter"); + } +} + +void MonitorExit(jobject *monitor){ + if(env->MonitorExit(*monitor) != JNI_OK){ + die("Could not release memory for monitor exit "); + } +} + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/native/OpenHaptics/XYPad/uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice.h Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,23 @@ +/* DO NOT EDIT THIS FILE - it is machine generated */ +#include <jni.h> +/* Header for class uk_ac_qmul_eecs_depic_haptics_HapticDevice */ + +// must change class path to match the new library +// also must change JNI class references +#ifndef _Included_uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice +#define _Included_uk_ac_qmul_eecs_depic_haptics_HapticDevice +#ifdef __cplusplus +extern "C" { +#endif +/* + * Class: uk_ac_qmul_eecs_depic_haptics_HapticDevice + * Method: init + * Signature: (II)V + */ +JNIEXPORT void JNICALL Java_uk_ac_qmul_eecs_depic_jhapticgui_HapticDevice_init + (JNIEnv *, jobject, jint, jint); + +#ifdef __cplusplus +} +#endif +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPad.java Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,240 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +package uk.ac.qmul.eecs.depic.jhapticgui.examples; + +import java.awt.BorderLayout; +import java.awt.Color; +import java.awt.Dimension; +import java.awt.EventQueue; +import java.awt.event.ActionEvent; +import java.awt.event.ActionListener; +import java.io.InputStream; + +import javax.swing.JButton; +import javax.swing.JFrame; +import javax.swing.JPanel; +import javax.swing.JScrollPane; +import javax.swing.JTextArea; +import javax.swing.SwingUtilities; +import javax.swing.UIManager; +import javax.swing.border.EmptyBorder; +import javax.swing.border.LineBorder; +import javax.swing.text.DefaultCaret; + +import uk.ac.qmul.eecs.depic.jhapticgui.HapticDevice; +import uk.ac.qmul.eecs.depic.jhapticgui.HapticDeviceWinFactory; +import uk.ac.qmul.eecs.depic.jhapticgui.HapticListener; +import uk.ac.qmul.eecs.depic.jhapticgui.HapticsException; + +/** + * A haptic XYPad. + * + * Provides two buttons for starting the haptic device and change + * the shape of the haptic pad, a text area to display notification messages + * (also from the haptic device) and an XYPanel displaying a cursor that + * can be manipulated using the haptic device. + * + * + * @author Fiore Martin + * + */ +public class XYPad extends JFrame implements ActionListener{ + private static final long serialVersionUID = 1L; + private XYPanel xyPanel; + private JButton startButton; + private JButton changeButton; + private HapticDevice hapticDevice; + private JTextArea textArea; + + /** + * Launch the application. + */ + public static void main(String[] args) { + try { + // Set System L&F + UIManager.setLookAndFeel( + UIManager.getSystemLookAndFeelClassName()); + }catch(Exception e){} + + EventQueue.invokeLater(new Runnable() { + public void run() { + try { + XYPad frame = new XYPad(); + frame.setVisible(true); + } catch (Exception e) { + e.printStackTrace(); + } + } + }); + } + + /** + * Creates the frame. + */ + public XYPad() { + super("XY Pad"); + setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); + setBounds(100, 100, 450, 542); + JPanel contentPane = new JPanel(); + contentPane.setBorder(new EmptyBorder(5, 5, 5, 5)); + contentPane.setLayout(new BorderLayout(0, 0)); + setContentPane(contentPane); + + xyPanel = new XYPanel(); + xyPanel.setBackground(Color.LIGHT_GRAY); + xyPanel.setBorder(new LineBorder(Color.GRAY)); + xyPanel.setBackground(Color.BLACK); + contentPane.add(xyPanel, BorderLayout.CENTER); + + JPanel buttonsPanel = new JPanel(); + contentPane.add(buttonsPanel, BorderLayout.SOUTH); + buttonsPanel.setLayout(new BorderLayout(0, 0)); + + JPanel panel_1 = new JPanel(); + buttonsPanel.add(panel_1, BorderLayout.SOUTH); + buttonsPanel.setPreferredSize(new Dimension(buttonsPanel.getWidth(), 100)); + + startButton = new JButton("Start Haptics"); + panel_1.add(startButton); + + changeButton = new JButton("Change to Square"); + panel_1.add(changeButton); + changeButton.setEnabled(false); + + textArea = new JTextArea(); + /* this makes the scroll pane to always be at the bottom */ + ((DefaultCaret) textArea.getCaret()).setUpdatePolicy(DefaultCaret.ALWAYS_UPDATE); + textArea.setEditable(false); + buttonsPanel.add(new JScrollPane(textArea), BorderLayout.CENTER); + + /* install listener to buttons */ + startButton.addActionListener(this); + changeButton.addActionListener(this); + } + + /** + * The action performed by the two buttons of this XYPad. + * + * The first button starts the haptic device, whereas the second button + * sends a message to the haptic device to change the shape of the haptic + * xy pad shape. + * + */ + @Override + public void actionPerformed(ActionEvent evt) { + if(evt.getSource().equals(startButton)){ + + textArea.append("Starting haptic device...\n"); + + /** + * creates a new haptic listener that updates the xy panel upon receiving "position" + * messages. Moreover it prints on the text area when the haptic proxy touches + * and untouches the haptic xy pad + * + * + */ + class XYHapticListener extends HapticListener { + + @Override + public void messageReceived(String command, final String args, int id) { + + switch(command){ + case "position" : { + + /* The coordinates are passed as a string representing two floats (x and y). * + * so the string needs to be unpacked and parsed. */ + String[] coord = args.split(" "); + final float x = Float.parseFloat(coord[0]); + final float y = Float.parseFloat(coord[1]); + + /* The haptic listener runs on its own thread, therefore changes * + * to the GUI must be queued for the event dispatching thread. */ + SwingUtilities.invokeLater(new Runnable(){ + @Override + public void run(){ + xyPanel.setXY(x, y); + } + }); + } break; + + case "touch" : { + /* The haptic listener runs on its own thread, therefore changes * + * to the GUI must be queued for the event dispatching thread. */ + SwingUtilities.invokeLater(new Runnable(){ + @Override + public void run(){ + + /* uses message argument to discriminate between touch and untouch */ + if("yes".equals(args)){ + textArea.append("haptic xy touched\n"); + }else if("no".equals(args)){ + textArea.append("haptic xy untouched\n"); + } + } + }); + } break; + + case HapticListener.WINDOW_MSG : { + SwingUtilities.invokeLater(new Runnable(){ + @Override + public void run(){ + requestFocus(); + } + }); + } break; + } + } + }; + + InputStream dll = this.getClass().getResourceAsStream("XYPad.dll"); + try { + hapticDevice = new HapticDeviceWinFactory().getHapticDevice(dll, new XYHapticListener(), new Dimension (getWidth(), getWidth() )); + + changeButton.setEnabled(true); + startButton.setEnabled(false); + + textArea.append("haptic device started\n"); + } catch (HapticsException e) { + e.printStackTrace(); + textArea.append(e.getMessage()); + } + + }else if(evt.getSource().equals(changeButton)){ + /* Changes the shape of the haptics object use message args to tell * + * the haptics which shape to display ID is left to 0 as there is * + * only one haptic shape and no need to refer to a specific haptic shape. */ + if("Change to Square".equals(changeButton.getText())){ + changeButton.setText("Change to Circle"); + + hapticDevice.sendMessage("change", "square", 0); + + textArea.append("shape changed to square\n"); + }else if("Change to Circle".equals(changeButton.getText())){ // change to circle + changeButton.setText("Change to Square"); + + hapticDevice.sendMessage("change", "circle", 0); + + textArea.append("shape changed to circle\n"); + } + + } + + } + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/src/uk/ac/qmul/eecs/depic/jhapticgui/examples/XYPanel.java Fri Feb 13 14:44:20 2015 +0000 @@ -0,0 +1,104 @@ +/* +XYPad - a haptic xy-pad that uses the jHapticGUI library + +Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/) + +This program is free software: you can redistribute it and/or modify +it under the terms of the GNU General Public License as published by +the Free Software Foundation, either version 3 of the License, or +(at your option) any later version. + +This program is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +GNU General Public License for more details. + +You should have received a copy of the GNU General Public License +along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ +package uk.ac.qmul.eecs.depic.jhapticgui.examples; + +import java.awt.BasicStroke; +import java.awt.Color; +import java.awt.Dimension; +import java.awt.Graphics; +import java.awt.Graphics2D; +import java.awt.RenderingHints; +import java.awt.Stroke; + +import javax.swing.JPanel; + + +/** + * + * A Panel displaying an xy cursor + * + * @author Fiore Martin + * + */ +public class XYPanel extends JPanel { + private static final long serialVersionUID = 1L; + private static int CURSOR_SIZE = 20; + private static int HALF_CURSOR_SIZE = CURSOR_SIZE/2; + private static Stroke LINE_STROKE = new BasicStroke(2); + private float cursorX; + private float cursorY; + + /** + * Creates a new panel with the cursor placed at the centre + */ + public XYPanel() { + cursorX = 0.5f; + cursorY = 0.5f; + } + + /** + * {@inheritDoc} + */ + @Override + public void paintComponent(Graphics g){ + super.paintComponent(g); + + final Graphics2D g2 = (Graphics2D)g; + final Dimension size = getSize(); + + /* cursorX and cursorY range from 0 to 1, so multiply them respectively * + * by the width and height of this panel to get the drawing position */ + int x = (int)(cursorX * size.width); + int y = (int)(size.height - (cursorY * size.height)); + + g.setColor(Color.ORANGE); + + /* draw the x and y lines */ + g2.setStroke(LINE_STROKE); + g2.drawLine(0, y, size.width, y); + g2.drawLine(x, 0, x, size.height); + + g2.setRenderingHint( + RenderingHints.KEY_ANTIALIASING, + RenderingHints.VALUE_ANTIALIAS_ON); + + /* draw the cursor */ + g2.fillOval( + x - HALF_CURSOR_SIZE, + y - HALF_CURSOR_SIZE, + CURSOR_SIZE, + CURSOR_SIZE + ); + + } + + /** + * Sets the cursor position, the coordinates must be passed in normalized form and get scaled by the height and width + * of the panel. so for example to place the cursor at the centre of the screen, the coordinates should be both 0.5. + * + * @param x the x coordinate in normalized form (ranging from 0 to 1) + * @param y the y coordinate in normalized form (ranging from 0 to 1) + */ + public void setXY(float x, float y){ + cursorX = x; + cursorY = y; + + repaint(); + } +}