writedata.cpp

FreeWRLduneInputDevice和FreeWRL一起可以让用户用带有6DoF的输入设备检索3D VRML/X3D数据。它基于FreeWRL的"/tmp/inpdev"扩展传感器输入接口和w

/*
 * WriteData.cpp
 * Data write procedure for a input device for FreeWRL,
 * Copyright (c) 2003 J. "MUFTI" Scheurich, based on
 * 
 * FreeWRLjoy.c - freewrl joystick driver, based on
 * jstest.c  Version 1.2
 * 
 * Copyright (c) 1996-1999 Vojtech Pavlik
 * 
 * Sponsored by SuSE
 */
  
/*
 * 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 2 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, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * Should you need to contact me, the author, you can do so either by
 * e-mail - mail your message to <[e-mail]>, or by paper mail:
 * Vojtech Pavlik, Ucitelska 1576, Prague 8, 182 00 Czech Republic
 */

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>

// FreeWRL like data write of input device data
// fx fy fy    positon  (vector)
// qx qy qz qw rotation (quaternion)

void writedata(float fx, float fy, float fz, 
               float qx, float qy, float qz, float qw)
{
     FILE *outf;
     char Temp[1024];

     /* now, make the output line as we wish */
     sprintf (Temp,"%8.2f %8.2f %8.2f %8.5f %8.5f %8.5f %8.5f",
              fx,fy,fz, qw, qx, qy, qz);

     outf = fopen ("/tmp/inpdev", "w"); 
     if (outf==NULL)
        {
        perror("error in opening /tmp/inpdev: ");
        exit(1);
        }
     fprintf (outf,Temp);
     fclose (outf);
     usleep(10000);
}