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Images you can Touch and Feel
http://tangible-images.googlecode.com
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Integrating: Haptik Library + Matlab #5

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
Haptik is a small opensource library providing a simple yet powerful API for 
low level access to haptic devices from multiple vendors. It also allows to 
use haptic devices within Matlab, Simulink and Java, as well as other 
scripting languages (like Python, for instance).

Original issue reported on code.google.com by manavkataria on 2 Sep 2009 at 1:25

GoogleCodeExporter commented 9 years ago 
Started = Work on this issue has begun.

Using the latest binaries: 
October 9th 2007 - HAPTIK LIBRARY 1.1RC1 (exe)
March 17th 2008  - Falcon Plugin
http://sirslab.dii.unisi.it/haptiklibrary/download.htm

Original comment by manavkataria on 9 Sep 2009 at 9:52

GoogleCodeExporter commented 9 years ago

Original comment by manavkataria on 9 Sep 2009 at 3:07

GoogleCodeExporter commented 9 years ago 
We now know how to use Haptik Library on Matlab!

We explored the Haptik Library and it seems to be well integrated with Matlab. 
We ran 
a few example programs and understood their source code.

TODO:
+ Program Falcon:
++ Run the Horizontal Plane example program on Falcon

(this will complete the integration task)

Original comment by manavkataria on 9 Sep 2009 at 3:55

GoogleCodeExporter commented 9 years ago

Original comment by manavkataria on 9 Sep 2009 at 3:55

GoogleCodeExporter commented 9 years ago 
Had a good overview of Haptik Development Manual. Useful Document.

Understood:
+ Measurement Units
+ Coordinate System
+ Mouse Spectre (Virtual Device)
+ Configuration File

Reasonable Idea about
+ Data Structures and
+ Exposed Methods

Original comment by manavkataria on 9 Sep 2009 at 4:42

GoogleCodeExporter commented 9 years ago 
Tried integrating Haptik with Falcon on Matlab. Didn't work. 
Sent a mail with issues to developers. Will try again after midsems.

Original comment by manavkataria on 11 Sep 2009 at 7:43

GoogleCodeExporter commented 9 years ago 
Received a reply. 

> The log file does say:
>> [Haptik.Library] FAILURE: Failed to load Haptik.Falcon.dll
>> [Haptik.Library] VERBOSE:  The specified module could not be found.
> The FAQ says that I should make sure all dependencies are satisfied.
>
>    1. I checked - Falcon drivers are installed. good.
>    2. I ran the Falcon test and it responds well. good.
>
> So what's wrong? Attached, logfile and config file.
>

The error in the log show that the plugin failed to load which can only be due 
to the 
OS failing to load additional dlls on which the plugin depends on.
this is usually the case with not-properly-installed SDKs but since you're 
successfully running the falcon demos then it should be something else.

the text error reported in the log is (unfortunately) taken directly from the 
string 
reported by windows as a reason for the failure, which shamefully doesn't say 
the 
actual name of the dependency dll failing to load, and then causing the 
original one 
not to load.

The quickest way to find out what dependency is not being satisfied you can use 
a 
small free utility (http://www.dependencywalker.com/) which shows you the full 
tree 
of depencies for a dll and if there are missing dependencies along the tree.
try running this tool on the haptik.falcon.dll and it should tell us what's 
wrong. 

---
Working on this.
Manav

Original comment by manavkataria on 14 Sep 2009 at 8:18

GoogleCodeExporter commented 9 years ago 
Integration Issue Resolved.  
 -- Haptik & Matlab Integrated and tested successfully.

Resolution: Needed Falcon Drivers update. Haptik+Matlab works fine with latest 
3.14.a.
Marking the issue as done.

- Notes on Haptik Update -   
(for the record email with Maurizio)
-----------
Hi! Maurizio,

Thanks for your reply! We could sort out the problem last night!

I could figure this out with CHAI3D. When I tried to run CHAI3D it failed as 
well. Looking at their homepage I found a 
compatibility issue which said 3.1 Falcon Drivers and above are supported. That 
lead me to suspect Falcon driver as the 
issue. I realized I had 2.2.7 version and when I installed the latest (3.14.a) 
CHAI3D worked fine!

I realized Haptik might have failed for a similar reason and so I tried Haptik 
on Matlab and that too worked as expected!

I believe it would be a good idea for us to:

    * Mention in the documentation about version compatibility of Falcon drivers
    * Place a log/check in the Falcon plugin indicating (possible) version compatibility failure.

There are a few other places in the documentation which aren't clear. For 
example

    * Spectre documentation was a little in consistent with the application.
    * Lastly, I couldn't find a way to stop the Spectre application.

hope this helps! thanks,
Manav Kataria

Original comment by manavkataria on 21 Sep 2009 at 8:01