vrpn  07.33
Virtual Reality Peripheral Network
vrpn_5dt Class Reference

Class to support reading data from serial 5DT data gloves. More...

#include <vrpn_Analog_5dt.h>

Inheritance diagram for vrpn_5dt:
Collaboration diagram for vrpn_5dt:

Public Member Functions

 vrpn_5dt (const char *name, vrpn_Connection *c, const char *port, int baud=19200, int mode=1, bool tenbytes=false)
 Constructor. More...
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates. More...
 
void syncing (void)
 
- Public Member Functions inherited from vrpn_Serial_Analog
 vrpn_Serial_Analog (const char *name, vrpn_Connection *connection, const char *port, int baud=9600, int bits=8, vrpn_SER_PARITY parity=vrpn_SER_PARITY_NONE, bool rts_flow=false)
 
 ~vrpn_Serial_Analog ()
 
- 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. More...
 
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. More...
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using. More...
 

Protected Member Functions

virtual int reset (void)
 
virtual void get_report (void)
 
virtual void clear_values (void)
 
int send_command (const unsigned char *cmd, int len)
 Compute the CRC for the message, append it, and send message. Returns 0 on success, -1 on failure. More...
 
virtual void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report iff changed More...
 
virtual void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 send report whether or not changed More...
 
- Protected Member Functions inherited from vrpn_Serial_Analog
int read_available_characters (char *buffer, int bytes)
 
- 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. More...
 
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. More...
 
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. More...
 
- 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. More...
 
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. More...
 
- 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. More...
 
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. More...
 
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. More...
 
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() More...
 
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() More...
 

Protected Attributes

bool _announced
 
bool _wireless
 
bool _gotInfo
 
int _status
 
int _numchannels
 
int _mode
 
unsigned _expected_chars
 
unsigned char _buffer [512]
 
unsigned _bufcount
 
bool _tenbytes
 
struct timeval timestamp
 
- Protected Attributes inherited from vrpn_Serial_Analog
int serial_fd
 
char portname [1024]
 
int baudrate
 
unsigned char buffer [1024]
 
int bufcounter
 
- 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. More...
 
char * d_servicename
 Name of this device, not including the connection part. More...
 
vrpn_int32 d_sender_id
 Sender ID registered with the connection. More...
 
vrpn_int32 d_text_message_id
 ID for text messages. More...
 
vrpn_int32 d_ping_message_id
 Ask the server if they are there. More...
 
vrpn_int32 d_pong_message_id
 Server telling that it is there. More...
 

Additional Inherited Members

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
vrpn_MESSAGEHANDLER handler
 
vrpn_int32 sender
 
vrpn_int32 type
 
void * userdata
 
- 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. More...
 
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. More...
 

Detailed Description

Class to support reading data from serial 5DT data gloves.

Definition at line 12 of file vrpn_Analog_5dt.h.

Constructor & Destructor Documentation

◆ vrpn_5dt()

vrpn_5dt::vrpn_5dt ( const char *  name,
vrpn_Connection c,
const char *  port,
int  baud = 19200,
int  mode = 1,
bool  tenbytes = false 
)

Constructor.

Parameters
nameName for the device
cConnection to use.
portserial port to connect to
baudBaud rate - 19200 for "wired"-type gloves (send/receive), 9600 implies a "wireless" (may be wired, but is send-only) glove
modeSet to 1 for the driver to request reports, set to 2 to stream them. (wireless implies 2, overriding value passed here)
tenbytesWhether reports should be 10 bytes instead of the documented 9. (wireless implies true, overriding value passed here)

Definition at line 34 of file vrpn_Analog_5dt.C.

References _expected_chars, _mode, _numchannels, _status, _tenbytes, _wireless, clear_values(), vrpn_Analog::num_channel, and STATUS_RESETTING.

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Member Function Documentation

◆ clear_values()

void vrpn_5dt::clear_values ( void  )
protectedvirtual

Definition at line 83 of file vrpn_Analog_5dt.C.

References _numchannels, vrpn_Analog::channel, and vrpn_Analog::last.

Referenced by vrpn_5dt().

◆ get_report()

void vrpn_5dt::get_report ( void  )
protectedvirtual

◆ mainloop()

void vrpn_5dt::mainloop ( void  )
virtual

Called once through each main loop iteration to handle updates.

Implements vrpn_BaseClass.

Definition at line 417 of file vrpn_Analog_5dt.C.

References _announced, _status, _wireless, get_report(), MAX_TIME_INTERVAL, reset(), vrpn_BaseClassUnique::server_mainloop(), STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, syncing(), timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_INFO, and vrpn_TimevalDuration().

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◆ report()

void vrpn_5dt::report ( vrpn_uint32  class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protectedvirtual

send report whether or not changed

Definition at line 401 of file vrpn_Analog_5dt.C.

References vrpn_Analog::report(), vrpn_Analog::timestamp, and timestamp.

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◆ report_changes()

void vrpn_5dt::report_changes ( vrpn_uint32  class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protectedvirtual

send report iff changed

Definition at line 389 of file vrpn_Analog_5dt.C.

References vrpn_Analog::report_changes(), vrpn_Analog::timestamp, and timestamp.

Referenced by get_report().

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◆ reset()

int vrpn_5dt::reset ( void  )
protectedvirtual

◆ send_command()

int vrpn_5dt::send_command ( const unsigned char *  cmd,
int  len 
)
protected

Compute the CRC for the message, append it, and send message. Returns 0 on success, -1 on failure.

Definition at line 101 of file vrpn_Analog_5dt.C.

References vrpn_Serial_Analog::serial_fd, and vrpn_write_characters().

Referenced by reset(), and syncing().

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◆ syncing()

void vrpn_5dt::syncing ( void  )

Member Data Documentation

◆ _announced

bool vrpn_5dt::_announced
protected

Definition at line 39 of file vrpn_Analog_5dt.h.

Referenced by mainloop().

◆ _bufcount

unsigned vrpn_5dt::_bufcount
protected

Definition at line 47 of file vrpn_Analog_5dt.h.

Referenced by get_report(), reset(), and syncing().

◆ _buffer

unsigned char vrpn_5dt::_buffer[512]
protected

Definition at line 46 of file vrpn_Analog_5dt.h.

Referenced by get_report(), reset(), and syncing().

◆ _expected_chars

unsigned vrpn_5dt::_expected_chars
protected

Definition at line 45 of file vrpn_Analog_5dt.h.

Referenced by get_report(), syncing(), and vrpn_5dt().

◆ _gotInfo

bool vrpn_5dt::_gotInfo
protected

Definition at line 41 of file vrpn_Analog_5dt.h.

Referenced by get_report(), and reset().

◆ _mode

int vrpn_5dt::_mode
protected

Definition at line 44 of file vrpn_Analog_5dt.h.

Referenced by get_report(), reset(), syncing(), and vrpn_5dt().

◆ _numchannels

int vrpn_5dt::_numchannels
protected

Definition at line 43 of file vrpn_Analog_5dt.h.

Referenced by clear_values(), and vrpn_5dt().

◆ _status

int vrpn_5dt::_status
protected

Definition at line 42 of file vrpn_Analog_5dt.h.

Referenced by get_report(), mainloop(), reset(), syncing(), and vrpn_5dt().

◆ _tenbytes

bool vrpn_5dt::_tenbytes
protected

Definition at line 48 of file vrpn_Analog_5dt.h.

Referenced by vrpn_5dt().

◆ _wireless

bool vrpn_5dt::_wireless
protected

Definition at line 40 of file vrpn_Analog_5dt.h.

Referenced by get_report(), mainloop(), reset(), syncing(), and vrpn_5dt().

◆ timestamp

struct timeval vrpn_5dt::timestamp
protected

Definition at line 50 of file vrpn_Analog_5dt.h.

Referenced by get_report(), mainloop(), report(), report_changes(), and reset().


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