vrpn
07.33
Virtual Reality Peripheral Network
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#include <vrpn_Poser_Tek4662.h>
Public Member Functions | |
vrpn_Poser_Tek4662 (const char *name, vrpn_Connection *c, const char *port, int baud=1200, int bits=8, vrpn_SER_PARITY parity=vrpn_SER_PARITY_NONE) | |
virtual | ~vrpn_Poser_Tek4662 () |
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(). More... | |
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vrpn_Poser (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Poser (void) |
void | p_print () |
void | p_print_vel () |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. More... | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. More... | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. More... | |
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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) |
Protected Member Functions | |
void | reset (void) |
void | run () |
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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. More... | |
virtual int | encode_to (char *buf) |
virtual int | encode_vel_to (char *buf) |
virtual void | set_pose (const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4]) |
virtual void | set_pose_relative (const struct timeval t, const vrpn_float64 position_delta[3], const vrpn_float64 quaternion[4]) |
virtual void | set_pose_velocity (const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval) |
virtual void | set_pose_velocity_relative (const struct timeval t, const vrpn_float64 velocity_delta[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval_delta) |
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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... | |
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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. 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... | |
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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. More... | |
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. More... | |
virtual int | encode_unit2sensor_to (char *buf) |
Encodes the "Unit to Sensor" transformation into the buffer specified. More... | |
virtual int | encode_workspace_to (char *buf) |
Static Protected Member Functions | |
static int VRPN_CALLBACK | handle_change_message (void *userdata, vrpn_HANDLERPARAM p) |
static int VRPN_CALLBACK | handle_vel_change_message (void *userdata, vrpn_HANDLERPARAM p) |
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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. 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... | |
Protected Attributes | |
int | d_serial_fd |
unsigned char | d_inbuf [1024] |
int | d_inbufcounter |
float | d_newx |
float | d_newy |
bool | d_new_location_requested |
int | d_outstanding_requests |
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vrpn_int32 | req_position_m_id |
vrpn_int32 | req_position_relative_m_id |
vrpn_int32 | req_velocity_m_id |
vrpn_int32 | req_velocity_relative_m_id |
vrpn_float64 | p_pos [3] |
vrpn_float64 | p_quat [4] |
vrpn_float64 | p_vel [3] |
vrpn_float64 | p_vel_quat [4] |
vrpn_float64 | p_vel_quat_dt |
struct timeval | p_timestamp |
vrpn_float64 | p_pos_min [3] |
vrpn_float64 | p_pos_max [3] |
vrpn_float64 | p_pos_rot_min [3] |
vrpn_float64 | p_pos_rot_max [3] |
vrpn_float64 | p_vel_min [3] |
vrpn_float64 | p_vel_max [3] |
vrpn_float64 | p_vel_rot_min [3] |
vrpn_float64 | p_vel_rot_max [3] |
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vrpn_Connection * | d_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... | |
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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 |
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 |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
Definition at line 24 of file vrpn_Poser_Tek4662.h.
vrpn_Poser_Tek4662::vrpn_Poser_Tek4662 | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | port, | ||
int | baud = 1200 , |
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int | bits = 8 , |
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vrpn_SER_PARITY | parity = vrpn_SER_PARITY_NONE |
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Definition at line 55 of file vrpn_Poser_Tek4662.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, d_serial_fd, handle_change_message(), handle_vel_change_message(), MAX_X, MAX_Y, vrpn_Poser::p_pos_max, vrpn_Poser::p_pos_min, vrpn_Poser::p_pos_rot_max, vrpn_Poser::p_pos_rot_min, vrpn_Poser::p_vel_max, vrpn_Poser::p_vel_min, vrpn_Poser::p_vel_rot_max, vrpn_Poser::p_vel_rot_min, vrpn_BaseClassUnique::register_autodeleted_handler(), vrpn_Poser::req_position_m_id, vrpn_Poser::req_velocity_m_id, vrpn_Tracker::status, vrpn_Tracker::timestamp, VELOCITY, vrpn_gettimeofday, vrpn_open_commport(), vrpn_Poser_Tek4662_FAIL, and vrpn_Poser_Tek4662_RESETTING.
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Definition at line 118 of file vrpn_Poser_Tek4662.C.
References d_serial_fd, and vrpn_close_commport().
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Definition at line 384 of file vrpn_Poser_Tek4662.C.
References vrpn_HANDLERPARAM::buffer, d_new_location_requested, vrpn_HANDLERPARAM::msg_time, vrpn_Poser::p_pos, vrpn_Poser::p_pos_max, vrpn_Poser::p_pos_min, vrpn_Poser::p_quat, vrpn_Poser::p_timestamp, vrpn_HANDLERPARAM::payload_len, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Poser_Tek4662().
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Definition at line 422 of file vrpn_Poser_Tek4662.C.
References vrpn_HANDLERPARAM::buffer, vrpn_HANDLERPARAM::msg_time, vrpn_Poser::p_timestamp, vrpn_Poser::p_vel, vrpn_Poser::p_vel_max, vrpn_Poser::p_vel_min, vrpn_Poser::p_vel_quat, vrpn_Poser::p_vel_quat_dt, vrpn_HANDLERPARAM::payload_len, vrpn_BaseClassUnique::userdata, and vrpn_unbuffer().
Referenced by vrpn_Poser_Tek4662().
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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 357 of file vrpn_Poser_Tek4662.C.
References reset(), run(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, vrpn_Poser_Tek4662_FAIL, vrpn_Poser_Tek4662_RESETTING, vrpn_Poser_Tek4662_RUNNING, and vrpn_Poser_Tek4662_SYNCING.
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Definition at line 161 of file vrpn_Poser_Tek4662.C.
References d_serial_fd, DATA_RECORD_LENGTH, GIN, PLOTTER_ON, RESET, vrpn_Tracker::timestamp, vrpn_drain_output_buffer(), vrpn_flush_input_buffer(), vrpn_flush_output_buffer(), vrpn_gettimeofday, vrpn_read_available_characters(), vrpn_SleepMsecs(), vrpn_write_characters(), and ZEROES.
Referenced by mainloop().
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Definition at line 223 of file vrpn_Poser_Tek4662.C.
References COUNTS_PER_METER, d_inbuf, d_inbufcounter, d_new_location_requested, d_outstanding_requests, d_serial_fd, DATA_RECORD_LENGTH, GIN, LOWFIVEBITS, LOWTWOBITS, MOVE_TEMPLATE, vrpn_Poser::p_pos, vrpn_BaseClassUnique::send_text_message(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_gettimeofday, vrpn_Poser_Tek4662_RESETTING, vrpn_Poser_Tek4662_RUNNING, vrpn_Poser_Tek4662_SYNCING, vrpn_read_available_characters(), vrpn_TEXT_ERROR, and vrpn_write_characters().
Referenced by mainloop().
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Definition at line 36 of file vrpn_Poser_Tek4662.h.
Referenced by run().
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Definition at line 37 of file vrpn_Poser_Tek4662.h.
Referenced by run().
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Definition at line 40 of file vrpn_Poser_Tek4662.h.
Referenced by handle_change_message(), and run().
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Definition at line 39 of file vrpn_Poser_Tek4662.h.
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Definition at line 39 of file vrpn_Poser_Tek4662.h.
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Definition at line 41 of file vrpn_Poser_Tek4662.h.
Referenced by run().
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Definition at line 35 of file vrpn_Poser_Tek4662.h.
Referenced by reset(), run(), vrpn_Poser_Tek4662(), and ~vrpn_Poser_Tek4662().