This class will turn a button device into a tracker by interpreting. More...
#include <vrpn_Tracker_ButtonFly.h>
Public Member Functions | |
vrpn_Tracker_ButtonFly (const char *name, vrpn_Connection *trackercon, vrpn_Tracker_ButtonFlyParam *params, float update_rate, bool reportChanges=VRPN_FALSE) | |
virtual | ~vrpn_Tracker_ButtonFly (void) |
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(). | |
virtual void | reset (void) |
Reset the current matrix to zero and store it into the tracker position/quaternion location. | |
void | update (q_matrix_type &) |
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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) |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. | |
Static Public Member Functions | |
static int VRPN_CALLBACK | handle_newConnection (void *, vrpn_HANDLERPARAM) |
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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) |
Protected Member Functions | |
void | update_matrix_based_on_values (double time_interval) |
void | convert_matrix_to_tracker (void) |
bool | shouldReport (double elapsedInterval) |
int | setup_channel (vrpn_TBF_fullaxis *full) |
int | teardown_channel (vrpn_TBF_fullaxis *full) |
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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. | |
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. | |
virtual int | encode_unit2sensor_to (char *buf) |
Encodes the "Unit to Sensor" transformation into the buffer specified. | |
virtual int | encode_workspace_to (char *buf) |
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virtual int | init (void) |
Initialize things that the constructor can't. Returns 0 on success, -1 on failure. | |
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. | |
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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. | |
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. | |
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. | |
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() | |
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() | |
Static Protected Member Functions | |
static void VRPN_CALLBACK | handle_velocity_update (void *userdata, const vrpn_ANALOGCB info) |
static void VRPN_CALLBACK | handle_rotation_update (void *userdata, const vrpn_ANALOGCB info) |
static void VRPN_CALLBACK | handle_button_update (void *userdata, const vrpn_BUTTONCB info) |
static void VRPN_CALLBACK | handle_reset_press (void *userdata, const vrpn_BUTTONCB info) |
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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. | |
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. | |
Protected Attributes | |
double | d_update_interval |
struct timeval | d_prevtime |
bool | d_reportChanges |
vrpn_TBF_fullaxis | d_axes [vrpn_BUTTONFLY_MAXAXES] |
int | d_num_axes |
vrpn_Analog_Remote * | d_vel_scale |
Analog device that scales the translation. | |
char | d_vel_scale_name [200] |
int | d_vel_scale_channel |
float | d_vel_scale_offset |
float | d_vel_scale_scale |
float | d_vel_scale_power |
float | d_vel_scale_value |
vrpn_Analog_Remote * | d_rot_scale |
Analog device that scales the rotation. | |
char | d_rot_scale_name [200] |
int | d_rot_scale_channel |
float | d_rot_scale_offset |
float | d_rot_scale_scale |
float | d_rot_scale_power |
float | d_rot_scale_value |
vrpn_Button_Remote * | d_reset_button |
Button that resets the transformation. | |
int | d_which_button |
q_matrix_type | d_initMatrix |
Initial, current, and velocity matrices for the tracker. | |
q_matrix_type | d_currentMatrix |
q_matrix_type | d_velMatrix |
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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 |
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vrpn_Connection * | d_connection |
Connection that this object talks to. | |
char * | d_servicename |
Name of this device, not including the connection part. | |
vrpn_int32 | d_sender_id |
Sender ID registered with the connection. | |
vrpn_int32 | d_text_message_id |
ID for text messages. | |
vrpn_int32 | d_ping_message_id |
Ask the server if they are there. | |
vrpn_int32 | d_pong_message_id |
Server telling that it is there. | |
Additional Inherited Members | |
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bool | shutup |
This class will turn a button device into a tracker by interpreting.
Definition at line 117 of file vrpn_Tracker_ButtonFly.h.
vrpn_Tracker_ButtonFly::vrpn_Tracker_ButtonFly | ( | const char * | name, |
vrpn_Connection * | trackercon, | ||
vrpn_Tracker_ButtonFlyParam * | params, | ||
float | update_rate, | ||
bool | reportChanges = VRPN_FALSE ) |
Definition at line 11 of file vrpn_Tracker_ButtonFly.C.
References vrpn_Tracker_ButtonFlyParam::axes, d_axes, d_num_axes, d_reportChanges, d_rot_scale, d_rot_scale_value, d_update_interval, d_vel_scale, d_vel_scale_value, vrpn_Tracker_ButtonFlyParam::num_axes, setup_channel(), vrpn_Tracker_ButtonFlyParam::vel_scale_name, vrpn_Connection, and vrpn_Tracker::vrpn_Tracker().
Referenced by handle_newConnection(), handle_rotation_update(), and handle_velocity_update().
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Definition at line 127 of file vrpn_Tracker_ButtonFly.C.
References d_axes, d_num_axes, d_rot_scale, d_vel_scale, handle_rotation_update(), handle_velocity_update(), and teardown_channel().
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Definition at line 464 of file vrpn_Tracker_ButtonFly.C.
References d_currentMatrix, vrpn_Tracker::d_quat, and vrpn_Tracker::pos.
Referenced by handle_button_update(), reset(), and update_matrix_based_on_values().
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Definition at line 277 of file vrpn_Tracker_ButtonFly.C.
References vrpn_TBF_axis::absolute, vrpn_TBF_fullaxis::active, vrpn_TBF_fullaxis::axis, vrpn_TBF_fullaxis::bf, vrpn_BUTTONCB::button, vrpn_TBF_axis::channel, convert_matrix_to_tracker(), d_currentMatrix, vrpn_TBF_axis::rot, vrpn_BUTTONCB::state, vrpn_BaseClassUnique::userdata, vrpn_TBF_axis::vec, and VRPN_PI.
Referenced by setup_channel(), and teardown_channel().
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Definition at line 330 of file vrpn_Tracker_ButtonFly.C.
References vrpn_BaseClassUnique::userdata, and vrpn_Tracker_ButtonFly().
Referenced by update().
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References vrpn_BaseClassUnique::userdata, and VRPN_CALLBACK.
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Definition at line 250 of file vrpn_Tracker_ButtonFly.C.
References vrpn_ANALOGCB::channel, d_rot_scale_channel, d_rot_scale_offset, d_rot_scale_power, d_rot_scale_scale, d_rot_scale_value, vrpn_BaseClassUnique::userdata, and vrpn_Tracker_ButtonFly().
Referenced by ~vrpn_Tracker_ButtonFly().
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Definition at line 224 of file vrpn_Tracker_ButtonFly.C.
References vrpn_ANALOGCB::channel, d_vel_scale_channel, d_vel_scale_offset, d_vel_scale_power, d_vel_scale_scale, d_vel_scale_value, vrpn_BaseClassUnique::userdata, and vrpn_Tracker_ButtonFly().
Referenced by ~vrpn_Tracker_ButtonFly().
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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 358 of file vrpn_Tracker_ButtonFly.C.
References d_axes, vrpn_BaseClassUnique::d_connection, d_num_axes, d_prevtime, d_rot_scale, vrpn_BaseClassUnique::d_sender_id, d_update_interval, d_vel_scale, vrpn_Tracker::encode_to(), vrpn_Tracker::position_m_id, vrpn_BaseClassUnique::server_mainloop(), shouldReport(), vrpn_Tracker::timestamp, update_matrix_based_on_values(), vrpn_CONNECTION_LOW_LATENCY, vrpn_gettimeofday, and vrpn_TimevalDurationSeconds().
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Reset the current matrix to zero and store it into the tracker position/quaternion location.
Definition at line 347 of file vrpn_Tracker_ButtonFly.C.
References convert_matrix_to_tracker(), d_currentMatrix, d_initMatrix, d_prevtime, and vrpn_gettimeofday.
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Definition at line 162 of file vrpn_Tracker_ButtonFly.C.
References vrpn_TBF_fullaxis::axis, vrpn_TBF_fullaxis::btn, vrpn_BaseClassUnique::d_connection, handle_button_update(), vrpn_TBF_axis::name, and vrpn_Button_Remote::register_change_handler().
Referenced by vrpn_Tracker_ButtonFly().
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Definition at line 479 of file vrpn_Tracker_ButtonFly.C.
References d_axes, d_num_axes, d_reportChanges, and d_update_interval.
Referenced by mainloop().
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Definition at line 198 of file vrpn_Tracker_ButtonFly.C.
References vrpn_TBF_fullaxis::btn, handle_button_update(), and vrpn_Button_Remote::unregister_change_handler().
Referenced by ~vrpn_Tracker_ButtonFly().
void vrpn_Tracker_ButtonFly::update | ( | q_matrix_type & | ) |
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Definition at line 427 of file vrpn_Tracker_ButtonFly.C.
References convert_matrix_to_tracker(), d_axes, d_currentMatrix, d_num_axes, d_rot_scale_value, d_vel_scale_value, and VRPN_PI.
Referenced by mainloop().
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Definition at line 139 of file vrpn_Tracker_ButtonFly.h.
Referenced by mainloop(), shouldReport(), update_matrix_based_on_values(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().
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Definition at line 165 of file vrpn_Tracker_ButtonFly.h.
Referenced by convert_matrix_to_tracker(), handle_button_update(), reset(), and update_matrix_based_on_values().
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Initial, current, and velocity matrices for the tracker.
Definition at line 165 of file vrpn_Tracker_ButtonFly.h.
Referenced by reset().
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Definition at line 140 of file vrpn_Tracker_ButtonFly.h.
Referenced by mainloop(), shouldReport(), update_matrix_based_on_values(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().
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Definition at line 136 of file vrpn_Tracker_ButtonFly.h.
Referenced by mainloop(), and reset().
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Definition at line 137 of file vrpn_Tracker_ButtonFly.h.
Referenced by shouldReport(), and vrpn_Tracker_ButtonFly().
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Button that resets the transformation.
Definition at line 161 of file vrpn_Tracker_ButtonFly.h.
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Analog device that scales the rotation.
Definition at line 152 of file vrpn_Tracker_ButtonFly.h.
Referenced by mainloop(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().
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Definition at line 154 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_rotation_update().
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Definition at line 153 of file vrpn_Tracker_ButtonFly.h.
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Definition at line 155 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_rotation_update().
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Definition at line 157 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_rotation_update().
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Definition at line 156 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_rotation_update().
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Definition at line 158 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_rotation_update(), update_matrix_based_on_values(), and vrpn_Tracker_ButtonFly().
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Definition at line 135 of file vrpn_Tracker_ButtonFly.h.
Referenced by mainloop(), shouldReport(), and vrpn_Tracker_ButtonFly().
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Analog device that scales the translation.
Definition at line 143 of file vrpn_Tracker_ButtonFly.h.
Referenced by mainloop(), vrpn_Tracker_ButtonFly(), and ~vrpn_Tracker_ButtonFly().
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Definition at line 145 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_velocity_update().
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Definition at line 144 of file vrpn_Tracker_ButtonFly.h.
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Definition at line 146 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_velocity_update().
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Definition at line 148 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_velocity_update().
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Definition at line 147 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_velocity_update().
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Definition at line 149 of file vrpn_Tracker_ButtonFly.h.
Referenced by handle_velocity_update(), update_matrix_based_on_values(), and vrpn_Tracker_ButtonFly().
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Definition at line 165 of file vrpn_Tracker_ButtonFly.h.
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Definition at line 162 of file vrpn_Tracker_ButtonFly.h.