#include <vrpn_3DMicroscribe.h>
Public Member Functions | |
vrpn_3DMicroscribe (const char *name, vrpn_Connection *c, const char *Port, long int BaudRate, float OffsetX=0.0f, float OffsetY=0.0f, float OffsetZ=0.0f, float Scale=1.0f) | |
~vrpn_3DMicroscribe () | |
virtual void | mainloop () |
Called once through each main loop iteration to handle updates. | |
virtual int | reset (void) |
Set device back to starting config. | |
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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. | |
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virtual void | set_momentary (vrpn_int32 which_button) |
virtual void | set_toggle (vrpn_int32 which_button, vrpn_int32 current_state) |
virtual void | set_all_momentary (void) |
virtual void | set_all_toggle (vrpn_int32 default_state) |
void | set_alerts (vrpn_int32) |
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vrpn_Button (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Button (void) |
void | print (void) |
Protected Member Functions | |
void | ConvertOriToQuat (float ori[3]) |
virtual void | clear_values (void) |
Set all buttons, analogs and encoders back to 0. | |
virtual int | get_report (void) |
Try to read reports from the device. Returns 1 if a complete report received, 0 otherwise. Sets status to current mode. | |
virtual void | report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
send report if changed | |
virtual void | report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
send report whether or not changed | |
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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() | |
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vrpn_Button_Filter (const char *, vrpn_Connection *c=NULL) | |
virtual vrpn_int32 | encode_states_to (char *buf) |
Encode a message describing the state of all buttons. | |
virtual void | report_changes (void) |
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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. | |
virtual void | report_states (void) |
virtual vrpn_int32 | encode_to (char *buf, vrpn_int32 button, vrpn_int32 state) |
Encode a message describing the new state of a button. | |
Protected Attributes | |
float | m_OffSet [3] |
float | m_Scale |
int | m_PortNumber |
port number | |
long int | m_BaudRate |
baud rate | |
int | _numbuttons |
How many buttons to open. | |
unsigned char | buf [512] |
Buffer of characters in report,. | |
int | bufpos |
Current char pos in buffer. | |
struct timeval | timestamp |
Time of the last report from the device. | |
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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. | |
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int | send_alerts |
vrpn_int32 | alert_message_id |
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unsigned char | buttons [vrpn_BUTTON_MAX_BUTTONS] |
unsigned char | lastbuttons [vrpn_BUTTON_MAX_BUTTONS] |
vrpn_int32 | minrate [vrpn_BUTTON_MAX_BUTTONS] |
vrpn_int32 | num_buttons |
struct timeval | timestamp |
vrpn_int32 | change_message_id |
vrpn_int32 | states_message_id |
vrpn_int32 | admin_message_id |
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 |
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vrpn_int32 | buttonstate [vrpn_BUTTON_MAX_BUTTONS] |
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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. | |
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static int VRPN_CALLBACK | handle_ping_message (void *userdata, vrpn_HANDLERPARAM p) |
Definition at line 11 of file vrpn_3DMicroscribe.h.
vrpn_3DMicroscribe::vrpn_3DMicroscribe | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | Port, | ||
long int | BaudRate, | ||
float | OffsetX = 0.0f, | ||
float | OffsetY = 0.0f, | ||
float | OffsetZ = 0.0f, | ||
float | Scale = 1.0f ) |
Definition at line 38 of file vrpn_3DMicroscribe.C.
References _numbuttons, clear_values(), m_BaudRate, m_OffSet, m_PortNumber, m_Scale, vrpn_Button::num_buttons, vrpn_Tracker::status, STATUS_RESETTING, timestamp, vrpn_Button_Filter::vrpn_Button_Filter(), vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_Tracker::vrpn_Tracker().
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inline |
Definition at line 22 of file vrpn_3DMicroscribe.h.
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protectedvirtual |
Set all buttons, analogs and encoders back to 0.
Definition at line 117 of file vrpn_3DMicroscribe.C.
Referenced by vrpn_3DMicroscribe().
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protected |
Definition at line 217 of file vrpn_3DMicroscribe.C.
References vrpn_Tracker::d_quat, pcos(), and psin().
Referenced by get_report().
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protectedvirtual |
Try to read reports from the device. Returns 1 if a complete report received, 0 otherwise. Sets status to current mode.
Definition at line 178 of file vrpn_3DMicroscribe.C.
References vrpn_Button::buttons, ConvertOriToQuat(), m_OffSet, m_Scale, MM_TO_METERS, vrpn_Tracker::pos, vrpn_Button_Filter::report_changes(), vrpn_Tracker::status, STATUS_READING, timestamp, vrpn_gettimeofday, and VRPN_MSG_ERROR.
Referenced by mainloop().
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virtual |
Called once through each main loop iteration to handle updates.
Implements vrpn_BaseClass.
Definition at line 285 of file vrpn_3DMicroscribe.C.
References get_report(), reset(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, STATUS_READING, STATUS_RESETTING, and STATUS_SYNCING.
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protectedvirtual |
send report whether or not changed
Definition at line 276 of file vrpn_3DMicroscribe.C.
References vrpn_Button::report_changes(), timestamp, and vrpn_Button::timestamp.
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protectedvirtual |
send report if changed
Definition at line 257 of file vrpn_3DMicroscribe.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), vrpn_Tracker::position_m_id, vrpn_Button::report_changes(), timestamp, vrpn_Button::timestamp, vrpn_Tracker::timestamp, and VRPN_MSG_ERROR.
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virtual |
Set device back to starting config.
Definition at line 123 of file vrpn_3DMicroscribe.C.
References vrpn_Tracker::status, STATUS_SYNCING, timestamp, vrpn_gettimeofday, and VRPN_MSG_ERROR.
Referenced by mainloop().
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How many buttons to open.
Definition at line 36 of file vrpn_3DMicroscribe.h.
Referenced by vrpn_3DMicroscribe().
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Buffer of characters in report,.
Definition at line 37 of file vrpn_3DMicroscribe.h.
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Current char pos in buffer.
Definition at line 38 of file vrpn_3DMicroscribe.h.
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Definition at line 30 of file vrpn_3DMicroscribe.h.
Referenced by get_report(), and vrpn_3DMicroscribe().
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Definition at line 31 of file vrpn_3DMicroscribe.h.
Referenced by get_report(), and vrpn_3DMicroscribe().
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Time of the last report from the device.
Definition at line 39 of file vrpn_3DMicroscribe.h.
Referenced by get_report(), report(), report_changes(), reset(), and vrpn_3DMicroscribe().