16#define VRPN_TIMESTAMP_MEMBER _timestamp
21#define MAX_TCHANNELS 8
24#define PAUSE_RESET .015
26#define PAUSE_RESTORE 2.0
27#define PAUSE_BYTE .015
29#define DATA_RECORD_LENGTH 9
33#define STATUS_RESETTING (-1)
34#define STATUS_SYNCING (0)
35#define STATUS_READING (1)
36#define MAX_TIME_INTERVAL (2000000)
39static void pause (
double delay) {
42 unsigned long interval = (long) floor(1000000.0 * delay);
44 struct timeval start, now;
63 const int numchannels):
85 bDataPacketStart = 0x55;
126 bDataPacketStart = 0x55;
128 if (syncDatastream (2.0)) {
129 printf(
"vrpn_Tng3 found\n");
134 printf(
"TNG3B found\n");
161 unsigned int buttonBits = 0;
164 struct timeval timeout = {0, 0};
172 if (
_buffer[0] != bDataPacketStart) {
182 bDataPacketStart ^= 0xFF;
277 struct timeval current_time;
280 fprintf(stderr,
"TNG3 failed to read... current_time=%ld:%ld, timestamp=%ld:%ld\n",
281 current_time.tv_sec,
static_cast<long>(current_time.tv_usec),
290 fprintf(stderr,
"vrpn_Tng3: Unknown mode (internal error)\n");
299int vrpn_Tng3::syncDatastream (
double seconds) {
301 struct timeval miniDelay;
302 miniDelay.tv_sec = 0;
303 miniDelay.tv_usec = 50000;
305 unsigned long maxDelay = 1000000L * (long) seconds;
306 struct timeval start_time;
317 if ( bDataPacketStart != 0x55 && bDataPacketStart != 0xAA ) {
318 bDataPacketStart = 0x55;
327 struct timeval current_time;
331 fprintf(stderr,
"vrpn_Tng3::syncDatastream timeout expired: %d secs\n", (
int)seconds);
340 if (
_buffer[0] != bDataPacketStart) {
344 bDataPacketStart ^= 0xFF;
360 if (
_buffer[0] != bDataPacketStart) {
365 bDataPacketStart ^= 0xFF;
vrpn_float64 last[vrpn_CHANNEL_MAX]
vrpn_float64 channel[vrpn_CHANNEL_MAX]
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 ...
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 val...
void server_mainloop(void)
Handles functions that all servers should provide in their mainloop() (ping/pong, for example) Should...
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.
Generic connection class not specific to the transport mechanism.
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)
virtual int get_report(void)
struct timeval _timestamp
vrpn_Tng3(const char *name, vrpn_Connection *c, const char *port, int baud=19200, const int numbuttons=8, const int numchannels=8)
virtual void mainloop(void)
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
virtual void clear_values(void)
virtual void report(vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
unsigned char _buffer[512]
#define MAX_TIME_INTERVAL
All types of client/server/peer objects in VRPN should be derived from the vrpn_BaseClass type descri...
Header containing macros formerly duplicated in a lot of implementation files.
#define VRPN_MSG_WARNING(msg)
int vrpn_flush_input_buffer(int comm)
Throw out any characters within the input buffer.
int vrpn_read_available_characters(int comm, unsigned char *buffer, size_t bytes)
vrpn_Serial: Pulls all the serial port routines into one file to make porting to new operating system...
unsigned long vrpn_TimevalDuration(struct timeval endT, struct timeval startT)
Return number of microseconds between startT and endT.
#define vrpn_gettimeofday
#define DATA_RECORD_LENGTH