vrpn 07.35
Virtual Reality Peripheral Network
 
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vrpn_Tracker_LibertyHS Class Reference

#include <vrpn_Tracker_LibertyHS.h>

Inheritance diagram for vrpn_Tracker_LibertyHS:
Collaboration diagram for vrpn_Tracker_LibertyHS:

Public Member Functions

 vrpn_Tracker_LibertyHS (const char *name, vrpn_Connection *c, long baud=115200, int enable_filtering=1, int numstations=vrpn_LIBERTYHS_MAX_STATIONS, int receptoridx=1, const char *additional_reset_commands=NULL, int whoamilen=288)
 The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the baud rate at which it is to communicate (default 115200), whether filtering is enabled (default yes), the number of stations that are possible on this LibertyHS (default 8) and the receptor used to launch the stations (default 1). The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Liberty Latus manual for a list of these. There can be multiple lines of them but putting <CR> into the string.
 
 ~vrpn_Tracker_LibertyHS ()
 
- Public Member Functions inherited from vrpn_Tracker_USB
 vrpn_Tracker_USB (const char *name, vrpn_Connection *c, vrpn_uint16 vendor, vrpn_uint16 product, long baud=115200)
 
virtual ~vrpn_Tracker_USB ()
 
virtual void mainloop ()
 Uses the get_report, send_report, and reset routines to implement a server.
 
- Public Member Functions inherited from vrpn_Tracker
 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)
 
- 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.
 
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.
 
vrpn_ConnectionconnectionPtr ()
 Returns a pointer to the connection this object is using.
 

Protected Member Functions

virtual int get_report (void)
 Gets reports if some are available, returns 0 if not, 1 if complete report(s).
 
virtual void reset ()
 Reset the tracker.
 
int set_sensor_output_format (int sensor=-1)
 Augments the basic LibertyHS format.
 
int report_length (int sensor)
 Augments the basic LibertyHS report length.
 
int write_usb_data (void *data, int len)
 Writes len bytes from data buffer to USB device.
 
int read_usb_data (void *data, int maxlen, unsigned int timeout=50)
 Reads at most maxlen bytes from USB device and copy them into data buffer. Returns the number of read bytes. The maximum period in milliseconds to wait for reading USB data is defined by parameter timeout.
 
void flush_usb_data ()
 Empties the USB read buffer.
 
int test_markers ()
 Launches num_stations markers using receptor receptor_index to detect them.
 
int launch_markers ()
 Returns the number of detected and lauched trackers.
 
- Protected Member Functions inherited from vrpn_Tracker_USB
virtual void send_report (void)
 
- Protected Member Functions inherited from vrpn_Tracker
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)
 
- 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.
 
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.
 
- 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.
 
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()
 

Protected Attributes

int do_filter
 
int num_stations
 
int receptor_index
 
int num_resets
 
char add_reset_cmd [2048]
 
int whoami_len
 
int read_len
 
int sync_index
 
struct timeval liberty_zerotime
 
struct timeval liberty_timestamp
 
vrpn_uint32 REPORT_LEN
 
- Protected Attributes inherited from vrpn_Tracker_USB
struct libusb_device_handle * _device_handle
 
struct libusb_context * _context
 
vrpn_uint16 _vendor
 
vrpn_uint16 _product
 
long _baudrate
 
vrpn_uint8 buffer [VRPN_TRACKER_USB_BUF_SIZE]
 
vrpn_uint32 bufcount
 
- Protected Attributes inherited from vrpn_Tracker
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_Posunit2sensor
 
vrpn_Tracker_Quatunit2sensor_quat
 
unsigned num_unit2sensors
 
vrpn_float64 workspace_min [3]
 
vrpn_float64 workspace_max [3]
 
int status
 
- Protected Attributes inherited from vrpn_BaseClassUnique
vrpn_Connectiond_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

- Static Public Member Functions inherited from vrpn_Tracker
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)
 
- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 
- 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.
 
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.
 

Detailed Description

Definition at line 34 of file vrpn_Tracker_LibertyHS.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_LibertyHS()

vrpn_Tracker_LibertyHS::vrpn_Tracker_LibertyHS ( const char * name,
vrpn_Connection * c,
long baud = 115200,
int enable_filtering = 1,
int numstations = vrpn_LIBERTYHS_MAX_STATIONS,
int receptoridx = 1,
const char * additional_reset_commands = NULL,
int whoamilen = 288 )

The constructor is given the name of the tracker (the name of the sender it should use), the connection on which it is to send its messages, the baud rate at which it is to communicate (default 115200), whether filtering is enabled (default yes), the number of stations that are possible on this LibertyHS (default 8) and the receptor used to launch the stations (default 1). The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Liberty Latus manual for a list of these. There can be multiple lines of them but putting <CR> into the string.

Definition at line 30 of file vrpn_Tracker_LibertyHS.C.

References add_reset_cmd, do_filter, num_resets, num_stations, read_len, receptor_index, sync_index, vrpn_Connection, vrpn_LIBERTYHS_MAX_STATIONS, vrpn_LIBERTYHS_MAX_WHOAMI_LEN, vrpn_strcpy(), vrpn_Tracker_USB::vrpn_Tracker_USB(), and whoami_len.

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◆ ~vrpn_Tracker_LibertyHS()

vrpn_Tracker_LibertyHS::~vrpn_Tracker_LibertyHS ( )

Definition at line 50 of file vrpn_Tracker_LibertyHS.C.

References flush_usb_data(), vrpn_SleepMsecs(), and write_usb_data().

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Member Function Documentation

◆ flush_usb_data()

void vrpn_Tracker_LibertyHS::flush_usb_data ( )
protected

Empties the USB read buffer.

Definition at line 161 of file vrpn_Tracker_LibertyHS.C.

References read_usb_data(), and VRPN_TRACKER_USB_BUF_SIZE.

Referenced by launch_markers(), reset(), test_markers(), and ~vrpn_Tracker_LibertyHS().

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◆ get_report()

◆ launch_markers()

int vrpn_Tracker_LibertyHS::launch_markers ( )
protected

Returns the number of detected and lauched trackers.

Definition at line 741 of file vrpn_Tracker_LibertyHS.C.

References flush_usb_data(), num_stations, receptor_index, test_markers(), vrpn_SleepMsecs(), and write_usb_data().

Referenced by reset().

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◆ read_usb_data()

int vrpn_Tracker_LibertyHS::read_usb_data ( void * data,
int maxlen,
unsigned int timeout = 50 )
protected

Reads at most maxlen bytes from USB device and copy them into data buffer. Returns the number of read bytes. The maximum period in milliseconds to wait for reading USB data is defined by parameter timeout.

Definition at line 137 of file vrpn_Tracker_LibertyHS.C.

References vrpn_Tracker_USB::_device_handle, and read_len.

Referenced by flush_usb_data(), get_report(), reset(), and test_markers().

◆ report_length()

int vrpn_Tracker_LibertyHS::report_length ( int sensor)
protected

Augments the basic LibertyHS report length.

This routine augments the standard LibertyHS report (3 initial characters + 3*4 for position + 4*4 for quaternions) to include the timestamp for the given sensor.

It returns the number of characters total to expect for a report for the given sensor.

Definition at line 110 of file vrpn_Tracker_LibertyHS.C.

Referenced by get_report().

◆ reset()

◆ set_sensor_output_format()

int vrpn_Tracker_LibertyHS::set_sensor_output_format ( int sensor = -1)
protected

Augments the basic LibertyHS format.

This routine augments the basic sensor-output setting function of the LibertyHS It sets the device for position + quaternion + any of the extended fields. It puts a space at the end so that we can check to make sure we have complete good records for each report.

Returns 0 on success and -1 on failure.

Definition at line 69 of file vrpn_Tracker_LibertyHS.C.

References vrpn_Tracker::status, vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, and write_usb_data().

Referenced by reset().

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◆ test_markers()

int vrpn_Tracker_LibertyHS::test_markers ( )
protected

Launches num_stations markers using receptor receptor_index to detect them.

Definition at line 699 of file vrpn_Tracker_LibertyHS.C.

References flush_usb_data(), read_usb_data(), vrpn_LIBERTYHS_MAX_MARKERMAP_LEN, vrpn_LIBERTYHS_MAX_STATIONS, vrpn_SleepMsecs(), and write_usb_data().

Referenced by launch_markers().

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◆ write_usb_data()

int vrpn_Tracker_LibertyHS::write_usb_data ( void * data,
int len )
protected

Writes len bytes from data buffer to USB device.

Definition at line 124 of file vrpn_Tracker_LibertyHS.C.

References vrpn_Tracker_USB::_device_handle.

Referenced by launch_markers(), reset(), set_sensor_output_format(), test_markers(), and ~vrpn_Tracker_LibertyHS().

Member Data Documentation

◆ add_reset_cmd

char vrpn_Tracker_LibertyHS::add_reset_cmd[2048]
protected

Definition at line 68 of file vrpn_Tracker_LibertyHS.h.

Referenced by reset(), and vrpn_Tracker_LibertyHS().

◆ do_filter

int vrpn_Tracker_LibertyHS::do_filter
protected

Definition at line 64 of file vrpn_Tracker_LibertyHS.h.

Referenced by reset(), and vrpn_Tracker_LibertyHS().

◆ liberty_timestamp

struct timeval vrpn_Tracker_LibertyHS::liberty_timestamp
protected

Definition at line 74 of file vrpn_Tracker_LibertyHS.h.

◆ liberty_zerotime

struct timeval vrpn_Tracker_LibertyHS::liberty_zerotime
protected

Definition at line 73 of file vrpn_Tracker_LibertyHS.h.

Referenced by get_report(), and reset().

◆ num_resets

int vrpn_Tracker_LibertyHS::num_resets
protected

Definition at line 67 of file vrpn_Tracker_LibertyHS.h.

Referenced by reset(), and vrpn_Tracker_LibertyHS().

◆ num_stations

int vrpn_Tracker_LibertyHS::num_stations
protected

Definition at line 65 of file vrpn_Tracker_LibertyHS.h.

Referenced by get_report(), launch_markers(), reset(), and vrpn_Tracker_LibertyHS().

◆ read_len

int vrpn_Tracker_LibertyHS::read_len
protected

Definition at line 70 of file vrpn_Tracker_LibertyHS.h.

Referenced by get_report(), read_usb_data(), and vrpn_Tracker_LibertyHS().

◆ receptor_index

int vrpn_Tracker_LibertyHS::receptor_index
protected

Definition at line 66 of file vrpn_Tracker_LibertyHS.h.

Referenced by launch_markers(), and vrpn_Tracker_LibertyHS().

◆ REPORT_LEN

vrpn_uint32 vrpn_Tracker_LibertyHS::REPORT_LEN
protected

Definition at line 75 of file vrpn_Tracker_LibertyHS.h.

Referenced by get_report().

◆ sync_index

int vrpn_Tracker_LibertyHS::sync_index
protected

Definition at line 71 of file vrpn_Tracker_LibertyHS.h.

Referenced by get_report(), and vrpn_Tracker_LibertyHS().

◆ whoami_len

int vrpn_Tracker_LibertyHS::whoami_len
protected

Definition at line 69 of file vrpn_Tracker_LibertyHS.h.

Referenced by reset(), and vrpn_Tracker_LibertyHS().


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