61 catch (...) {
return NULL; }
104 if (ret != 1) {
return 0; }
115 fprintf(stderr,
"vrpn_inertiamouse: Unknown command (%c), resetting\n",
buffer_[0]);
157 packet = (
buffer_[++nextchar] & 0xf0) << 8;
158 packet |= (
buffer_[++nextchar] & 0xf0) << 4;
159 packet |= (
buffer_[++nextchar] & 0xf0);
160 packet |= (
buffer_[++nextchar] & 0xf0) >> 4;
162 int chnl = (packet >> 10) & 7;
170 int acc = packet & 0x3ff;
174 double normval = ((double)(acc - 256) /
180 if ( (chnl == 4) || (chnl == 5) ) {
184 normval =
dcb_[chnl].filter (normval);
185 normval =
lp_[chnl].filter (normval);
192 double pos =
vel_[chnl] * dt + normval * dt * dt / 2;
194 vel_[chnl] += normval*dt;
195 if(fabs (
vel_[chnl]) < dt/2.0)
215 fprintf(stderr,
"vrpn_inertiamouse: Unknown [internal] command (%c), resetting\n",
buffer_[0]);
269 fprintf(stderr,
"vrpn_inertiamouse: Unknown mode (internal error)\n");
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)
static vrpn_inertiamouse * create(const char *name, vrpn_Connection *c, const char *port, int baud_rate)
virtual void report(vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
send report whether or not changed
virtual void clear_values(void)
virtual void mainloop()
Called once through each main loop iteration to handle updates.
static const double Vel_Decay
vrpn_inertiamouse(const char *name, vrpn_Connection *c, const char *port, int baud_rate)
virtual int get_report(void)
Try to read a report from the device. Returns 1 if complete report received, 0 otherwise....
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...
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...
#define vrpn_gettimeofday