vrpn 07.35
Virtual Reality Peripheral Network
 
Loading...
Searching...
No Matches
vrpn_Analog_5dtUSB Class Reference

5th Dimension Technologies (5dt) "Ultra" USB data glove driver More...

#include <vrpn_Analog_5dtUSB.h>

Inheritance diagram for vrpn_Analog_5dtUSB:
Collaboration diagram for vrpn_Analog_5dtUSB:

Public Member Functions

virtual ~vrpn_Analog_5dtUSB ()
 Destructor.
 
virtual void mainloop ()
 Standard VRPN mainloop method.
 
std::string get_description () const
 Returns a string description of the device we've connected to. Used internally, but also possibly useful externally.
 
bool isLeftHand () const
 Accessor to know if this is a left hand glove.
 
bool isRightHand () const
 Accessor to know if this is a right hand glove.
 
- Public Member Functions inherited from vrpn_Analog
 vrpn_Analog (const char *name, vrpn_Connection *c=NULL)
 
void print (void)
 
vrpn_int32 getNumChannels (void) const
 
- 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

 vrpn_Analog_5dtUSB (vrpn_HidAcceptor *filter, int num_sensors, bool isLeftHand, const char *name, vrpn_Connection *c=0)
 Protected constructor: use a subclass to specify the glove variant to use.
 
void on_data_received (size_t bytes, vrpn_uint8 *buffer)
 Extracts the sensor values from each report.
 
void report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 Send report iff changed.
 
void report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY)
 Send report whether or not changed.
 
- Protected Member Functions inherited from vrpn_Analog
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
virtual vrpn_int32 encode_to (char *buf)
 
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 value with.
 
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 the value with.
 
- 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 Member Functions inherited from vrpn_HidInterface
void send_data (size_t bytes, const vrpn_uint8 *buffer)
 Call this to send data to the device.
 
void send_feature_report (size_t bytes, const vrpn_uint8 *buffer)
 Call this to send a feature report to the device - first byte must be Report ID (or 0x0 for devices without numbered reports)
 
int get_feature_report (size_t bytes, vrpn_uint8 *buffer)
 Call this to get a feature report from the device - first byte must be Report ID (or 0x0 for devices without numbered reports)
 
 vrpn_HidInterface (vrpn_HidAcceptor *acceptor, vrpn_uint16 vendor=0, vrpn_uint16 product=0, hid_device *device=NULL)
 Constructor If we already have a HID device from some other source, it can be passed and we'll take ownership: still need the acceptor for reconnect, we just won't do it right away.
 
 vrpn_HidInterface (vrpn_HidAcceptor *acceptor, hid_device *device)
 Simplified constructor that just takes an acceptor and an underlying HID device (both non-optional).
 
 vrpn_HidInterface (const char *device_path, vrpn_HidAcceptor *acceptor, vrpn_uint16 vendor=0, vrpn_uint16 product=0)
 Constructor If we already know the path to the device we want, we can pass it in and open it directly: still need the acceptor for reconnect enumeration, we just won't do it right away.
 
virtual ~vrpn_HidInterface ()
 
virtual bool connected () const
 Returns true iff the last device I/O succeeded.
 
virtual void update ()
 Polls the device buffers and causes on_data_received callbacks if appropriate You NEED to call this frequently to ensure the OS doesn't drop data.
 
virtual bool reconnect ()
 Tries to reconnect to an acceptable device. Call this if you suspect a hotplug event has occurred.
 
vrpn_uint16 vendor () const
 Returns USB vendor ID of connected device May not contain valid if an already-open device was provided to the constructor.
 
vrpn_uint16 product () const
 Returns USB product ID of connected device May not contain valid if an already-open device was provided to the constructor.
 
int interface_number () const
 Returns the USB interface number of connected device May not contain valid information on all platforms or if an already-open device was provided to the constructor.
 

Protected Attributes

struct timeval _timestamp
 Timestamp updated during mainloop()
 
double _rawVals [16]
 The raw values extracted from the report: which ones we use to set analog channels varies based on the kind of device this is.
 
bool _isLeftHand
 Flag for left handedness.
 
bool _wasConnected
 Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device.
 
- Protected Attributes inherited from vrpn_Analog
vrpn_float64 channel [vrpn_CHANNEL_MAX]
 
vrpn_float64 last [vrpn_CHANNEL_MAX]
 
vrpn_int32 num_channel
 
struct timeval timestamp
 
vrpn_int32 channel_m_id
 
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.
 
- Protected Attributes inherited from vrpn_HidInterface
vrpn_HidAcceptorm_acceptor
 This is the HidAcceptor we use when reconnecting.
 
bool m_working
 
vrpn_uint16 m_vendor
 
vrpn_uint16 m_product
 
int m_interface
 
vrpn_uint16 m_vendor_sought
 What vendor we want.
 
vrpn_uint16 m_product_sought
 What product we want.
 

Additional Inherited Members

- 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

5th Dimension Technologies (5dt) "Ultra" USB data glove driver

This supports connecting to 5dt gloves over USB that present a HID device interface. This includes the 5DT Data Glove 5 Ultra and the 5DT Data Glove 14 Ultra, as well as either of those using the wireless kit. (I, Ryan Pavlik, have only tested this with the 5DT Data Glove 5 Ultras since that's all I have access to, but support based on what I would expect from a 14-sensor glove is included.)

Each sensor's raw values are exposed as an analog channel (5 or 14) between 0.0 and 1.0. Note that there is pretty significant need for calibration since the used range within the entire representable range is pretty small and seemingly device-dependent. Your code will probably have to at least perform some scaling based on establishing a "min" and "max" for each sensor.

For serial 5dt glove access, see the vrpn_5DT16 (for the 16-sensor model) and vrpn_5dt (for the 5-sensor wired or wireless model, in vrpn_Analog_5dt.h) classes.

The inherited method vrpn_Analog::getNumChannels()

This base class does all the work: the inherited classes just create the right filters and input for the base class.

Definition at line 51 of file vrpn_Analog_5dtUSB.h.

Constructor & Destructor Documentation

◆ ~vrpn_Analog_5dtUSB()

vrpn_Analog_5dtUSB::~vrpn_Analog_5dtUSB ( )
virtual

Destructor.

Definition at line 77 of file vrpn_Analog_5dtUSB.C.

References vrpn_HidInterface::m_acceptor.

◆ vrpn_Analog_5dtUSB()

vrpn_Analog_5dtUSB::vrpn_Analog_5dtUSB ( vrpn_HidAcceptor * filter,
int num_sensors,
bool isLeftHand,
const char * name,
vrpn_Connection * c = 0 )
protected

Member Function Documentation

◆ get_description()

std::string vrpn_Analog_5dtUSB::get_description ( ) const

Returns a string description of the device we've connected to. Used internally, but also possibly useful externally.

Definition at line 85 of file vrpn_Analog_5dtUSB.C.

References vrpn_HidInterface::product().

Referenced by mainloop().

Here is the call graph for this function:

◆ isLeftHand()

bool vrpn_Analog_5dtUSB::isLeftHand ( ) const
inline

Accessor to know if this is a left hand glove.

Definition at line 64 of file vrpn_Analog_5dtUSB.h.

References _isLeftHand.

Referenced by vrpn_Analog_5dtUSB().

◆ isRightHand()

bool vrpn_Analog_5dtUSB::isRightHand ( ) const
inline

Accessor to know if this is a right hand glove.

Definition at line 67 of file vrpn_Analog_5dtUSB.h.

References _isLeftHand.

◆ mainloop()

void vrpn_Analog_5dtUSB::mainloop ( void )
virtual

◆ on_data_received()

void vrpn_Analog_5dtUSB::on_data_received ( size_t bytes,
vrpn_uint8 * buffer )
protectedvirtual

Extracts the sensor values from each report.

Implements vrpn_HidInterface.

Definition at line 111 of file vrpn_Analog_5dtUSB.C.

References _rawVals, vrpn_Analog::channel, vrpn_Analog::num_channel, report_changes(), vrpn_BaseClassUnique::send_text_message(), vrpn_gettimeofday, vrpn_TEXT_WARNING, and vrpn_unbuffer().

Here is the call graph for this function:

◆ report()

void vrpn_Analog_5dtUSB::report ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protected

Send report whether or not changed.

Definition at line 170 of file vrpn_Analog_5dtUSB.C.

References _timestamp, vrpn_Analog::report(), and vrpn_Analog::timestamp.

Here is the call graph for this function:

◆ report_changes()

void vrpn_Analog_5dtUSB::report_changes ( vrpn_uint32 class_of_service = vrpn_CONNECTION_LOW_LATENCY)
protected

Send report iff changed.

Definition at line 164 of file vrpn_Analog_5dtUSB.C.

References _timestamp, vrpn_Analog::report_changes(), and vrpn_Analog::timestamp.

Referenced by on_data_received().

Here is the call graph for this function:

Member Data Documentation

◆ _isLeftHand

bool vrpn_Analog_5dtUSB::_isLeftHand
protected

Flag for left handedness.

Definition at line 87 of file vrpn_Analog_5dtUSB.h.

Referenced by isLeftHand(), isRightHand(), and vrpn_Analog_5dtUSB().

◆ _rawVals

double vrpn_Analog_5dtUSB::_rawVals[16]
protected

The raw values extracted from the report: which ones we use to set analog channels varies based on the kind of device this is.

Definition at line 84 of file vrpn_Analog_5dtUSB.h.

Referenced by on_data_received().

◆ _timestamp

struct timeval vrpn_Analog_5dtUSB::_timestamp
protected

Timestamp updated during mainloop()

Definition at line 80 of file vrpn_Analog_5dtUSB.h.

Referenced by mainloop(), report(), report_changes(), and vrpn_Analog_5dtUSB().

◆ _wasConnected

bool vrpn_Analog_5dtUSB::_wasConnected
protected

Flag indicating whether we were connected last time through the mainloop. Used to send a "normal"-severity message when we connect with info on the device.

Definition at line 92 of file vrpn_Analog_5dtUSB.h.

Referenced by mainloop(), and vrpn_Analog_5dtUSB().


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