vrpn 07.35
Virtual Reality Peripheral Network
 
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vrpn_Tracker_Fastrak Class Reference

#include <vrpn_Tracker_Fastrak.h>

Inheritance diagram for vrpn_Tracker_Fastrak:
Collaboration diagram for vrpn_Tracker_Fastrak:

Public Member Functions

 vrpn_Tracker_Fastrak (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=19200, int enable_filtering=1, int numstations=vrpn_FASTRAK_MAX_STATIONS, const char *additional_reset_commands=NULL, int is900_timestamps=0)
 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 name of the serial port it is to open (default is /dev/ttyS1 (first serial port in Linux)), the baud rate at which it is to communicate (default 19200), whether filtering is enabled (default yes), and the number of stations that are possible on this Fastrak (default 4). The station select switches on the front of the Fastrak determine which stations are active. 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 Fastrak manual for a list of these. There can be multiple lines of them but putting <CR> into the string.
 
 ~vrpn_Tracker_Fastrak ()
 
int add_fastrak_stylus_button (const char *button_device_name, int sensor, int numbuttons=1)
 
int add_is900_button (const char *button_device_name, int sensor, int numbuttons=5)
 Add an IS900 button device to one of the sensors This allows configuration of an InterSense IS-900.
 
int add_is900_analog (const char *analog_device_name, int sensor, double c0Min=-1, double c0Low=0, double c0Hi=0, double c0Max=1, double c1Min=-1, double c1Low=0, double c1Hi=0, double c1Max=1)
 Add the analog part of an IS900 joystick device to one of the sensors This allows configuration of an InterSense IS-900 The optional parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled.
 
- Public Member Functions inherited from vrpn_Tracker_Serial
 vrpn_Tracker_Serial (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=38400)
 
virtual ~vrpn_Tracker_Serial ()
 
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 a report if one is available, returns 0 if not, 1 if complete report.
 
virtual void reset ()
 Reset the tracker.
 
int set_sensor_output_format (int sensor)
 Augments the basic Fastrak format to include IS900 features if needed.
 
int report_length (int sensor)
 Augments the basic Fastrak report length to include IS900 features if needed.
 
- Protected Member Functions inherited from vrpn_Tracker_Serial
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

struct timeval reset_time
 
int do_filter
 
int num_stations
 
char add_reset_cmd [2048]
 
int num_resets
 
bool really_fastrak
 
int do_is900_timestamps
 
struct timeval is900_zerotime
 
vrpn_Button_Serveris900_buttons [vrpn_FASTRAK_MAX_STATIONS]
 
vrpn_Clipping_Analog_Serveris900_analogs [vrpn_FASTRAK_MAX_STATIONS]
 
vrpn_uint32 REPORT_LEN
 
- Protected Attributes inherited from vrpn_Tracker_Serial
char portname [VRPN_TRACKER_BUF_SIZE]
 
long baudrate
 
int serial_fd
 
unsigned char buffer [VRPN_TRACKER_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 29 of file vrpn_Tracker_Fastrak.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_Fastrak()

vrpn_Tracker_Fastrak::vrpn_Tracker_Fastrak ( const char * name,
vrpn_Connection * c,
const char * port = "/dev/ttyS1",
long baud = 19200,
int enable_filtering = 1,
int numstations = vrpn_FASTRAK_MAX_STATIONS,
const char * additional_reset_commands = NULL,
int is900_timestamps = 0 )

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 name of the serial port it is to open (default is /dev/ttyS1 (first serial port in Linux)), the baud rate at which it is to communicate (default 19200), whether filtering is enabled (default yes), and the number of stations that are possible on this Fastrak (default 4). The station select switches on the front of the Fastrak determine which stations are active. 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 Fastrak manual for a list of these. There can be multiple lines of them but putting <CR> into the string.

Definition at line 31 of file vrpn_Tracker_Fastrak.C.

References add_reset_cmd, do_filter, do_is900_timestamps, is900_analogs, is900_buttons, num_resets, num_stations, really_fastrak, reset_time, vrpn_Connection, vrpn_FASTRAK_MAX_STATIONS, vrpn_strcpy(), and vrpn_Tracker_Serial::vrpn_Tracker_Serial().

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◆ ~vrpn_Tracker_Fastrak()

vrpn_Tracker_Fastrak::~vrpn_Tracker_Fastrak ( )

Definition at line 62 of file vrpn_Tracker_Fastrak.C.

References is900_analogs, is900_buttons, and num_stations.

Member Function Documentation

◆ add_fastrak_stylus_button()

int vrpn_Tracker_Fastrak::add_fastrak_stylus_button ( const char * button_device_name,
int sensor,
int numbuttons = 1 )

◆ add_is900_analog()

int vrpn_Tracker_Fastrak::add_is900_analog ( const char * analog_device_name,
int sensor,
double c0Min = -1,
double c0Low = 0,
double c0Hi = 0,
double c0Max = 1,
double c1Min = -1,
double c1Low = 0,
double c1Hi = 0,
double c1Max = 1 )

Add the analog part of an IS900 joystick device to one of the sensors This allows configuration of an InterSense IS-900 The optional parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled.

This function indicates to the driver that there is an InterSense IS-900- compatible joystick device attached to the port (a Wand).

The driver will configure the device to send reports indicating the current status of the analogs when they change. Note that a separate call to add_is900_button must be made in order to enable the buttons on the wand: this routine only handles the analog channels.

The c0 and c1 parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled.

This routine returns 0 on success and -1 on failure (due to the sensor number being too large or errors writing to the device or can't create the analog).

Definition at line 763 of file vrpn_Tracker_Fastrak.C.

References vrpn_BaseClassUnique::d_connection, is900_analogs, num_stations, set_sensor_output_format(), vrpn_Clipping_Analog_Server, and VRPN_MSG_ERROR.

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◆ add_is900_button()

int vrpn_Tracker_Fastrak::add_is900_button ( const char * button_device_name,
int sensor,
int numbuttons = 5 )

Add an IS900 button device to one of the sensors This allows configuration of an InterSense IS-900.

This function indicates to the driver that there is some sort of InterSense IS-900- compatible button device attached to the port (either a Wand or a Stylus).

The driver will configure the device to send reports when buttons are pressed and released.

This routine returns 0 on success and -1 on failure (due to the sensor number being too large or errors writing to the device or can't create the button).

Definition at line 705 of file vrpn_Tracker_Fastrak.C.

References vrpn_BaseClassUnique::d_connection, is900_buttons, num_stations, set_sensor_output_format(), vrpn_Button_Server, and VRPN_MSG_ERROR.

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◆ get_report()

◆ report_length()

int vrpn_Tracker_Fastrak::report_length ( int sensor)
protected

Augments the basic Fastrak report length to include IS900 features if needed.

This routine augments the standard Fastrak report (3 initial characters + 3*4 for position + 4*4 for quaternions) to include the timestamp, button or analog response, if any, for the given sensor.

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

Definition at line 137 of file vrpn_Tracker_Fastrak.C.

References do_is900_timestamps, is900_analogs, is900_buttons, and really_fastrak.

Referenced by get_report().

◆ reset()

◆ set_sensor_output_format()

int vrpn_Tracker_Fastrak::set_sensor_output_format ( int sensor)
protected

Augments the basic Fastrak format to include IS900 features if needed.

This routine augments the basic sensor-output setting function of the Fastrak to allow the possibility of requesting timestamp, button data, and/or analog data from the device.

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 91 of file vrpn_Tracker_Fastrak.C.

References do_is900_timestamps, is900_analogs, is900_buttons, really_fastrak, vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, VRPN_MSG_ERROR, vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, and vrpn_write_characters().

Referenced by add_fastrak_stylus_button(), add_is900_analog(), add_is900_button(), and reset().

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Member Data Documentation

◆ add_reset_cmd

char vrpn_Tracker_Fastrak::add_reset_cmd[2048]
protected

Definition at line 79 of file vrpn_Tracker_Fastrak.h.

Referenced by reset(), and vrpn_Tracker_Fastrak().

◆ do_filter

int vrpn_Tracker_Fastrak::do_filter
protected

Definition at line 77 of file vrpn_Tracker_Fastrak.h.

Referenced by reset(), and vrpn_Tracker_Fastrak().

◆ do_is900_timestamps

int vrpn_Tracker_Fastrak::do_is900_timestamps
protected

◆ is900_analogs

◆ is900_buttons

◆ is900_zerotime

struct timeval vrpn_Tracker_Fastrak::is900_zerotime
protected

Definition at line 89 of file vrpn_Tracker_Fastrak.h.

Referenced by get_report(), and reset().

◆ num_resets

int vrpn_Tracker_Fastrak::num_resets
protected

Definition at line 80 of file vrpn_Tracker_Fastrak.h.

Referenced by reset(), and vrpn_Tracker_Fastrak().

◆ num_stations

int vrpn_Tracker_Fastrak::num_stations
protected

◆ really_fastrak

bool vrpn_Tracker_Fastrak::really_fastrak
protected

◆ REPORT_LEN

vrpn_uint32 vrpn_Tracker_Fastrak::REPORT_LEN
protected

Definition at line 92 of file vrpn_Tracker_Fastrak.h.

Referenced by get_report().

◆ reset_time

struct timeval vrpn_Tracker_Fastrak::reset_time
protected

Definition at line 76 of file vrpn_Tracker_Fastrak.h.

Referenced by vrpn_Tracker_Fastrak().


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