#include <vrpn_Tracker_isense.h>
Public Member Functions | |
vrpn_Tracker_InterSense (const char *name, vrpn_Connection *c, int commPort, const char *additional_reset_commands=NULL, int is900_timestamps=0, int reset_at_start=0) | |
~vrpn_Tracker_InterSense () | |
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. | |
virtual void | mainloop () |
This function should be called each time through the main loop of the server code. It polls for a report from the tracker and sends it if there is one. It will reset the tracker if there is no data from it for a few seconds. | |
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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) |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. | |
Protected Member Functions | |
virtual void | get_report (void) |
virtual void | reset () |
virtual void | send_report (void) |
int | set_sensor_output_format (int sensor) |
Augments the basic Fastrak format to include IS900 features if needed. | |
void | getTrackerInfo (char *msg) |
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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) |
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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. | |
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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 | |
char | add_reset_cmd [2048] |
int | m_CommPort |
ISD_TRACKER_HANDLE | m_Handle |
ISD_TRACKER_INFO_TYPE | m_TrackerInfo |
ISD_STATION_INFO_TYPE | m_StationInfo [ISD_MAX_STATIONS] |
int | do_is900_timestamps |
int | m_reset_at_start |
struct timeval | is900_zerotime |
vrpn_Button_Server * | is900_buttons [ISD_MAX_STATIONS] |
vrpn_Clipping_Analog_Server * | is900_analogs [ISD_MAX_STATIONS] |
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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_Pos * | unit2sensor |
vrpn_Tracker_Quat * | unit2sensor_quat |
unsigned | num_unit2sensors |
vrpn_float64 | workspace_min [3] |
vrpn_float64 | workspace_max [3] |
int | status |
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vrpn_Connection * | d_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 | |
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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) |
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bool | shutup |
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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. | |
Definition at line 26 of file vrpn_Tracker_isense.h.
vrpn_Tracker_InterSense::vrpn_Tracker_InterSense | ( | const char * | name, |
vrpn_Connection * | c, | ||
int | commPort, | ||
const char * | additional_reset_commands = NULL, | ||
int | is900_timestamps = 0, | ||
int | reset_at_start = 0 ) |
Definition at line 101 of file vrpn_Tracker_isense.C.
References add_reset_cmd, do_is900_timestamps, getTrackerInfo(), is900_analogs, is900_buttons, m_CommPort, m_Handle, m_reset_at_start, m_TrackerInfo, vrpn_Tracker::register_server_handlers(), set_sensor_output_format(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_gettimeofday, VRPN_MSG_INFO, vrpn_strcpy(), vrpn_Tracker::vrpn_Tracker(), vrpn_TRACKER_FAIL, and vrpn_TRACKER_SYNCING.
vrpn_Tracker_InterSense::~vrpn_Tracker_InterSense | ( | ) |
Definition at line 165 of file vrpn_Tracker_isense.C.
References is900_analogs, is900_buttons, and m_Handle.
int vrpn_Tracker_InterSense::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 563 of file vrpn_Tracker_isense.C.
References vrpn_BaseClassUnique::d_connection, is900_analogs, set_sensor_output_format(), vrpn_Clipping_Analog_Server, and VRPN_MSG_ERROR.
int vrpn_Tracker_InterSense::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 530 of file vrpn_Tracker_isense.C.
References vrpn_BaseClassUnique::d_connection, is900_buttons, set_sensor_output_format(), vrpn_Button_Server, and VRPN_MSG_ERROR.
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Definition at line 350 of file vrpn_Tracker_isense.C.
References vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, do_is900_timestamps, is900_analogs, is900_buttons, is900_zerotime, m_Handle, m_StationInfo, vrpn_Tracker::pos, send_report(), vrpn_Tracker::status, vrpn_Tracker::timestamp, VRPN_DEGREES_TO_RADIANS, vrpn_gettimeofday, vrpn_TimevalSum(), and vrpn_TRACKER_REPORT_READY.
Referenced by mainloop().
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Definition at line 35 of file vrpn_Tracker_isense.C.
References m_TrackerInfo.
Referenced by vrpn_Tracker_InterSense().
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This function should be called each time through the main loop of the server code. It polls for a report from the tracker and sends it if there is one. It will reset the tracker if there is no data from it for a few seconds.
Implements vrpn_BaseClass.
Definition at line 483 of file vrpn_Tracker_isense.C.
References get_report(), reset(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, VRPN_MSG_WARNING, vrpn_TRACKER_AWAITING_STATION, vrpn_TRACKER_FAIL, vrpn_TRACKER_PARTIAL, vrpn_TRACKER_RESETTING, and vrpn_TRACKER_SYNCING.
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Definition at line 269 of file vrpn_Tracker_isense.C.
References add_reset_cmd, vrpn_BaseClassUnique::d_servicename, do_is900_timestamps, is900_zerotime, m_CommPort, m_Handle, set_sensor_output_format(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_TRACKER_FAIL, and vrpn_TRACKER_SYNCING.
Referenced by mainloop().
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Definition at line 460 of file vrpn_Tracker_isense.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), vrpn_Tracker::position_m_id, vrpn_Tracker::timestamp, and vrpn_CONNECTION_LOW_LATENCY.
Referenced by get_report().
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Augments the basic Fastrak format to include IS900 features if needed.
This routine augments the basic sensor-output setting function of the Intersense 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.
Returns 0 on success and -1 on failure.
Definition at line 205 of file vrpn_Tracker_isense.C.
References do_is900_timestamps, is900_analogs, is900_buttons, m_Handle, m_reset_at_start, m_StationInfo, m_TrackerInfo, vrpn_Tracker::timestamp, vrpn_gettimeofday, and VRPN_MSG_WARNING.
Referenced by add_is900_analog(), add_is900_button(), reset(), and vrpn_Tracker_InterSense().
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Definition at line 62 of file vrpn_Tracker_isense.h.
Referenced by reset(), and vrpn_Tracker_InterSense().
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Definition at line 69 of file vrpn_Tracker_isense.h.
Referenced by get_report(), reset(), set_sensor_output_format(), and vrpn_Tracker_InterSense().
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Definition at line 74 of file vrpn_Tracker_isense.h.
Referenced by add_is900_analog(), get_report(), set_sensor_output_format(), vrpn_Tracker_InterSense(), and ~vrpn_Tracker_InterSense().
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Definition at line 73 of file vrpn_Tracker_isense.h.
Referenced by add_is900_button(), get_report(), set_sensor_output_format(), vrpn_Tracker_InterSense(), and ~vrpn_Tracker_InterSense().
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Definition at line 72 of file vrpn_Tracker_isense.h.
Referenced by get_report(), and reset().
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Definition at line 64 of file vrpn_Tracker_isense.h.
Referenced by reset(), and vrpn_Tracker_InterSense().
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Definition at line 65 of file vrpn_Tracker_isense.h.
Referenced by get_report(), reset(), set_sensor_output_format(), vrpn_Tracker_InterSense(), and ~vrpn_Tracker_InterSense().
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Definition at line 70 of file vrpn_Tracker_isense.h.
Referenced by set_sensor_output_format(), and vrpn_Tracker_InterSense().
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Definition at line 67 of file vrpn_Tracker_isense.h.
Referenced by get_report(), and set_sensor_output_format().
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Definition at line 66 of file vrpn_Tracker_isense.h.
Referenced by getTrackerInfo(), set_sensor_output_format(), and vrpn_Tracker_InterSense().