vrpn 07.35
Virtual Reality Peripheral Network
 
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vrpn_Tracker_NDI_Polaris Class Reference

#include <vrpn_Tracker_NDI_Polaris.h>

Inheritance diagram for vrpn_Tracker_NDI_Polaris:
Collaboration diagram for vrpn_Tracker_NDI_Polaris:

Public Member Functions

 vrpn_Tracker_NDI_Polaris (const char *name, vrpn_Connection *c, const char *port, int numOfRigidBodies, const char **rigidBodyNDIRomFileNames)
 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. The final two parameters are the number of rigid bodies to track, and a pointer to an array of strings containing the filenames of the the .rom file for each rigid body.
 
 ~vrpn_Tracker_NDI_Polaris ()
 
virtual void mainloop ()
 Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().
 
- 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 Types

enum  { NDI_ROMFILE_CHUNK_SIZE =64 }
 
enum  { MAX_NDI_ROM_FILE_SIZE_IN_BYTES =1024 }
 
enum  { MAX_NDI_RESPONSE_LENGTH =300 }
 
enum  { VRPN_MSGBUFSIZE =1024 }
 

Protected Member Functions

virtual int get_report (void)
 
virtual void send_report (void)
 
void sendCommand (const char *commandString)
 
int readResponse ()
 
int convertBinaryFileToAsciiEncodedHex (const char *filename, char *asciiEncodedHexStr)
 
unsigned int parse2CharIntFromNDIResponse (unsigned char *str, int *strIndexPtr=NULL)
 
float parse6CharFloatFromNDIResponse (unsigned char *str, int *strIndexPtr)
 
float parse7CharFloatFromNDIResponse (unsigned char *str, int *strIndexPtr)
 
int setupOneTool (const char *NDIToolRomFilename)
 
void switchToHigherBaudRate (const char *port)
 
- 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 serialFd
 
int numOfRigidBodies
 
unsigned char latestResponseStr [MAX_NDI_RESPONSE_LENGTH]
 
- 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 77 of file vrpn_Tracker_NDI_Polaris.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
protected
Enumerator
MAX_NDI_RESPONSE_LENGTH 

Definition at line 103 of file vrpn_Tracker_NDI_Polaris.h.

◆ anonymous enum

anonymous enum
protected
Enumerator
VRPN_MSGBUFSIZE 

Definition at line 104 of file vrpn_Tracker_NDI_Polaris.h.

◆ anonymous enum

anonymous enum
protected
Enumerator
NDI_ROMFILE_CHUNK_SIZE 

Definition at line 101 of file vrpn_Tracker_NDI_Polaris.h.

◆ anonymous enum

anonymous enum
protected
Enumerator
MAX_NDI_ROM_FILE_SIZE_IN_BYTES 

Definition at line 102 of file vrpn_Tracker_NDI_Polaris.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_NDI_Polaris()

vrpn_Tracker_NDI_Polaris::vrpn_Tracker_NDI_Polaris ( const char * name,
vrpn_Connection * c,
const char * port,
int numOfRigidBodies,
const char ** rigidBodyNDIRomFileNames )

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. The final two parameters are the number of rigid bodies to track, and a pointer to an array of strings containing the filenames of the the .rom file for each rigid body.

Definition at line 12 of file vrpn_Tracker_NDI_Polaris.C.

References latestResponseStr, numOfRigidBodies, readResponse(), sendCommand(), serialFd, setupOneTool(), switchToHigherBaudRate(), vrpn_clear_rts(), vrpn_Connection, vrpn_flush_input_buffer(), vrpn_open_commport(), vrpn_set_rts(), vrpn_SleepMsecs(), and vrpn_Tracker::vrpn_Tracker().

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◆ ~vrpn_Tracker_NDI_Polaris()

vrpn_Tracker_NDI_Polaris::~vrpn_Tracker_NDI_Polaris ( )

Definition at line 91 of file vrpn_Tracker_NDI_Polaris.C.

References serialFd, and vrpn_close_commport().

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Member Function Documentation

◆ convertBinaryFileToAsciiEncodedHex()

int vrpn_Tracker_NDI_Polaris::convertBinaryFileToAsciiEncodedHex ( const char * filename,
char * asciiEncodedHexStr )
protected

Definition at line 221 of file vrpn_Tracker_NDI_Polaris.C.

References MAX_NDI_ROM_FILE_SIZE_IN_BYTES, and NDI_ROMFILE_CHUNK_SIZE.

Referenced by setupOneTool().

◆ get_report()

int vrpn_Tracker_NDI_Polaris::get_report ( void )
protectedvirtual

◆ mainloop()

void vrpn_Tracker_NDI_Polaris::mainloop ( )
virtual

Called once through each main loop iteration to handle updates. Remote object mainloop() should call client_mainloop() and then call d_connection->mainloop(). Server object mainloop() should service the device and then call server_mainloop(), but should not normally call d_connection->mainloop().

Implements vrpn_BaseClass.

Definition at line 96 of file vrpn_Tracker_NDI_Polaris.C.

References get_report(), and vrpn_BaseClassUnique::server_mainloop().

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◆ parse2CharIntFromNDIResponse()

unsigned int vrpn_Tracker_NDI_Polaris::parse2CharIntFromNDIResponse ( unsigned char * str,
int * strIndexPtr = NULL )
protected

Definition at line 305 of file vrpn_Tracker_NDI_Polaris.C.

Referenced by setupOneTool().

◆ parse6CharFloatFromNDIResponse()

float vrpn_Tracker_NDI_Polaris::parse6CharFloatFromNDIResponse ( unsigned char * str,
int * strIndexPtr )
protected

Definition at line 323 of file vrpn_Tracker_NDI_Polaris.C.

Referenced by get_report().

◆ parse7CharFloatFromNDIResponse()

float vrpn_Tracker_NDI_Polaris::parse7CharFloatFromNDIResponse ( unsigned char * str,
int * strIndexPtr )
protected

Definition at line 336 of file vrpn_Tracker_NDI_Polaris.C.

Referenced by get_report().

◆ readResponse()

int vrpn_Tracker_NDI_Polaris::readResponse ( )
protected

Definition at line 191 of file vrpn_Tracker_NDI_Polaris.C.

References latestResponseStr, serialFd, and vrpn_read_available_characters().

Referenced by get_report(), setupOneTool(), switchToHigherBaudRate(), and vrpn_Tracker_NDI_Polaris().

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◆ send_report()

void vrpn_Tracker_NDI_Polaris::send_report ( void )
protectedvirtual

◆ sendCommand()

void vrpn_Tracker_NDI_Polaris::sendCommand ( const char * commandString)
protected

Definition at line 177 of file vrpn_Tracker_NDI_Polaris.C.

References serialFd, vrpn_flush_output_buffer(), and vrpn_write_characters().

Referenced by get_report(), setupOneTool(), switchToHigherBaudRate(), and vrpn_Tracker_NDI_Polaris().

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◆ setupOneTool()

int vrpn_Tracker_NDI_Polaris::setupOneTool ( const char * NDIToolRomFilename)
protected

◆ switchToHigherBaudRate()

void vrpn_Tracker_NDI_Polaris::switchToHigherBaudRate ( const char * port)
protected

Definition at line 408 of file vrpn_Tracker_NDI_Polaris.C.

References latestResponseStr, readResponse(), sendCommand(), serialFd, vrpn_close_commport(), vrpn_open_commport(), and vrpn_SleepMsecs().

Referenced by vrpn_Tracker_NDI_Polaris().

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Member Data Documentation

◆ latestResponseStr

unsigned char vrpn_Tracker_NDI_Polaris::latestResponseStr[MAX_NDI_RESPONSE_LENGTH]
protected

◆ numOfRigidBodies

int vrpn_Tracker_NDI_Polaris::numOfRigidBodies
protected

Definition at line 108 of file vrpn_Tracker_NDI_Polaris.h.

Referenced by get_report(), and vrpn_Tracker_NDI_Polaris().

◆ serialFd

int vrpn_Tracker_NDI_Polaris::serialFd
protected

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