vrpn 07.35
Virtual Reality Peripheral Network
 
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vrpn_Tracker_Flock_Parallel Class Reference

#include <vrpn_Flock_Parallel.h>

Inheritance diagram for vrpn_Tracker_Flock_Parallel:
Collaboration diagram for vrpn_Tracker_Flock_Parallel:

Public Member Functions

 vrpn_Tracker_Flock_Parallel (char *name, vrpn_Connection *c, int cSensors, char *port, long baud, char *slavePortArray[], bool invertQuaternion=false)
 
virtual ~vrpn_Tracker_Flock_Parallel ()
 
virtual void mainloop ()
 Uses the get_report, send_report, and reset routines to implement a server.
 
- Public Member Functions inherited from vrpn_Tracker_Flock
 vrpn_Tracker_Flock (char *name, vrpn_Connection *c, int cSensors=1, const char *port="/dev/ttyd3", long baud=38400, int fStreamMode=1, int useERT=1, bool invertQuaternion=false, int active_hemisphere=HEMI_PLUSZ)
 
virtual ~vrpn_Tracker_Flock ()
 
- 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 ()
 
- 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.
 
- Protected Member Functions inherited from vrpn_Tracker_Flock
virtual void send_report (void)
 
void printError (unsigned char uchErrCode, unsigned char uchExpandedErrCode)
 
int checkError ()
 
double getMeasurementRate ()
 
- 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

vrpn_Tracker_Flock_Parallel_SlavergSlaves [VRPN_FLOCK_MAX_SENSORS]
 
- Protected Attributes inherited from vrpn_Tracker_Flock
int activeHemisphere
 
int cSensors
 
int fStream
 
int fGroupMode
 
int d_useERT
 
bool d_invertQuaternion
 
unsigned cResets
 
unsigned cSyncs
 
int fFirstStatusReport
 
struct timeval tvLastStatusReport
 
int cReports
 
int cStatusInterval
 
- 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

- Public Types inherited from vrpn_Tracker_Flock
enum  {
  HEMI_PLUSX , HEMI_MINUSX , HEMI_PLUSY , HEMI_MINUSY ,
  HEMI_PLUSZ , HEMI_MINUSZ
}
 
- 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 48 of file vrpn_Flock_Parallel.h.

Constructor & Destructor Documentation

◆ vrpn_Tracker_Flock_Parallel()

vrpn_Tracker_Flock_Parallel::vrpn_Tracker_Flock_Parallel ( char * name,
vrpn_Connection * c,
int cSensors,
char * port,
long baud,
char * slavePortArray[],
bool invertQuaternion = false )

◆ ~vrpn_Tracker_Flock_Parallel()

vrpn_Tracker_Flock_Parallel::~vrpn_Tracker_Flock_Parallel ( )
virtual

Definition at line 88 of file vrpn_Flock_Parallel.C.

References vrpn_Tracker_Flock::cSensors, and rgSlaves.

Member Function Documentation

◆ get_report()

int vrpn_Tracker_Flock_Parallel::get_report ( void )
protectedvirtual

Gets a report if one is available, returns 0 if not, 1 if complete report.

Reimplemented from vrpn_Tracker_Flock.

Definition at line 118 of file vrpn_Flock_Parallel.C.

◆ mainloop()

void vrpn_Tracker_Flock_Parallel::mainloop ( void )
virtual

Uses the get_report, send_report, and reset routines to implement a server.

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 them if there are one or more. It will reset the tracker if there is no data from it for a few seconds.

Reimplemented from vrpn_Tracker_Serial.

Definition at line 124 of file vrpn_Flock_Parallel.C.

References vrpn_Tracker_Serial::baudrate, vrpn_Tracker_Flock::checkError(), vrpn_Tracker_Flock::cResets, vrpn_Tracker_Flock::cSensors, vrpn_Tracker_Serial::portname, reset(), rgSlaves, vrpn_Tracker_Serial::serial_fd, vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, vrpn_close_commport(), vrpn_open_commport(), vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, vrpn_TRACKER_RESETTING, and vrpn_TRACKER_SYNCING.

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◆ reset()

void vrpn_Tracker_Flock_Parallel::reset ( )
protectedvirtual

Reset the tracker.

Reimplemented from vrpn_Tracker_Flock.

Definition at line 106 of file vrpn_Flock_Parallel.C.

References vrpn_Tracker_Flock::cSensors, vrpn_Tracker_Flock::reset(), and rgSlaves.

Referenced by mainloop().

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Member Data Documentation

◆ rgSlaves

vrpn_Tracker_Flock_Parallel_Slave* vrpn_Tracker_Flock_Parallel::rgSlaves[VRPN_FLOCK_MAX_SENSORS]
protected

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