vrpn
07.33
Virtual Reality Peripheral Network
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#include <vrpn_NationalInstruments.h>
Public Member Functions | |
vrpn_National_Instruments_Server (const char *name, vrpn_Connection *c, const char *boardName="PCI-6713", int numInChannels=vrpn_CHANNEL_MAX, int numOutChannels=vrpn_CHANNEL_MAX, double minInputReportDelaySecs=0.0, bool inBipolar=false, int inputMode=vrpn_NI_INPUT_MODE_DIFFERENTIAL, int inputRange=vrpn_NI_INPUT_RANGE_10V, bool driveAIS=false, int inputGain=1, bool outBipolar=false, double minOutVoltage=0.0, double maxOutVoltage=10.0) | |
virtual | ~vrpn_National_Instruments_Server () |
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(). More... | |
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vrpn_Analog (const char *name, vrpn_Connection *c=NULL) | |
void | print (void) |
vrpn_int32 | getNumChannels (void) const |
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vrpn_BaseClass (const char *name, vrpn_Connection *c=NULL) | |
Names the device and assigns or opens connection, calls registration methods. More... | |
virtual | ~vrpn_BaseClass () |
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vrpn_BaseClassUnique () | |
virtual | ~vrpn_BaseClassUnique () |
Unregister all of the message handlers that were to be autodeleted. More... | |
vrpn_Connection * | connectionPtr () |
Returns a pointer to the connection this object is using. More... | |
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vrpn_Analog_Output (const char *name, vrpn_Connection *c=NULL) | |
void | o_print (void) |
vrpn_int32 | getNumChannels () const |
Protected Member Functions | |
bool | setValues () |
void | reportError (int32 errnumber, vrpn_bool exitProgram=vrpn_false) |
int | setNumInChannels (int sizeRequested) |
Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This should be used before mainloop is ever called. More... | |
int | setNumOutChannels (int sizeRequested) |
Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This should be used before mainloop is ever called. More... | |
virtual bool | report_num_channels (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE) |
virtual vrpn_int32 | encode_num_channels_to (char *buf, vrpn_int32 num) |
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virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. More... | |
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. More... | |
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. More... | |
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virtual int | init (void) |
Initialize things that the constructor can't. Returns 0 on success, -1 on failure. More... | |
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. More... | |
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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. More... | |
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. More... | |
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. More... | |
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() More... | |
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() More... | |
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virtual int | register_types (void) |
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail. More... | |
Static Protected Member Functions | |
static int VRPN_CALLBACK | handle_request_message (void *userdata, vrpn_HANDLERPARAM p) |
Responds to a request to the AnalogOutput to change one of the values by setting the channel to that value. Derived class must either install handlers for this routine or else make its own routines to handle the request message. More... | |
static int VRPN_CALLBACK | handle_request_channels_message (void *userdata, vrpn_HANDLERPARAM p) |
Responds to a request to change a number of channels Derived class must either install handlers for this routine or else make its own routines to handle the multi-channel request message. More... | |
static int VRPN_CALLBACK | handle_got_connection (void *userdata, vrpn_HANDLERPARAM p) |
Used to notify us when a new connection is requested, so that we can let the client know how many channels are active. More... | |
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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. More... | |
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. More... | |
Protected Attributes | |
TaskHandle | d_analog_task_handle |
TaskHandle | d_analog_out_task_handle |
short | d_in_polarity |
int | d_in_gain |
double | d_in_min_delay |
double | d_out_min_voltage |
double | d_out_max_voltage |
short | d_out_polarity |
struct timeval | d_last_report_time |
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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 |
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vrpn_Connection * | d_connection |
Connection that this object talks to. More... | |
char * | d_servicename |
Name of this device, not including the connection part. More... | |
vrpn_int32 | d_sender_id |
Sender ID registered with the connection. More... | |
vrpn_int32 | d_text_message_id |
ID for text messages. More... | |
vrpn_int32 | d_ping_message_id |
Ask the server if they are there. More... | |
vrpn_int32 | d_pong_message_id |
Server telling that it is there. More... | |
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vrpn_float64 | o_channel [vrpn_CHANNEL_MAX] |
vrpn_int32 | o_num_channel |
struct timeval | o_timestamp |
vrpn_int32 | request_m_id |
vrpn_int32 | request_channels_m_id |
vrpn_int32 | report_num_channels_m_id |
vrpn_int32 | got_connection_m_id |
int | o_status |
Additional Inherited Members | |
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bool | shutup |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
Definition at line 30 of file vrpn_NationalInstruments.h.
vrpn_National_Instruments_Server::vrpn_National_Instruments_Server | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | boardName = "PCI-6713" , |
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int | numInChannels = vrpn_CHANNEL_MAX , |
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int | numOutChannels = vrpn_CHANNEL_MAX , |
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double | minInputReportDelaySecs = 0.0 , |
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bool | inBipolar = false , |
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int | inputMode = vrpn_NI_INPUT_MODE_DIFFERENTIAL , |
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int | inputRange = vrpn_NI_INPUT_RANGE_10V , |
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bool | driveAIS = false , |
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int | inputGain = 1 , |
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bool | outBipolar = false , |
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double | minOutVoltage = 0.0 , |
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double | maxOutVoltage = 10.0 |
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Definition at line 13 of file vrpn_NationalInstruments.C.
References d_analog_out_task_handle, d_analog_task_handle, vrpn_BaseClassUnique::d_connection, d_in_polarity, d_last_report_time, d_out_min_voltage, d_out_polarity, vrpn_BaseClassUnique::d_sender_id, vrpn_Analog_Output::got_connection_m_id, handle_got_connection(), handle_request_channels_message(), handle_request_message(), vrpn_Analog::num_channel, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, vrpn_BaseClassUnique::register_autodeleted_handler(), reportError(), vrpn_Analog_Output::request_channels_m_id, vrpn_Analog_Output::request_m_id, setNumInChannels(), setNumOutChannels(), setValues(), vrpn_NI_INPUT_MODE_DIFFERENTIAL, vrpn_NI_INPUT_MODE_NON_REF_SINGLE_ENDED, and vrpn_NI_INPUT_MODE_REF_SINGLE_ENDED.
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Definition at line 235 of file vrpn_NationalInstruments.C.
References d_analog_out_task_handle, and d_analog_task_handle.
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Definition at line 510 of file vrpn_NationalInstruments.C.
References vrpn_buffer().
Referenced by report_num_channels().
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Used to notify us when a new connection is requested, so that we can let the client know how many channels are active.
Definition at line 483 of file vrpn_NationalInstruments.C.
References report_num_channels(), and vrpn_BaseClassUnique::userdata.
Referenced by vrpn_National_Instruments_Server().
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Responds to a request to change a number of channels Derived class must either install handlers for this routine or else make its own routines to handle the multi-channel request message.
Definition at line 391 of file vrpn_NationalInstruments.C.
References vrpn_HANDLERPARAM::buffer, d_out_max_voltage, d_out_min_voltage, vrpn_HANDLERPARAM::msg_time, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, vrpn_BaseClassUnique::send_text_message(), setValues(), vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, vrpn_TEXT_WARNING, and vrpn_unbuffer().
Referenced by vrpn_National_Instruments_Server().
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Responds to a request to the AnalogOutput to change one of the values by setting the channel to that value. Derived class must either install handlers for this routine or else make its own routines to handle the request message.
Definition at line 338 of file vrpn_NationalInstruments.C.
References vrpn_HANDLERPARAM::buffer, d_out_max_voltage, d_out_min_voltage, vrpn_HANDLERPARAM::msg_time, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, vrpn_BaseClassUnique::send_text_message(), setValues(), vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, vrpn_TEXT_WARNING, and vrpn_unbuffer().
Referenced by vrpn_National_Instruments_Server().
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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 261 of file vrpn_NationalInstruments.C.
References vrpn_Analog::channel, d_analog_task_handle, d_in_gain, d_in_min_delay, d_in_polarity, d_last_report_time, vrpn_Analog::num_channel, vrpn_Analog::report(), reportError(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::server_mainloop(), setNumInChannels(), vrpn_CHANNEL_MAX, vrpn_gettimeofday, vrpn_TEXT_ERROR, and vrpn_TimevalDurationSeconds().
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Definition at line 492 of file vrpn_NationalInstruments.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, encode_num_channels_to(), vrpn_Analog_Output::o_num_channel, vrpn_Analog_Output::o_timestamp, vrpn_Connection::pack_message(), vrpn_Analog_Output::report_num_channels_m_id, and vrpn_gettimeofday.
Referenced by handle_got_connection().
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Definition at line 760 of file vrpn_NationalInstruments.C.
References vrpn_SleepMsecs().
Referenced by mainloop(), setValues(), and vrpn_National_Instruments_Server().
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Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This should be used before mainloop is ever called.
Definition at line 321 of file vrpn_NationalInstruments.C.
References vrpn_Analog::num_channel, and vrpn_CHANNEL_MAX.
Referenced by mainloop(), and vrpn_National_Instruments_Server().
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Sets the size of the array; returns the size actually set. (May be clamped to vrpn_CHANNEL_MAX) This should be used before mainloop is ever called.
Definition at line 329 of file vrpn_NationalInstruments.C.
References vrpn_Analog_Output::o_num_channel, and vrpn_CHANNEL_MAX.
Referenced by vrpn_National_Instruments_Server().
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Definition at line 456 of file vrpn_NationalInstruments.C.
References d_analog_out_task_handle, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, reportError(), and vrpn_CHANNEL_MAX.
Referenced by handle_request_channels_message(), handle_request_message(), and vrpn_National_Instruments_Server().
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Definition at line 53 of file vrpn_NationalInstruments.h.
Referenced by setValues(), vrpn_National_Instruments_Server(), and ~vrpn_National_Instruments_Server().
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Definition at line 52 of file vrpn_NationalInstruments.h.
Referenced by mainloop(), vrpn_National_Instruments_Server(), and ~vrpn_National_Instruments_Server().
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Definition at line 60 of file vrpn_NationalInstruments.h.
Referenced by mainloop().
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Definition at line 61 of file vrpn_NationalInstruments.h.
Referenced by mainloop().
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Definition at line 59 of file vrpn_NationalInstruments.h.
Referenced by mainloop(), and vrpn_National_Instruments_Server().
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Definition at line 65 of file vrpn_NationalInstruments.h.
Referenced by mainloop(), and vrpn_National_Instruments_Server().
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Definition at line 63 of file vrpn_NationalInstruments.h.
Referenced by handle_request_channels_message(), and handle_request_message().
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Definition at line 62 of file vrpn_NationalInstruments.h.
Referenced by handle_request_channels_message(), handle_request_message(), and vrpn_National_Instruments_Server().
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Definition at line 64 of file vrpn_NationalInstruments.h.
Referenced by vrpn_National_Instruments_Server().