vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Tracker.h>
Public Member Functions | |
vrpn_Tracker_USB (const char *name, vrpn_Connection *c, vrpn_uint16 vendor, vrpn_uint16 product, long baud=115200) | |
virtual | ~vrpn_Tracker_USB () |
virtual void | mainloop () |
Uses the get_report, send_report, and reset routines to implement a server. | |
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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 () |
virtual void | mainloop ()=0 |
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(). | |
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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 int | get_report (void)=0 |
Gets reports if some are available, returns 0 if not, 1 if complete report(s). | |
virtual void | send_report (void) |
virtual void | reset (void)=0 |
Reset the tracker. | |
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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. | |
virtual int | register_types (void)=0 |
Register the types of messages this device sends/receives. 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 | |
struct libusb_device_handle * | _device_handle |
struct libusb_context * | _context |
vrpn_uint16 | _vendor |
vrpn_uint16 | _product |
long | _baudrate |
vrpn_uint8 | buffer [VRPN_TRACKER_USB_BUF_SIZE] |
vrpn_uint32 | bufcount |
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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 181 of file vrpn_Tracker.h.
vrpn_Tracker_USB::vrpn_Tracker_USB | ( | const char * | name, |
vrpn_Connection * | c, | ||
vrpn_uint16 | vendor, | ||
vrpn_uint16 | product, | ||
long | baud = 115200 |
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Definition at line 1097 of file vrpn_Tracker.C.
References _context, _device_handle, _product, _vendor, vrpn_Tracker::register_server_handlers(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_gettimeofday, vrpn_TRACKER_FAIL, and vrpn_TRACKER_RESETTING.
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virtual |
Definition at line 1146 of file vrpn_Tracker.C.
References _context, and _device_handle.
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protectedpure virtual |
Gets reports if some are available, returns 0 if not, 1 if complete report(s).
Implemented in vrpn_Tracker_LibertyHS.
Referenced by mainloop().
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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 reports 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.
Implements vrpn_BaseClass.
Definition at line 1180 of file vrpn_Tracker.C.
References _context, _device_handle, _product, _vendor, get_report(), reset(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_gettimeofday, vrpn_ser_tkr_MAX_TIME_INTERVAL, vrpn_TEXT_ERROR, vrpn_TimevalDuration(), vrpn_TRACKER_FAIL, vrpn_TRACKER_PARTIAL, vrpn_TRACKER_RESETTING, vrpn_TRACKER_SYNCING, and vrpn_Tracker::watchdog_timestamp.
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protectedpure virtual |
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protectedvirtual |
Definition at line 1158 of file vrpn_Tracker.C.
References vrpn_BaseClassUnique::d_connection, vrpn_BaseClassUnique::d_sender_id, vrpn_Tracker::encode_to(), vrpn_Connection::pack_message(), vrpn_Tracker::position_m_id, vrpn_Tracker::timestamp, and vrpn_CONNECTION_LOW_LATENCY.
Referenced by vrpn_Tracker_LibertyHS::get_report().
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Definition at line 192 of file vrpn_Tracker.h.
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Definition at line 189 of file vrpn_Tracker.h.
Referenced by mainloop(), vrpn_Tracker_USB(), and ~vrpn_Tracker_USB().
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Definition at line 188 of file vrpn_Tracker.h.
Referenced by mainloop(), vrpn_Tracker_LibertyHS::read_usb_data(), vrpn_Tracker_USB(), vrpn_Tracker_LibertyHS::write_usb_data(), and ~vrpn_Tracker_USB().
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Definition at line 191 of file vrpn_Tracker.h.
Referenced by mainloop(), and vrpn_Tracker_USB().
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Definition at line 190 of file vrpn_Tracker.h.
Referenced by mainloop(), and vrpn_Tracker_USB().
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Definition at line 196 of file vrpn_Tracker.h.
Referenced by vrpn_Tracker_LibertyHS::get_report().
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Definition at line 194 of file vrpn_Tracker.h.
Referenced by vrpn_Tracker_LibertyHS::get_report().