vrpn 07.35
Virtual Reality Peripheral Network
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vrpn_National_Instruments_Server Class Reference

#include <vrpn_NationalInstruments.h>

Inheritance diagram for vrpn_National_Instruments_Server:
Collaboration diagram for vrpn_National_Instruments_Server:

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().
 
- Public Member Functions inherited from vrpn_Analog
 vrpn_Analog (const char *name, vrpn_Connection *c=NULL)
 
void print (void)
 
vrpn_int32 getNumChannels (void) const
 
- 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 ()
 
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().
 
- 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.
 
- Public Member Functions inherited from vrpn_Analog_Output
 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.
 
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.
 
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)
 
- Protected Member Functions inherited from vrpn_Analog
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 
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.
 
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.
 
- 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.
 
virtual int register_types (void)=0
 Register the types of messages this device sends/receives. 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 Member Functions inherited from vrpn_Analog_Output
virtual int register_types (void)
 Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
 

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.
 
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.
 
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.
 
- 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.
 

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
 
- Protected Attributes inherited from vrpn_Analog
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
 
- 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.
 
- Protected Attributes inherited from vrpn_Analog_Output
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

- Public Attributes inherited from vrpn_BaseClassUnique
bool shutup
 

Detailed Description

Definition at line 30 of file vrpn_NationalInstruments.h.

Constructor & Destructor Documentation

◆ vrpn_National_Instruments_Server()

vrpn_National_Instruments_Server::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 
)

◆ ~vrpn_National_Instruments_Server()

vrpn_National_Instruments_Server::~vrpn_National_Instruments_Server ( )
virtual

Definition at line 241 of file vrpn_NationalInstruments.C.

References d_analog_out_task_handle, and d_analog_task_handle.

Member Function Documentation

◆ encode_num_channels_to()

vrpn_int32 vrpn_National_Instruments_Server::encode_num_channels_to ( char *  buf,
vrpn_int32  num 
)
protectedvirtual

Definition at line 516 of file vrpn_NationalInstruments.C.

References vrpn_buffer().

Referenced by report_num_channels().

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◆ handle_got_connection()

int VRPN_CALLBACK vrpn_National_Instruments_Server::handle_got_connection ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

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 489 of file vrpn_NationalInstruments.C.

References report_num_channels(), and vrpn_BaseClassUnique::userdata.

Referenced by vrpn_National_Instruments_Server().

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◆ handle_request_channels_message()

int vrpn_National_Instruments_Server::handle_request_channels_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

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 397 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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◆ handle_request_message()

int VRPN_CALLBACK vrpn_National_Instruments_Server::handle_request_message ( void *  userdata,
vrpn_HANDLERPARAM  p 
)
staticprotected

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 344 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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◆ mainloop()

void vrpn_National_Instruments_Server::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 267 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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◆ report_num_channels()

bool vrpn_National_Instruments_Server::report_num_channels ( vrpn_uint32  class_of_service = vrpn_CONNECTION_RELIABLE)
protectedvirtual

◆ reportError()

void vrpn_National_Instruments_Server::reportError ( int32  errnumber,
vrpn_bool  exitProgram = vrpn_false 
)
protected

Definition at line 769 of file vrpn_NationalInstruments.C.

References vrpn_SleepMsecs().

Referenced by mainloop(), setValues(), and vrpn_National_Instruments_Server().

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◆ setNumInChannels()

int vrpn_National_Instruments_Server::setNumInChannels ( int  sizeRequested)
protected

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 327 of file vrpn_NationalInstruments.C.

References vrpn_Analog::num_channel, and vrpn_CHANNEL_MAX.

Referenced by mainloop(), and vrpn_National_Instruments_Server().

◆ setNumOutChannels()

int vrpn_National_Instruments_Server::setNumOutChannels ( int  sizeRequested)
protected

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 335 of file vrpn_NationalInstruments.C.

References vrpn_Analog_Output::o_num_channel, and vrpn_CHANNEL_MAX.

Referenced by vrpn_National_Instruments_Server().

◆ setValues()

bool vrpn_National_Instruments_Server::setValues ( )
protected

Member Data Documentation

◆ d_analog_out_task_handle

TaskHandle vrpn_National_Instruments_Server::d_analog_out_task_handle
protected

◆ d_analog_task_handle

TaskHandle vrpn_National_Instruments_Server::d_analog_task_handle
protected

◆ d_in_gain

int vrpn_National_Instruments_Server::d_in_gain
protected

Definition at line 60 of file vrpn_NationalInstruments.h.

Referenced by mainloop().

◆ d_in_min_delay

double vrpn_National_Instruments_Server::d_in_min_delay
protected

Definition at line 61 of file vrpn_NationalInstruments.h.

Referenced by mainloop().

◆ d_in_polarity

short vrpn_National_Instruments_Server::d_in_polarity
protected

Definition at line 59 of file vrpn_NationalInstruments.h.

Referenced by mainloop(), and vrpn_National_Instruments_Server().

◆ d_last_report_time

struct timeval vrpn_National_Instruments_Server::d_last_report_time
protected

Definition at line 65 of file vrpn_NationalInstruments.h.

Referenced by mainloop(), and vrpn_National_Instruments_Server().

◆ d_out_max_voltage

double vrpn_National_Instruments_Server::d_out_max_voltage
protected

◆ d_out_min_voltage

double vrpn_National_Instruments_Server::d_out_min_voltage
protected

◆ d_out_polarity

short vrpn_National_Instruments_Server::d_out_polarity
protected

Definition at line 64 of file vrpn_NationalInstruments.h.

Referenced by vrpn_National_Instruments_Server().


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