vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Tracker_Isotrak.h>
Public Member Functions | |
vrpn_Tracker_Isotrak (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=19200, int enable_filtering=1, int numstations=vrpn_ISOTRAK_MAX_STATIONS, const char *additional_reset_commands=NULL) | |
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 (default is /dev/ttyS1 (first serial port in Linux)), the baud rate at which it is to communicate (default 19200), whether filtering is enabled (default yes), and the number of stations that are possible on this Fastrak (default 4). The station select switches on the front of the Fastrak determine which stations are active. The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Fastrak manual for a list of these. There can be multiple lines of them but putting <CR> into the string. | |
~vrpn_Tracker_Isotrak () | |
int | add_stylus_button (const char *button_device_name, int sensor) |
Add a stylus (with button) to one of the sensors. | |
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vrpn_Tracker_Serial (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=38400) | |
virtual | ~vrpn_Tracker_Serial () |
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) |
Gets a report if one is available, returns 0 if not, 1 if complete report. | |
virtual void | reset () |
Reset the tracker. | |
int | set_sensor_output_format (int sensor) |
This routine sets the device for position + quaternion It puts a space at the end so that we can check to make sure we have complete good records for each report. | |
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virtual int | get_report (void)=0 |
Gets a report if one is available, returns 0 if not, 1 if complete report. | |
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 timeval | reset_time |
int | do_filter |
int | num_stations |
int | num_resets |
char | add_reset_cmd [2048] |
vrpn_Button_Server * | stylus_buttons [vrpn_ISOTRAK_MAX_STATIONS] |
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char | portname [VRPN_TRACKER_BUF_SIZE] |
long | baudrate |
int | serial_fd |
unsigned char | buffer [VRPN_TRACKER_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 24 of file vrpn_Tracker_Isotrak.h.
vrpn_Tracker_Isotrak::vrpn_Tracker_Isotrak | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | port = "/dev/ttyS1" , |
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long | baud = 19200 , |
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int | enable_filtering = 1 , |
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int | numstations = vrpn_ISOTRAK_MAX_STATIONS , |
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const char * | additional_reset_commands = NULL |
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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 (default is /dev/ttyS1 (first serial port in Linux)), the baud rate at which it is to communicate (default 19200), whether filtering is enabled (default yes), and the number of stations that are possible on this Fastrak (default 4). The station select switches on the front of the Fastrak determine which stations are active. The final parameter is a string that can contain additional commands that are set to the tracker as part of its reset routine. These might be used to set the hemisphere or other things that are not normally included; see the Fastrak manual for a list of these. There can be multiple lines of them but putting <CR> into the string.
Definition at line 34 of file vrpn_Tracker_Isotrak.C.
References add_reset_cmd, reset_time, stylus_buttons, vrpn_ISOTRAK_MAX_STATIONS, and vrpn_strcpy().
vrpn_Tracker_Isotrak::~vrpn_Tracker_Isotrak | ( | ) |
Definition at line 55 of file vrpn_Tracker_Isotrak.C.
int vrpn_Tracker_Isotrak::add_stylus_button | ( | const char * | button_device_name, |
int | sensor | ||
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Add a stylus (with button) to one of the sensors.
Definition at line 538 of file vrpn_Tracker_Isotrak.C.
References vrpn_BaseClassUnique::d_connection, num_stations, stylus_buttons, vrpn_Button_Server, and VRPN_MSG_ERROR.
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protectedvirtual |
Gets a report if one is available, returns 0 if not, 1 if complete report.
Implements vrpn_Tracker_Serial.
Definition at line 363 of file vrpn_Tracker_Isotrak.C.
References BINARY_RECORD_SIZE, vrpn_Tracker_Serial::bufcount, vrpn_Tracker_Serial::buffer, vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, vrpn_Button_Server::mainloop(), num_stations, vrpn_Tracker::pos, vrpn_Tracker::print_latest_report(), vrpn_Tracker_Serial::serial_fd, vrpn_Button_Server::set_button(), vrpn_Tracker::status, stylus_buttons, vrpn_Tracker::timestamp, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_read_available_characters(), vrpn_TRACKER_FAIL, vrpn_TRACKER_PARTIAL, and vrpn_TRACKER_SYNCING.
Referenced by reset().
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protectedvirtual |
Reset the tracker.
Implements vrpn_Tracker_Serial.
Definition at line 91 of file vrpn_Tracker_Isotrak.C.
References add_reset_cmd, do_filter, get_report(), num_resets, reset(), vrpn_Tracker_Serial::serial_fd, set_sensor_output_format(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_read_available_characters(), vrpn_SleepMsecs(), vrpn_strcpy(), vrpn_TRACKER_FAIL, vrpn_TRACKER_SYNCING, and vrpn_write_characters().
Referenced by reset().
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This routine sets the device for position + quaternion It puts a space at the end so that we can check to make sure we have complete good records for each report.
Returns 0 on success and -1 on failure.
Definition at line 68 of file vrpn_Tracker_Isotrak.C.
References vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, VRPN_MSG_ERROR, vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, and vrpn_write_characters().
Referenced by reset().
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Definition at line 62 of file vrpn_Tracker_Isotrak.h.
Referenced by reset(), and vrpn_Tracker_Isotrak().
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Definition at line 58 of file vrpn_Tracker_Isotrak.h.
Referenced by reset().
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Definition at line 61 of file vrpn_Tracker_Isotrak.h.
Referenced by reset().
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Definition at line 59 of file vrpn_Tracker_Isotrak.h.
Referenced by add_stylus_button(), and get_report().
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Definition at line 57 of file vrpn_Tracker_Isotrak.h.
Referenced by vrpn_Tracker_Isotrak().
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Definition at line 67 of file vrpn_Tracker_Isotrak.h.
Referenced by add_stylus_button(), get_report(), and vrpn_Tracker_Isotrak().