58 const char *tracker_cfg_file_name = NULL);
62 int read_config_file(FILE *config_file,
const char *tracker_name);
63 void print_latest_report(
void);
66 int register_server_handlers(
void);
67 void get_local_t2r(vrpn_float64 *vec, vrpn_float64 *quat);
68 void get_local_u2s(vrpn_int32 sensor, vrpn_float64 *vec,
95 vrpn_float64 pos[3], d_quat[4];
96 vrpn_float64 vel[3], vel_quat[4];
98 vrpn_float64 acc[3], acc_quat[4];
100 struct timeval timestamp;
111 struct timeval watchdog_timestamp;
113 vrpn_float64 tracker2room[3], tracker2room_quat[4];
121 bool ensure_enough_unit2sensors(
unsigned num);
127 vrpn_float64 workspace_min[3], workspace_max[3];
132 virtual int encode_to(
char *buf);
134 virtual int encode_vel_to(
char *buf);
135 virtual int encode_acc_to(
char *buf);
136 virtual int encode_tracker2room_to(
char *buf);
137 virtual int encode_unit2sensor_to(
char *buf);
138 virtual int encode_workspace_to(
char *buf);
141#ifndef VRPN_CLIENT_ONLY
142#define VRPN_TRACKER_BUF_SIZE 100
147 const char *port =
"/dev/ttyS1",
long baud = 38400);
164 virtual void send_report(
void);
176#if defined(VRPN_USE_LIBUSB_1_0)
177struct libusb_device_handle;
178struct libusb_context;
179#define VRPN_TRACKER_USB_BUF_SIZE 1000
184 vrpn_uint16 product,
long baud = 115200);
203 virtual void send_report(
void);
228 vrpn_int32 sensors = 1, vrpn_float64 Hz = 1.0);
250 vrpn_int32 sensors = 1, vrpn_float64 reportRateHz = 1.0,
251 vrpn_float64 axisX = 0, vrpn_float64 axisY = 0,
252 vrpn_float64 axisZ = 1, vrpn_float64 spinRateHz = 0.5);
258 struct timeval start;
276 vrpn_int32 sensors = 1);
283 virtual int report_pose(
284 const int sensor,
const struct timeval t,
285 const vrpn_float64 position[3],
const vrpn_float64 quaternion[4],
287 virtual int report_pose_velocity(
288 const int sensor,
const struct timeval t,
289 const vrpn_float64 position[3],
const vrpn_float64 quaternion[4],
290 const vrpn_float64 interval,
292 virtual int report_pose_acceleration(
293 const int sensor,
const struct timeval t,
294 const vrpn_float64 position[3],
const vrpn_float64 quaternion[4],
295 const vrpn_float64 interval,
306typedef struct _vrpn_TRACKERCB {
307 struct timeval msg_time;
310 vrpn_float64 quat[4];
319typedef struct _vrpn_TRACKERVELCB {
320 struct timeval msg_time;
323 vrpn_float64 vel_quat[4];
333typedef struct _vrpn_TRACKERACCCB {
334 struct timeval msg_time;
337 vrpn_float64 acc_quat[4];
348typedef struct _vrpn_TRACKERTRACKER2ROOMCB {
349 struct timeval msg_time;
350 vrpn_float64 tracker2room[3];
351 vrpn_float64 tracker2room_quat[4];
356typedef struct _vrpn_TRACKERUNIT2SENSORCB {
357 struct timeval msg_time;
359 vrpn_float64 unit2sensor[3];
360 vrpn_float64 unit2sensor_quat[4];
365typedef struct _vrpn_TRACKERWORKSPACECB {
366 struct timeval msg_time;
367 vrpn_float64 workspace_min[3];
368 vrpn_float64 workspace_max[3];
410 int request_t2r_xform(
void);
412 int request_u2s_xform(
void);
414 int request_workspace(
void);
417 int set_update_rate(vrpn_float64 samplesPerSecond);
421 int reset_origin(
void);
430 virtual int register_change_handler(
void *userdata,
433 virtual int unregister_change_handler(
void *userdata,
438 virtual int register_change_handler(
void *userdata,
441 virtual int unregister_change_handler(
void *userdata,
446 virtual int register_change_handler(
void *userdata,
449 virtual int unregister_change_handler(
void *userdata,
455 register_change_handler(
void *userdata,
459 unregister_change_handler(
void *userdata,
469 return d_workspacechange_list.register_handler(userdata, handler);
475 return d_workspacechange_list.unregister_handler(userdata, handler);
483 return d_tracker2roomchange_list.register_handler(userdata, handler);
489 return d_tracker2roomchange_list.unregister_handler(userdata, handler);
497 bool ensure_enough_sensor_callbacks(
unsigned num);
Class from which all user-level (and other) classes that communicate with vrpn_Connections should der...
virtual void mainloop()=0
Called once through each main loop iteration to handle updates. Remote object mainloop() should call ...
virtual int register_types(void)=0
Register the types of messages this device sends/receives. Return 0 on success, -1 on fail.
Generic connection class not specific to the transport mechanism.
Helper class for vrpn_Connection that automates redundant transmission for unreliable (low-latency) m...
vrpn_RedundantTransmission * d_redundancy
vrpn_Tracker_Sensor_Callbacks * sensor_callbacks
unsigned num_sensor_callbacks
vrpn_Tracker_Sensor_Callbacks all_sensor_callbacks
virtual int unregister_change_handler(void *userdata, vrpn_TRACKERWORKSPACECHANGEHANDLER handler)
vrpn_Callback_List< vrpn_TRACKERWORKSPACECB > d_workspacechange_list
virtual int unregister_change_handler(void *userdata, vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER handler)
virtual int register_change_handler(void *userdata, vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER handler)
vrpn_Callback_List< vrpn_TRACKERTRACKER2ROOMCB > d_tracker2roomchange_list
virtual int register_change_handler(void *userdata, vrpn_TRACKERWORKSPACECHANGEHANDLER handler)
vrpn_Callback_List< vrpn_TRACKERCB > d_change
vrpn_Callback_List< vrpn_TRACKERVELCB > d_velchange
vrpn_Callback_List< vrpn_TRACKERACCCB > d_accchange
void operator=(const vrpn_Tracker_Sensor_Callbacks &from)
vrpn_Callback_List< vrpn_TRACKERUNIT2SENSORCB > d_unit2sensorchange
virtual void reset(void)=0
Reset the tracker.
virtual int get_report(void)=0
Gets a report if one is available, returns 0 if not, 1 if complete report.
vrpn_float64 spin_rate_Hz
virtual void reset(void)=0
Reset the tracker.
struct libusb_device_handle * _device_handle
virtual int get_report(void)=0
Gets reports if some are available, returns 0 if not, 1 if complete report(s).
struct libusb_context * _context
vrpn_int32 request_t2r_m_id
vrpn_int32 reset_origin_m_id
vrpn_int32 connection_dropped_m_id
vrpn_int32 request_workspace_m_id
vrpn_int32 update_rate_id
vrpn_int32 workspace_m_id
vrpn_int32 request_u2s_m_id
vrpn_Tracker_Quat * unit2sensor_quat
unsigned num_unit2sensors
vrpn_int32 unit2sensor_m_id
vrpn_Tracker_Pos * unit2sensor
vrpn_int32 tracker2room_m_id
This structure is what is passed to a vrpn_Connection message callback.
All types of client/server/peer objects in VRPN should be derived from the vrpn_BaseClass type descri...
const vrpn_uint32 vrpn_CONNECTION_LOW_LATENCY
#define VRPN_TRACKER_BUF_SIZE
void(VRPN_CALLBACK * vrpn_TRACKERTRACKER2ROOMCHANGEHANDLER)(void *userdata, const vrpn_TRACKERTRACKER2ROOMCB info)
#define VRPN_TRACKER_USB_BUF_SIZE
const int vrpn_TRACKER_FAIL
const int vrpn_ALL_SENSORS
const int vrpn_TRACKER_RESETTING
void(VRPN_CALLBACK * vrpn_TRACKERACCCHANGEHANDLER)(void *userdata, const vrpn_TRACKERACCCB info)
vrpn_float64 vrpn_Tracker_Quat[4]
const int vrpn_TRACKER_SYNCING
const int vrpn_TRACKER_PARTIAL
void(VRPN_CALLBACK * vrpn_TRACKERCHANGEHANDLER)(void *userdata, const vrpn_TRACKERCB info)
vrpn_float64 vrpn_Tracker_Pos[3]
const int vrpn_TRACKER_REPORT_READY
void(VRPN_CALLBACK * vrpn_TRACKERVELCHANGEHANDLER)(void *userdata, const vrpn_TRACKERVELCB info)
const int vrpn_TRACKER_AWAITING_STATION
void(VRPN_CALLBACK * vrpn_TRACKERUNIT2SENSORCHANGEHANDLER)(void *userdata, const vrpn_TRACKERUNIT2SENSORCB info)
void(VRPN_CALLBACK * vrpn_TRACKERWORKSPACECHANGEHANDLER)(void *userdata, const vrpn_TRACKERWORKSPACECB info)