vrpn 07.35
Virtual Reality Peripheral Network
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Class to support reading data from a wireless YEI 3Space unit. More...
#include <vrpn_YEI_3Space.h>
Public Member Functions | |
vrpn_YEI_3Space_Sensor_Wireless (const char *name, vrpn_Connection *c, int logical_id, const char *port, int baud=115200, bool calibrate_gyros_on_setup=false, bool tare_on_setup=false, double frames_per_second=50, double red_LED_color=0, double green_LED_color=0, double blue_LED_color=0, int LED_mode=1, const char *reset_commands[]=NULL) | |
Constructor for the first device, which will open the serial port and configure the dongle. | |
vrpn_YEI_3Space_Sensor_Wireless (const char *name, vrpn_Connection *c, int logical_id, int serial_file_descriptor, bool calibrate_gyros_on_setup=false, bool tare_on_setup=false, double frames_per_second=50, double red_LED_color=0, double green_LED_color=0, double blue_LED_color=0, int LED_mode=1, const char *reset_commands[]=NULL) | |
Constructor for a follow-on device, once a wireless unit has already been opened on a given dongle. | |
virtual | ~vrpn_YEI_3Space_Sensor_Wireless () |
Destructor. | |
int | get_serial_file_descriptor (void) const |
Reports the serial_fd that was opened, so that additional sensors that use the same wireless dongle can be opened. | |
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vrpn_YEI_3Space (const char *name, vrpn_Connection *c, double frames_per_second=50, const char *reset_commands[]=NULL) | |
Constructor. | |
virtual | ~vrpn_YEI_3Space () |
Destructor. | |
virtual void | mainloop () |
Called once through each main loop iteration to handle updates. | |
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vrpn_Tracker_Server (const char *name, vrpn_Connection *c, vrpn_int32 sensors=1) | |
virtual void | mainloop () |
This function should be called each time through app mainloop. | |
virtual int | report_pose (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
These functions should be called to report changes in state, once per sensor. | |
virtual int | report_pose_velocity (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
virtual int | report_pose_acceleration (const int sensor, const struct timeval t, const vrpn_float64 position[3], const vrpn_float64 quaternion[4], const vrpn_float64 interval, const vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
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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. | |
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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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virtual void | set_momentary (vrpn_int32 which_button) |
virtual void | set_toggle (vrpn_int32 which_button, vrpn_int32 current_state) |
virtual void | set_all_momentary (void) |
virtual void | set_all_toggle (vrpn_int32 default_state) |
void | set_alerts (vrpn_int32) |
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vrpn_Button (const char *name, vrpn_Connection *c=NULL) | |
virtual | ~vrpn_Button (void) |
void | print (void) |
virtual void | set_momentary (vrpn_int32 which_button) |
virtual void | set_toggle (vrpn_int32 which_button, vrpn_int32 current_state) |
virtual void | set_all_momentary (void) |
virtual void | set_all_toggle (vrpn_int32 default_state) |
Protected Member Functions | |
virtual bool | configure_dongle (void) |
Configure the dongle (called if we are the first one) | |
virtual bool | set_logical_id (vrpn_uint8 logical_id, vrpn_int32 serial_number) |
Insert our serial number into the specified slot. | |
virtual void | flush_input (void) |
Flush any incoming characters in the communications channel. | |
virtual bool | get_report (void) |
Get and handle a report from the device if one is available. Return true if one was available, false if not. | |
bool | send_binary_command_to_dongle (const unsigned char *cmd, int len) |
Compute the CRC for the message, append it, and send message to the dongle directly (not a wireless command). Returns true on success, false on failure. | |
bool | send_binary_command (const unsigned char *cmd, int len) |
Compute the CRC for the message, append it, and send message. Returns true on success, false on failure. | |
bool | send_ascii_command (const char *cmd) |
Put a ':' character at the front and ' ' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure. | |
bool | receive_LED_mode_response (struct timeval *timeout=NULL) |
Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure. | |
bool | receive_LED_values_response (struct timeval *timeout=NULL) |
Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure. | |
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void | init (bool calibrate_gyros_on_setup, bool tare_on_setup, double red_LED_color, double green_LED_color, double blue_LED_color, int LED_mode) |
Initialization that would normally happen in the constructor, but we need to wait for the derived classes to open a communications port before we can do this. Derived classes should call this at the end of their constructors. | |
virtual void | flush_input (void)=0 |
Flush any incoming characters in the communications channel. | |
virtual int | reset (void) |
virtual bool | get_report (void)=0 |
virtual void | handle_report (unsigned char *report) |
virtual bool | send_binary_command (const unsigned char *cmd, int len)=0 |
Compute the CRC for the message, append it, and send message. Returns true on success, false on failure. | |
virtual bool | send_ascii_command (const char *cmd)=0 |
Put a ':' character at the front and ' ' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure. | |
virtual bool | receive_LED_mode_response (struct timeval *timeout=NULL)=0 |
Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure. | |
virtual bool | receive_LED_values_response (struct timeval *timeout=NULL)=0 |
Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure. | |
virtual void | report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
send report iff changed | |
virtual void | report (vrpn_uint32 class_of_service=vrpn_CONNECTION_LOW_LATENCY) |
send report whether or not changed | |
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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() | |
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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. | |
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. | |
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vrpn_Button_Filter (const char *, vrpn_Connection *c=NULL) | |
virtual vrpn_int32 | encode_states_to (char *buf) |
Encode a message describing the state of all buttons. | |
virtual void | report_changes (void) |
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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. | |
virtual void | report_changes (void) |
virtual void | report_states (void) |
virtual vrpn_int32 | encode_to (char *buf, vrpn_int32 button, vrpn_int32 state) |
Encode a message describing the new state of a button. | |
virtual vrpn_int32 | encode_states_to (char *buf) |
Encode a message describing the state of all buttons. | |
Protected Attributes | |
bool | d_i_am_first |
int | d_serial_fd |
vrpn_uint8 | d_logical_id |
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char ** | d_reset_commands |
int | d_reset_command_count |
int | d_status |
double | d_frames_per_second |
int | d_LED_mode |
vrpn_float32 | d_LED_color [3] |
unsigned char | d_buffer [128] |
unsigned | d_expected_characters |
unsigned | d_characters_read |
struct timeval | timestamp |
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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. | |
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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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int | send_alerts |
vrpn_int32 | alert_message_id |
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unsigned char | buttons [vrpn_BUTTON_MAX_BUTTONS] |
unsigned char | lastbuttons [vrpn_BUTTON_MAX_BUTTONS] |
vrpn_int32 | minrate [vrpn_BUTTON_MAX_BUTTONS] |
vrpn_int32 | num_buttons |
struct timeval | timestamp |
vrpn_int32 | change_message_id |
vrpn_int32 | states_message_id |
vrpn_int32 | admin_message_id |
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 |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
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vrpn_int32 | buttonstate [vrpn_BUTTON_MAX_BUTTONS] |
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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. | |
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static int VRPN_CALLBACK | handle_ping_message (void *userdata, vrpn_HANDLERPARAM p) |
Class to support reading data from a wireless YEI 3Space unit.
Definition at line 169 of file vrpn_YEI_3Space.h.
vrpn_YEI_3Space_Sensor_Wireless::vrpn_YEI_3Space_Sensor_Wireless | ( | const char * | name, |
vrpn_Connection * | c, | ||
int | logical_id, | ||
const char * | port, | ||
int | baud = 115200 , |
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bool | calibrate_gyros_on_setup = false , |
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bool | tare_on_setup = false , |
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double | frames_per_second = 50 , |
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double | red_LED_color = 0 , |
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double | green_LED_color = 0 , |
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double | blue_LED_color = 0 , |
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int | LED_mode = 1 , |
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const char * | reset_commands[] = NULL |
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Constructor for the first device, which will open the serial port and configure the dongle.
The first device on a wireless dongle should call this constructor. The later ones should call the constructor that takes the serial_file_descriptor argument after querying the first for that descriptor.
name | Name for the device |
c | Connection to use. |
logical_id | Which logical ID to use on the wireless unit. |
port | serial port to connect to |
baud | Baud rate - 115200 is default. |
calibrate_gyros_on_setup | - true to cause this to happen |
tare_on_setup | - true to cause this to happen (usually manufacturing-time operation!) |
frames_per_second | - How many frames/second to read |
red_LED_color | - brightness of LED (0-1) |
green_LED_color | - brightness of LED (0-1) |
blue_LED_color | - brightness of LED (0-1) |
LED_state | - 0 = standard, 1 = static |
reset_commands | - Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor. |
Definition at line 721 of file vrpn_YEI_3Space.C.
References configure_dongle(), d_logical_id, d_serial_fd, vrpn_BaseClass::init(), vrpn_close_commport(), vrpn_open_commport(), and vrpn_SER_PARITY_NONE.
vrpn_YEI_3Space_Sensor_Wireless::vrpn_YEI_3Space_Sensor_Wireless | ( | const char * | name, |
vrpn_Connection * | c, | ||
int | logical_id, | ||
int | serial_file_descriptor, | ||
bool | calibrate_gyros_on_setup = false , |
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bool | tare_on_setup = false , |
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double | frames_per_second = 50 , |
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double | red_LED_color = 0 , |
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double | green_LED_color = 0 , |
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double | blue_LED_color = 0 , |
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int | LED_mode = 1 , |
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const char * | reset_commands[] = NULL |
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Constructor for a follow-on device, once a wireless unit has already been opened on a given dongle.
The serial_file_descriptor argument should be found by querying the first device.
name | Name for the device |
c | Connection to use. |
logical_id | Which logical ID to use on the wireless unit. |
serial_file_descriptor | Pre-opened serial descriptor to use. |
calibrate_gyros_on_setup | - true to cause this to happen |
tare_on_setup | - true to cause this to happen (usually manufacturing-time operation!) |
frames_per_second | - How many frames/second to read |
red_LED_color | - brightness of LED (0-1) |
green_LED_color | - brightness of LED (0-1) |
blue_LED_color | - brightness of LED (0-1) |
LED_state | - 0 = standard, 1 = static |
reset_commands | - Array of pointers to commands, NULL for end. These will be sent after other commands whenever the tracker is reset. This will be copied; the caller is responsible for freeing any storage after calling the constructor. |
Definition at line 783 of file vrpn_YEI_3Space.C.
References d_logical_id, and vrpn_BaseClass::init().
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virtual |
Destructor.
Definition at line 815 of file vrpn_YEI_3Space.C.
References d_i_am_first, d_serial_fd, send_binary_command(), vrpn_close_commport(), and VRPN_MSG_ERROR.
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protectedvirtual |
Configure the dongle (called if we are the first one)
Definition at line 835 of file vrpn_YEI_3Space.C.
References send_binary_command_to_dongle(), and VRPN_MSG_ERROR.
Referenced by vrpn_YEI_3Space_Sensor_Wireless().
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protectedvirtual |
Flush any incoming characters in the communications channel.
Implements vrpn_YEI_3Space.
Definition at line 1181 of file vrpn_YEI_3Space.C.
References d_serial_fd, and vrpn_flush_input_buffer().
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protectedvirtual |
Get and handle a report from the device if one is available. Return true if one was available, false if not.
Implements vrpn_YEI_3Space.
Definition at line 1122 of file vrpn_YEI_3Space.C.
References vrpn_YEI_3Space::d_buffer, d_logical_id, d_serial_fd, vrpn_YEI_3Space::d_status, vrpn_YEI_3Space::handle_report(), send_binary_command_to_dongle(), STATUS_RESETTING, vrpn_YEI_3Space::timestamp, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_read_available_characters().
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Reports the serial_fd that was opened, so that additional sensors that use the same wireless dongle can be opened.
Definition at line 246 of file vrpn_YEI_3Space.h.
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protectedvirtual |
Read and parse the response to an LED-state request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.
Implements vrpn_YEI_3Space.
Definition at line 1072 of file vrpn_YEI_3Space.C.
References vrpn_YEI_3Space::d_LED_mode, d_serial_fd, and vrpn_read_available_characters().
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protectedvirtual |
Read and parse the response to an LED-values request command. NULL timeout pointer means wait forever. Returns true on success and false on failure.
Implements vrpn_YEI_3Space.
Definition at line 1094 of file vrpn_YEI_3Space.C.
References vrpn_YEI_3Space::d_LED_color, d_serial_fd, vrpn_read_available_characters(), and vrpn_unbuffer().
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protectedvirtual |
Put a ':' character at the front and '
' at the end and then send the resulting command as an ASCII command. Returns true on success, false on failure.
Implements vrpn_YEI_3Space.
Definition at line 1010 of file vrpn_YEI_3Space.C.
References d_logical_id, d_serial_fd, vrpn_read_available_characters(), and vrpn_write_characters().
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protectedvirtual |
Compute the CRC for the message, append it, and send message. Returns true on success, false on failure.
Implements vrpn_YEI_3Space.
Definition at line 930 of file vrpn_YEI_3Space.C.
References d_logical_id, d_serial_fd, vrpn_read_available_characters(), and vrpn_write_characters().
Referenced by ~vrpn_YEI_3Space_Sensor_Wireless().
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protected |
Compute the CRC for the message, append it, and send message to the dongle directly (not a wireless command). Returns true on success, false on failure.
Definition at line 882 of file vrpn_YEI_3Space.C.
References d_serial_fd, and vrpn_write_characters().
Referenced by configure_dongle(), get_report(), and set_logical_id().
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protectedvirtual |
Insert our serial number into the specified slot.
Definition at line 854 of file vrpn_YEI_3Space.C.
References send_binary_command_to_dongle(), vrpn_buffer(), and VRPN_MSG_ERROR.
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protected |
Definition at line 249 of file vrpn_YEI_3Space.h.
Referenced by ~vrpn_YEI_3Space_Sensor_Wireless().
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protected |
Definition at line 251 of file vrpn_YEI_3Space.h.
Referenced by get_report(), send_ascii_command(), send_binary_command(), and vrpn_YEI_3Space_Sensor_Wireless().
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protected |
Definition at line 250 of file vrpn_YEI_3Space.h.
Referenced by flush_input(), get_report(), receive_LED_mode_response(), receive_LED_values_response(), send_ascii_command(), send_binary_command(), send_binary_command_to_dongle(), vrpn_YEI_3Space_Sensor_Wireless(), and ~vrpn_YEI_3Space_Sensor_Wireless().