vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_Tracker_Fastrak.h>
Public Member Functions | |
vrpn_Tracker_Fastrak (const char *name, vrpn_Connection *c, const char *port="/dev/ttyS1", long baud=19200, int enable_filtering=1, int numstations=vrpn_FASTRAK_MAX_STATIONS, const char *additional_reset_commands=NULL, int is900_timestamps=0) | |
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_Fastrak () | |
int | add_fastrak_stylus_button (const char *button_device_name, int sensor, int numbuttons=1) |
int | add_is900_button (const char *button_device_name, int sensor, int numbuttons=5) |
Add an IS900 button device to one of the sensors This allows configuration of an InterSense IS-900. | |
int | add_is900_analog (const char *analog_device_name, int sensor, double c0Min=-1, double c0Low=0, double c0Hi=0, double c0Max=1, double c1Min=-1, double c1Low=0, double c1Hi=0, double c1Max=1) |
Add the analog part of an IS900 joystick device to one of the sensors This allows configuration of an InterSense IS-900 The optional parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled. | |
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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) |
Augments the basic Fastrak format to include IS900 features if needed. | |
int | report_length (int sensor) |
Augments the basic Fastrak report length to include IS900 features if needed. | |
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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 |
char | add_reset_cmd [2048] |
int | num_resets |
bool | really_fastrak |
int | do_is900_timestamps |
struct timeval | is900_zerotime |
vrpn_Button_Server * | is900_buttons [vrpn_FASTRAK_MAX_STATIONS] |
vrpn_Clipping_Analog_Server * | is900_analogs [vrpn_FASTRAK_MAX_STATIONS] |
vrpn_uint32 | REPORT_LEN |
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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 |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
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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 29 of file vrpn_Tracker_Fastrak.h.
vrpn_Tracker_Fastrak::vrpn_Tracker_Fastrak | ( | 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_FASTRAK_MAX_STATIONS , |
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const char * | additional_reset_commands = NULL , |
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int | is900_timestamps = 0 |
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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 31 of file vrpn_Tracker_Fastrak.C.
References add_reset_cmd, is900_analogs, is900_buttons, num_stations, really_fastrak, reset_time, and vrpn_strcpy().
vrpn_Tracker_Fastrak::~vrpn_Tracker_Fastrak | ( | ) |
Definition at line 62 of file vrpn_Tracker_Fastrak.C.
References is900_analogs, is900_buttons, and num_stations.
int vrpn_Tracker_Fastrak::add_fastrak_stylus_button | ( | const char * | button_device_name, |
int | sensor, | ||
int | numbuttons = 1 |
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Definition at line 726 of file vrpn_Tracker_Fastrak.C.
References vrpn_BaseClassUnique::d_connection, is900_buttons, num_stations, really_fastrak, set_sensor_output_format(), vrpn_Button_Server, and VRPN_MSG_ERROR.
int vrpn_Tracker_Fastrak::add_is900_analog | ( | const char * | analog_device_name, |
int | sensor, | ||
double | c0Min = -1 , |
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double | c0Low = 0 , |
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double | c0Hi = 0 , |
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double | c0Max = 1 , |
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double | c1Min = -1 , |
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double | c1Low = 0 , |
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double | c1Hi = 0 , |
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double | c1Max = 1 |
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Add the analog part of an IS900 joystick device to one of the sensors This allows configuration of an InterSense IS-900 The optional parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled.
This function indicates to the driver that there is an InterSense IS-900- compatible joystick device attached to the port (a Wand).
The driver will configure the device to send reports indicating the current status of the analogs when they change. Note that a separate call to add_is900_button must be made in order to enable the buttons on the wand: this routine only handles the analog channels.
The c0 and c1 parameters specify the clipping and scaling to take the reports from the two joystick axes into the range [-1..1]. The default is unscaled.
This routine returns 0 on success and -1 on failure (due to the sensor number being too large or errors writing to the device or can't create the analog).
Definition at line 763 of file vrpn_Tracker_Fastrak.C.
References vrpn_BaseClassUnique::d_connection, is900_analogs, num_stations, set_sensor_output_format(), vrpn_Clipping_Analog_Server::setChannelValue(), vrpn_Clipping_Analog_Server::setClipValues(), vrpn_Analog_Server::setNumChannels(), vrpn_Clipping_Analog_Server, and VRPN_MSG_ERROR.
int vrpn_Tracker_Fastrak::add_is900_button | ( | const char * | button_device_name, |
int | sensor, | ||
int | numbuttons = 5 |
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Add an IS900 button device to one of the sensors This allows configuration of an InterSense IS-900.
This function indicates to the driver that there is some sort of InterSense IS-900- compatible button device attached to the port (either a Wand or a Stylus).
The driver will configure the device to send reports when buttons are pressed and released.
This routine returns 0 on success and -1 on failure (due to the sensor number being too large or errors writing to the device or can't create the button).
Definition at line 705 of file vrpn_Tracker_Fastrak.C.
References vrpn_BaseClassUnique::d_connection, is900_buttons, num_stations, set_sensor_output_format(), vrpn_Button_Server, and VRPN_MSG_ERROR.
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Gets a report if one is available, returns 0 if not, 1 if complete report.
Implements vrpn_Tracker_Serial.
Definition at line 456 of file vrpn_Tracker_Fastrak.C.
References vrpn_Tracker_Serial::bufcount, vrpn_Tracker_Serial::buffer, vrpn_Tracker::d_quat, vrpn_Tracker::d_sensor, do_is900_timestamps, is900_analogs, is900_buttons, is900_zerotime, vrpn_Analog_Server::mainloop(), vrpn_Button_Server::mainloop(), num_stations, vrpn_Button_Server::number_of_buttons(), vrpn_Tracker::pos, vrpn_Tracker::print_latest_report(), really_fastrak, vrpn_Analog_Server::report_changes(), REPORT_LEN, report_length(), vrpn_Tracker_Serial::serial_fd, vrpn_Button_Server::set_button(), vrpn_Clipping_Analog_Server::setChannelValue(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_INCHES_TO_METERS, VRPN_MSG_ERROR, VRPN_MSG_INFO, vrpn_read_available_characters(), vrpn_TimevalSum(), vrpn_TRACKER_AWAITING_STATION, vrpn_TRACKER_FAIL, vrpn_TRACKER_PARTIAL, and vrpn_TRACKER_SYNCING.
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Augments the basic Fastrak report length to include IS900 features if needed.
This routine augments the standard Fastrak report (3 initial characters + 3*4 for position + 4*4 for quaternions) to include the timestamp, button or analog response, if any, for the given sensor.
It returns the number of characters total to expect for a report for the given sensor.
Definition at line 137 of file vrpn_Tracker_Fastrak.C.
References do_is900_timestamps, is900_analogs, is900_buttons, and really_fastrak.
Referenced by get_report().
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Reset the tracker.
Implements vrpn_Tracker_Serial.
Definition at line 172 of file vrpn_Tracker_Fastrak.C.
References add_reset_cmd, do_filter, do_is900_timestamps, is900_zerotime, num_resets, num_stations, really_fastrak, reset(), vrpn_Tracker_Serial::serial_fd, set_sensor_output_format(), vrpn_Tracker::status, vrpn_Tracker::timestamp, vrpn_drain_output_buffer(), 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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Augments the basic Fastrak format to include IS900 features if needed.
This routine augments the basic sensor-output setting function of the Fastrak to allow the possibility of requesting timestamp, button data, and/or analog data from the device.
It sets the device for position + quaternion + any of the extended fields. 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 91 of file vrpn_Tracker_Fastrak.C.
References do_is900_timestamps, is900_analogs, is900_buttons, really_fastrak, vrpn_Tracker_Serial::serial_fd, vrpn_Tracker::status, VRPN_MSG_ERROR, vrpn_SleepMsecs(), vrpn_TRACKER_FAIL, and vrpn_write_characters().
Referenced by add_fastrak_stylus_button(), add_is900_analog(), add_is900_button(), and reset().
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Definition at line 79 of file vrpn_Tracker_Fastrak.h.
Referenced by reset(), and vrpn_Tracker_Fastrak().
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Definition at line 77 of file vrpn_Tracker_Fastrak.h.
Referenced by reset().
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Definition at line 88 of file vrpn_Tracker_Fastrak.h.
Referenced by get_report(), report_length(), reset(), and set_sensor_output_format().
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Definition at line 91 of file vrpn_Tracker_Fastrak.h.
Referenced by add_is900_analog(), get_report(), report_length(), set_sensor_output_format(), vrpn_Tracker_Fastrak(), and ~vrpn_Tracker_Fastrak().
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Definition at line 90 of file vrpn_Tracker_Fastrak.h.
Referenced by add_fastrak_stylus_button(), add_is900_button(), get_report(), report_length(), set_sensor_output_format(), vrpn_Tracker_Fastrak(), and ~vrpn_Tracker_Fastrak().
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Definition at line 89 of file vrpn_Tracker_Fastrak.h.
Referenced by get_report(), and reset().
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Definition at line 80 of file vrpn_Tracker_Fastrak.h.
Referenced by reset().
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Definition at line 78 of file vrpn_Tracker_Fastrak.h.
Referenced by add_fastrak_stylus_button(), add_is900_analog(), add_is900_button(), get_report(), reset(), vrpn_Tracker_Fastrak(), and ~vrpn_Tracker_Fastrak().
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Definition at line 83 of file vrpn_Tracker_Fastrak.h.
Referenced by add_fastrak_stylus_button(), get_report(), report_length(), reset(), set_sensor_output_format(), and vrpn_Tracker_Fastrak().
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Definition at line 92 of file vrpn_Tracker_Fastrak.h.
Referenced by get_report().
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Definition at line 76 of file vrpn_Tracker_Fastrak.h.
Referenced by vrpn_Tracker_Fastrak().