vrpn 07.35
Virtual Reality Peripheral Network
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#include <vrpn_IDEA.h>
Public Member Functions | |
vrpn_IDEA (const char *name, vrpn_Connection *c, const char *port, int run_speed_tics_sec=3200, int start_speed_tics_sec=1200, int end_speed_tics_sec=2000, int accel_rate_tics_sec_sec=40000, int decel_rate_tics_sec_sec=100000, int run_current=290, int hold_current=0, int accel_current=290, int decel_current=290, int delay=50, int step=8, int high_limit_index=-1, int low_limit_index=-1, int output_1_setting=-1, int output_2_setting=-1, int output_3_setting=-1, int output_4_setting=-1, double initial_move=0, double fractional_c_a=1.0, double reset_location=0.0) | |
~vrpn_IDEA () | |
virtual void | mainloop () |
Called once through each main loop iteration to handle updates. | |
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vrpn_Serial_Analog (const char *name, vrpn_Connection *connection, const char *port, int baud=9600, int bits=8, vrpn_SER_PARITY parity=vrpn_SER_PARITY_NONE, bool rts_flow=false) | |
~vrpn_Serial_Analog () | |
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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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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_Output (const char *name, vrpn_Connection *c=NULL) | |
void | o_print (void) |
vrpn_int32 | getNumChannels () 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 int | reset (void) |
virtual int | get_report (void) |
bool | send_command (const char *cmd) |
Appends carriage-return and then sends the command. | |
bool | send_move_request (vrpn_float64 location_in_steps, double scale=1.0) |
Request a move from the motor to the specified location. | |
bool | move_until_done_or_error (vrpn_float64 location_in_steps, double scale=1.0) |
Send a move request and then wait for the move to complete. Repeat. | |
int | convert_report_to_position (unsigned char *buf) |
Parses a position report. Returns -1 on failure, 0 on no value. | |
int | convert_report_to_buttons (unsigned char *buf) |
Parses an input/output report. Returns -1 on failure, 0 on no value. | |
virtual void | report_changes (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE) |
send report iff changed | |
virtual void | report (vrpn_uint32 class_of_service=vrpn_CONNECTION_RELIABLE) |
send report whether or not changed | |
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int | read_available_characters (char *buffer, int bytes) |
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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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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. | |
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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. | |
Static Protected Member Functions | |
static int VRPN_CALLBACK | handle_request_message (void *userdata, vrpn_HANDLERPARAM p) |
Responds to a request to change one of the values by setting the channel to that value. | |
static int VRPN_CALLBACK | handle_request_channels_message (void *userdata, vrpn_HANDLERPARAM p) |
Responds to a request to change multiple channels at once. | |
static int VRPN_CALLBACK | handle_connect_message (void *userdata, vrpn_HANDLERPARAM p) |
Responds to a connection request with a report of the values. | |
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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) |
Protected Attributes | |
unsigned char | d_buffer [512] |
unsigned | d_bufcount |
struct timeval | d_timestamp |
int | d_run_speed_tics_sec |
int | d_start_speed_tics_sec |
int | d_end_speed_tics_sec |
int | d_accel_rate_tics_sec_sec |
int | d_decel_rate_tics_sec_sec |
int | d_run_current |
int | d_hold_current |
int | d_accel_current |
int | d_decel_current |
int | d_delay |
int | d_step |
int | d_high_limit_index |
int | d_low_limit_index |
int | d_output_1_setting |
int | d_output_2_setting |
int | d_output_3_setting |
int | d_output_4_setting |
double | d_initial_move |
double | d_fractional_c_a |
double | d_reset_location |
struct timeval | d_last_poll |
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int | serial_fd |
char | portname [1024] |
int | baudrate |
unsigned char | buffer [1024] |
int | bufcounter |
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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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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 | 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 |
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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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bool | shutup |
vrpn_MESSAGEHANDLER | handler |
vrpn_int32 | sender |
vrpn_int32 | type |
void * | userdata |
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vrpn_int32 | buttonstate [vrpn_BUTTON_MAX_BUTTONS] |
Definition at line 27 of file vrpn_IDEA.h.
vrpn_IDEA::vrpn_IDEA | ( | const char * | name, |
vrpn_Connection * | c, | ||
const char * | port, | ||
int | run_speed_tics_sec = 3200 , |
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int | start_speed_tics_sec = 1200 , |
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int | end_speed_tics_sec = 2000 , |
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int | accel_rate_tics_sec_sec = 40000 , |
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int | decel_rate_tics_sec_sec = 100000 , |
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int | run_current = 290 , |
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int | hold_current = 0 , |
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int | accel_current = 290 , |
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int | decel_current = 290 , |
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int | delay = 50 , |
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int | step = 8 , |
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int | high_limit_index = -1 , |
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int | low_limit_index = -1 , |
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int | output_1_setting = -1 , |
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int | output_2_setting = -1 , |
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int | output_3_setting = -1 , |
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int | output_4_setting = -1 , |
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double | initial_move = 0 , |
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double | fractional_c_a = 1.0 , |
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double | reset_location = 0.0 |
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Definition at line 31 of file vrpn_IDEA.C.
References vrpn_Button::buttons, vrpn_Analog::channel, vrpn_BaseClassUnique::d_connection, d_last_poll, vrpn_BaseClassUnique::d_ping_message_id, vrpn_BaseClassUnique::d_sender_id, d_timestamp, handle_connect_message(), handle_request_channels_message(), handle_request_message(), vrpn_Analog::last, vrpn_Button::lastbuttons, vrpn_Button::num_buttons, vrpn_Analog::num_channel, vrpn_Analog_Output::o_num_channel, vrpn_BaseClassUnique::register_autodeleted_handler(), vrpn_Analog_Output::request_channels_m_id, vrpn_Analog_Output::request_m_id, reset(), vrpn_Analog::status, STATUS_RESETTING, and vrpn_gettimeofday.
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Definition at line 53 of file vrpn_IDEA.h.
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Parses an input/output report. Returns -1 on failure, 0 on no value.
Definition at line 321 of file vrpn_IDEA.C.
References vrpn_Button::buttons, d_high_limit_index, d_low_limit_index, vrpn_Button::lastbuttons, and VRPN_MSG_WARNING.
Referenced by get_report(), and reset().
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Parses a position report. Returns -1 on failure, 0 on no value.
Definition at line 294 of file vrpn_IDEA.C.
References vrpn_Analog::channel.
Referenced by get_report(), and reset().
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Definition at line 726 of file vrpn_IDEA.C.
References convert_report_to_buttons(), convert_report_to_position(), d_bufcount, d_buffer, d_timestamp, vrpn_Button_Filter::report_changes(), send_command(), vrpn_Serial_Analog::serial_fd, vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_read_available_characters(), and vrpn_SleepMsecs().
Referenced by mainloop().
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Responds to a connection request with a report of the values.
When we get a connection request from a remote object, send our state so they will know it to start with.
Definition at line 941 of file vrpn_IDEA.C.
References report(), vrpn_BaseClassUnique::userdata, and vrpn_CONNECTION_RELIABLE.
Referenced by vrpn_IDEA().
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Responds to a request to change multiple channels at once.
Definition at line 913 of file vrpn_IDEA.C.
References vrpn_HANDLERPARAM::buffer, d_timestamp, vrpn_Analog_Output::o_channel, vrpn_Analog_Output::o_num_channel, send_move_request(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, and vrpn_unbuffer().
Referenced by vrpn_IDEA().
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Responds to a request to change one of the values by setting the channel to that value.
Definition at line 885 of file vrpn_IDEA.C.
References vrpn_HANDLERPARAM::buffer, d_timestamp, vrpn_Analog::num_channel, vrpn_Analog_Output::o_num_channel, send_move_request(), vrpn_BaseClassUnique::send_text_message(), vrpn_BaseClassUnique::userdata, vrpn_TEXT_ERROR, and vrpn_unbuffer().
Referenced by vrpn_IDEA().
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Called once through each main loop iteration to handle updates.
This routine is called each time through the server's main loop.
It will take a course of action depending on the current status of the device, either trying to reset it or trying to get a reading from it. It will try to reset the device if no data has come from it for a couple of seconds
Implements vrpn_BaseClass.
Definition at line 974 of file vrpn_IDEA.C.
References d_last_poll, d_timestamp, get_report(), POLL_INTERVAL, reset(), send_command(), vrpn_BaseClassUnique::server_mainloop(), vrpn_Analog::status, STATUS_READING, STATUS_RESETTING, STATUS_SYNCING, TIMEOUT_TIME_INTERVAL, vrpn_gettimeofday, VRPN_MSG_ERROR, and vrpn_TimevalDuration().
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Send a move request and then wait for the move to complete. Repeat.
Definition at line 245 of file vrpn_IDEA.C.
References send_command(), send_move_request(), vrpn_Serial_Analog::serial_fd, VRPN_MSG_ERROR, and vrpn_read_available_characters().
Referenced by reset().
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send report whether or not changed
Definition at line 958 of file vrpn_IDEA.C.
References d_timestamp, vrpn_Analog::report(), vrpn_Button::report_changes(), vrpn_Analog::timestamp, and vrpn_Button::timestamp.
Referenced by handle_connect_message().
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send report iff changed
Definition at line 949 of file vrpn_IDEA.C.
References d_timestamp, vrpn_Button::report_changes(), vrpn_Analog::report_changes(), vrpn_Analog::timestamp, and vrpn_Button::timestamp.
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Definition at line 372 of file vrpn_IDEA.C.
References vrpn_Button::buttons, vrpn_Analog::channel, convert_report_to_buttons(), convert_report_to_position(), d_fractional_c_a, d_high_limit_index, d_initial_move, d_output_1_setting, d_output_2_setting, d_output_3_setting, d_output_4_setting, d_reset_location, d_timestamp, move_until_done_or_error(), send_command(), vrpn_Serial_Analog::serial_fd, vrpn_Analog::status, STATUS_RESETTING, STATUS_SYNCING, vrpn_flush_input_buffer(), vrpn_gettimeofday, VRPN_MSG_ERROR, VRPN_MSG_WARNING, vrpn_read_available_characters(), and vrpn_SleepMsecs().
Referenced by mainloop(), and vrpn_IDEA().
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Appends carriage-return and then sends the command.
Definition at line 119 of file vrpn_IDEA.C.
References vrpn_Serial_Analog::serial_fd, and vrpn_write_characters().
Referenced by get_report(), mainloop(), move_until_done_or_error(), reset(), and send_move_request().
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Request a move from the motor to the specified location.
Definition at line 155 of file vrpn_IDEA.C.
References vrpn_Button::buttons, vrpn_Analog::channel, d_accel_current, d_accel_rate_tics_sec_sec, d_decel_current, d_decel_rate_tics_sec_sec, d_delay, d_end_speed_tics_sec, d_high_limit_index, d_hold_current, d_low_limit_index, d_run_current, d_run_speed_tics_sec, d_start_speed_tics_sec, d_step, send_command(), vrpn_Analog::status, STATUS_RESETTING, VRPN_MSG_ERROR, and VRPN_MSG_WARNING.
Referenced by handle_request_channels_message(), handle_request_message(), and move_until_done_or_error().
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Definition at line 71 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 67 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 60 of file vrpn_IDEA.h.
Referenced by get_report().
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Definition at line 59 of file vrpn_IDEA.h.
Referenced by get_report().
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Definition at line 72 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 68 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 73 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 66 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 82 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 75 of file vrpn_IDEA.h.
Referenced by convert_report_to_buttons(), reset(), and send_move_request().
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Definition at line 70 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 81 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 84 of file vrpn_IDEA.h.
Referenced by mainloop(), and vrpn_IDEA().
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Definition at line 76 of file vrpn_IDEA.h.
Referenced by convert_report_to_buttons(), and send_move_request().
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Definition at line 77 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 78 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 79 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 80 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 83 of file vrpn_IDEA.h.
Referenced by reset().
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Definition at line 69 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 64 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 65 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 74 of file vrpn_IDEA.h.
Referenced by send_move_request().
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Definition at line 62 of file vrpn_IDEA.h.
Referenced by get_report(), handle_request_channels_message(), handle_request_message(), mainloop(), report(), report_changes(), reset(), and vrpn_IDEA().